DISCO-F746_WAV_PLAYER - SPKT

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Dependencies: F746_GUI SD_PlayerSkeleton F746_SAI_IO

SRC_STM32F7/targets/cmsis/TARGET_STM/TARGET_STM32F7/stm32f7xx_hal_can.c@0:8ede47d38d10, 2019-06-04 (annotated)

Committer:: phungductung
Date:: Tue Jun 04 21:37:21 2019 +0000
Revision:: 0:8ede47d38d10

SPKT

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User	Revision	Line number	New contents of line
phungductung	0:8ede47d38d10	1	/**
phungductung	0:8ede47d38d10	2	******************************************************************************
phungductung	0:8ede47d38d10	3	* @file stm32f7xx_hal_can.c
phungductung	0:8ede47d38d10	4	* @author MCD Application Team
phungductung	0:8ede47d38d10	5	* @version V1.0.4
phungductung	0:8ede47d38d10	6	* @date 09-December-2015
phungductung	0:8ede47d38d10	7	* @brief CAN HAL module driver.
phungductung	0:8ede47d38d10	8	* This file provides firmware functions to manage the following
phungductung	0:8ede47d38d10	9	* functionalities of the Controller Area Network (CAN) peripheral:
phungductung	0:8ede47d38d10	10	* + Initialization and de-initialization functions
phungductung	0:8ede47d38d10	11	* + IO operation functions
phungductung	0:8ede47d38d10	12	* + Peripheral Control functions
phungductung	0:8ede47d38d10	13	* + Peripheral State and Error functions
phungductung	0:8ede47d38d10	14	*
phungductung	0:8ede47d38d10	15	@verbatim
phungductung	0:8ede47d38d10	16	==============================================================================
phungductung	0:8ede47d38d10	17	##### How to use this driver #####
phungductung	0:8ede47d38d10	18	==============================================================================
phungductung	0:8ede47d38d10	19	[..]
phungductung	0:8ede47d38d10	20	(#) Enable the CAN controller interface clock using
phungductung	0:8ede47d38d10	21	__HAL_RCC_CAN1_CLK_ENABLE() for CAN1 and __HAL_RCC_CAN2_CLK_ENABLE() for CAN2
phungductung	0:8ede47d38d10	22	-@- In case you are using CAN2 only, you have to enable the CAN1 clock.
phungductung	0:8ede47d38d10	23
phungductung	0:8ede47d38d10	24	(#) CAN pins configuration
phungductung	0:8ede47d38d10	25	(++) Enable the clock for the CAN GPIOs using the following function:
phungductung	0:8ede47d38d10	26	__HAL_RCC_GPIOx_CLK_ENABLE()
phungductung	0:8ede47d38d10	27	(++) Connect and configure the involved CAN pins to AF9 using the
phungductung	0:8ede47d38d10	28	following function HAL_GPIO_Init()
phungductung	0:8ede47d38d10	29
phungductung	0:8ede47d38d10	30	(#) Initialize and configure the CAN using HAL_CAN_Init() function.
phungductung	0:8ede47d38d10	31
phungductung	0:8ede47d38d10	32	(#) Transmit the desired CAN frame using HAL_CAN_Transmit() function.
phungductung	0:8ede47d38d10	33
phungductung	0:8ede47d38d10	34	(#) Receive a CAN frame using HAL_CAN_Receive() function.
phungductung	0:8ede47d38d10	35
phungductung	0:8ede47d38d10	36	* Polling mode IO operation *
phungductung	0:8ede47d38d10	37	=================================
phungductung	0:8ede47d38d10	38	[..]
phungductung	0:8ede47d38d10	39	(+) Start the CAN peripheral transmission and wait the end of this operation
phungductung	0:8ede47d38d10	40	using HAL_CAN_Transmit(), at this stage user can specify the value of timeout
phungductung	0:8ede47d38d10	41	according to his end application
phungductung	0:8ede47d38d10	42	(+) Start the CAN peripheral reception and wait the end of this operation
phungductung	0:8ede47d38d10	43	using HAL_CAN_Receive(), at this stage user can specify the value of timeout
phungductung	0:8ede47d38d10	44	according to his end application
phungductung	0:8ede47d38d10	45
phungductung	0:8ede47d38d10	46	* Interrupt mode IO operation *
phungductung	0:8ede47d38d10	47	===================================
phungductung	0:8ede47d38d10	48	[..]
phungductung	0:8ede47d38d10	49	(+) Start the CAN peripheral transmission using HAL_CAN_Transmit_IT()
phungductung	0:8ede47d38d10	50	(+) Start the CAN peripheral reception using HAL_CAN_Receive_IT()
phungductung	0:8ede47d38d10	51	(+) Use HAL_CAN_IRQHandler() called under the used CAN Interrupt subroutine
phungductung	0:8ede47d38d10	52	(+) At CAN end of transmission HAL_CAN_TxCpltCallback() function is executed and user can
phungductung	0:8ede47d38d10	53	add his own code by customization of function pointer HAL_CAN_TxCpltCallback
phungductung	0:8ede47d38d10	54	(+) In case of CAN Error, HAL_CAN_ErrorCallback() function is executed and user can
phungductung	0:8ede47d38d10	55	add his own code by customization of function pointer HAL_CAN_ErrorCallback
phungductung	0:8ede47d38d10	56
phungductung	0:8ede47d38d10	57	* CAN HAL driver macros list *
phungductung	0:8ede47d38d10	58	=============================================
phungductung	0:8ede47d38d10	59	[..]
phungductung	0:8ede47d38d10	60	Below the list of most used macros in CAN HAL driver.
phungductung	0:8ede47d38d10	61
phungductung	0:8ede47d38d10	62	(+) __HAL_CAN_ENABLE_IT: Enable the specified CAN interrupts
phungductung	0:8ede47d38d10	63	(+) __HAL_CAN_DISABLE_IT: Disable the specified CAN interrupts
phungductung	0:8ede47d38d10	64	(+) __HAL_CAN_GET_IT_SOURCE: Check if the specified CAN interrupt source is enabled or disabled
phungductung	0:8ede47d38d10	65	(+) __HAL_CAN_CLEAR_FLAG: Clear the CAN's pending flags
phungductung	0:8ede47d38d10	66	(+) __HAL_CAN_GET_FLAG: Get the selected CAN's flag status
phungductung	0:8ede47d38d10	67
phungductung	0:8ede47d38d10	68	[..]
phungductung	0:8ede47d38d10	69	(@) You can refer to the CAN HAL driver header file for more useful macros
phungductung	0:8ede47d38d10	70
phungductung	0:8ede47d38d10	71	@endverbatim
phungductung	0:8ede47d38d10	72
phungductung	0:8ede47d38d10	73	******************************************************************************
phungductung	0:8ede47d38d10	74	* @attention
phungductung	0:8ede47d38d10	75	*
phungductung	0:8ede47d38d10	76	* <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
phungductung	0:8ede47d38d10	77	*
phungductung	0:8ede47d38d10	78	* Redistribution and use in source and binary forms, with or without modification,
phungductung	0:8ede47d38d10	79	* are permitted provided that the following conditions are met:
phungductung	0:8ede47d38d10	80	* 1. Redistributions of source code must retain the above copyright notice,
phungductung	0:8ede47d38d10	81	* this list of conditions and the following disclaimer.
phungductung	0:8ede47d38d10	82	* 2. Redistributions in binary form must reproduce the above copyright notice,
phungductung	0:8ede47d38d10	83	* this list of conditions and the following disclaimer in the documentation
phungductung	0:8ede47d38d10	84	* and/or other materials provided with the distribution.
phungductung	0:8ede47d38d10	85	* 3. Neither the name of STMicroelectronics nor the names of its contributors
phungductung	0:8ede47d38d10	86	* may be used to endorse or promote products derived from this software
phungductung	0:8ede47d38d10	87	* without specific prior written permission.
phungductung	0:8ede47d38d10	88	*
phungductung	0:8ede47d38d10	89	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
phungductung	0:8ede47d38d10	90	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
phungductung	0:8ede47d38d10	91	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
phungductung	0:8ede47d38d10	92	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
phungductung	0:8ede47d38d10	93	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
phungductung	0:8ede47d38d10	94	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
phungductung	0:8ede47d38d10	95	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
phungductung	0:8ede47d38d10	96	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
phungductung	0:8ede47d38d10	97	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
phungductung	0:8ede47d38d10	98	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
phungductung	0:8ede47d38d10	99	*
phungductung	0:8ede47d38d10	100	******************************************************************************
phungductung	0:8ede47d38d10	101	*/
phungductung	0:8ede47d38d10	102
phungductung	0:8ede47d38d10	103	/* Includes ------------------------------------------------------------------*/
phungductung	0:8ede47d38d10	104	#include "stm32f7xx_hal.h"
phungductung	0:8ede47d38d10	105
phungductung	0:8ede47d38d10	106	/** @addtogroup STM32F7xx_HAL_Driver
phungductung	0:8ede47d38d10	107	* @{
phungductung	0:8ede47d38d10	108	*/
phungductung	0:8ede47d38d10	109
phungductung	0:8ede47d38d10	110	/** @defgroup CAN CAN
phungductung	0:8ede47d38d10	111	* @brief CAN driver modules
phungductung	0:8ede47d38d10	112	* @{
phungductung	0:8ede47d38d10	113	*/
phungductung	0:8ede47d38d10	114
phungductung	0:8ede47d38d10	115	#ifdef HAL_CAN_MODULE_ENABLED
phungductung	0:8ede47d38d10	116
phungductung	0:8ede47d38d10	117
phungductung	0:8ede47d38d10	118	/* Private typedef -----------------------------------------------------------*/
phungductung	0:8ede47d38d10	119	/* Private define ------------------------------------------------------------*/
phungductung	0:8ede47d38d10	120	/** @addtogroup CAN_Private_Constants
phungductung	0:8ede47d38d10	121	* @{
phungductung	0:8ede47d38d10	122	*/
phungductung	0:8ede47d38d10	123	#define CAN_TIMEOUT_VALUE 10
phungductung	0:8ede47d38d10	124	/**
phungductung	0:8ede47d38d10	125	* @}
phungductung	0:8ede47d38d10	126	*/
phungductung	0:8ede47d38d10	127	/* Private macro -------------------------------------------------------------*/
phungductung	0:8ede47d38d10	128	/* Private variables ---------------------------------------------------------*/
phungductung	0:8ede47d38d10	129	/* Private function prototypes -----------------------------------------------*/
phungductung	0:8ede47d38d10	130	/** @addtogroup CAN_Private_Functions
phungductung	0:8ede47d38d10	131	* @{
phungductung	0:8ede47d38d10	132	*/
phungductung	0:8ede47d38d10	133	static HAL_StatusTypeDef CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber);
phungductung	0:8ede47d38d10	134	static HAL_StatusTypeDef CAN_Transmit_IT(CAN_HandleTypeDef* hcan);
phungductung	0:8ede47d38d10	135	/**
phungductung	0:8ede47d38d10	136	* @}
phungductung	0:8ede47d38d10	137	*/
phungductung	0:8ede47d38d10	138
phungductung	0:8ede47d38d10	139	/* Exported functions --------------------------------------------------------*/
phungductung	0:8ede47d38d10	140	/** @defgroup CAN_Exported_Functions CAN Exported Functions
phungductung	0:8ede47d38d10	141	* @{
phungductung	0:8ede47d38d10	142	*/
phungductung	0:8ede47d38d10	143
phungductung	0:8ede47d38d10	144	/** @defgroup CAN_Exported_Functions_Group1 Initialization and de-initialization functions
phungductung	0:8ede47d38d10	145	* @brief Initialization and Configuration functions
phungductung	0:8ede47d38d10	146	*
phungductung	0:8ede47d38d10	147	@verbatim
phungductung	0:8ede47d38d10	148	==============================================================================
phungductung	0:8ede47d38d10	149	##### Initialization and de-initialization functions #####
phungductung	0:8ede47d38d10	150	==============================================================================
phungductung	0:8ede47d38d10	151	[..] This section provides functions allowing to:
phungductung	0:8ede47d38d10	152	(+) Initialize and configure the CAN.
phungductung	0:8ede47d38d10	153	(+) De-initialize the CAN.
phungductung	0:8ede47d38d10	154
phungductung	0:8ede47d38d10	155	@endverbatim
phungductung	0:8ede47d38d10	156	* @{
phungductung	0:8ede47d38d10	157	*/
phungductung	0:8ede47d38d10	158
phungductung	0:8ede47d38d10	159	/**
phungductung	0:8ede47d38d10	160	* @brief Initializes the CAN peripheral according to the specified
phungductung	0:8ede47d38d10	161	* parameters in the CAN_InitStruct.
phungductung	0:8ede47d38d10	162	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
phungductung	0:8ede47d38d10	163	* the configuration information for the specified CAN.
phungductung	0:8ede47d38d10	164	* @retval HAL status
phungductung	0:8ede47d38d10	165	*/
phungductung	0:8ede47d38d10	166	HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef* hcan)
phungductung	0:8ede47d38d10	167	{
phungductung	0:8ede47d38d10	168	uint32_t InitStatus = 3;
phungductung	0:8ede47d38d10	169	uint32_t tickstart = 0;
phungductung	0:8ede47d38d10	170
phungductung	0:8ede47d38d10	171	/* Check CAN handle */
phungductung	0:8ede47d38d10	172	if(hcan == NULL)
phungductung	0:8ede47d38d10	173	{
phungductung	0:8ede47d38d10	174	return HAL_ERROR;
phungductung	0:8ede47d38d10	175	}
phungductung	0:8ede47d38d10	176
phungductung	0:8ede47d38d10	177	/* Check the parameters */
phungductung	0:8ede47d38d10	178	assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
phungductung	0:8ede47d38d10	179	assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TTCM));
phungductung	0:8ede47d38d10	180	assert_param(IS_FUNCTIONAL_STATE(hcan->Init.ABOM));
phungductung	0:8ede47d38d10	181	assert_param(IS_FUNCTIONAL_STATE(hcan->Init.AWUM));
phungductung	0:8ede47d38d10	182	assert_param(IS_FUNCTIONAL_STATE(hcan->Init.NART));
phungductung	0:8ede47d38d10	183	assert_param(IS_FUNCTIONAL_STATE(hcan->Init.RFLM));
phungductung	0:8ede47d38d10	184	assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TXFP));
phungductung	0:8ede47d38d10	185	assert_param(IS_CAN_MODE(hcan->Init.Mode));
phungductung	0:8ede47d38d10	186	assert_param(IS_CAN_SJW(hcan->Init.SJW));
phungductung	0:8ede47d38d10	187	assert_param(IS_CAN_BS1(hcan->Init.BS1));
phungductung	0:8ede47d38d10	188	assert_param(IS_CAN_BS2(hcan->Init.BS2));
phungductung	0:8ede47d38d10	189	assert_param(IS_CAN_PRESCALER(hcan->Init.Prescaler));
phungductung	0:8ede47d38d10	190
phungductung	0:8ede47d38d10	191
phungductung	0:8ede47d38d10	192	if(hcan->State == HAL_CAN_STATE_RESET)
phungductung	0:8ede47d38d10	193	{
phungductung	0:8ede47d38d10	194	/* Allocate lock resource and initialize it */
phungductung	0:8ede47d38d10	195	hcan->Lock = HAL_UNLOCKED;
phungductung	0:8ede47d38d10	196	/* Init the low level hardware */
phungductung	0:8ede47d38d10	197	HAL_CAN_MspInit(hcan);
phungductung	0:8ede47d38d10	198	}
phungductung	0:8ede47d38d10	199
phungductung	0:8ede47d38d10	200	/* Initialize the CAN state*/
phungductung	0:8ede47d38d10	201	hcan->State = HAL_CAN_STATE_BUSY;
phungductung	0:8ede47d38d10	202
phungductung	0:8ede47d38d10	203	/* Exit from sleep mode */
phungductung	0:8ede47d38d10	204	hcan->Instance->MCR &= (~(uint32_t)CAN_MCR_SLEEP);
phungductung	0:8ede47d38d10	205
phungductung	0:8ede47d38d10	206	/* Request initialisation */
phungductung	0:8ede47d38d10	207	hcan->Instance->MCR \|= CAN_MCR_INRQ ;
phungductung	0:8ede47d38d10	208
phungductung	0:8ede47d38d10	209	/* Get tick */
phungductung	0:8ede47d38d10	210	tickstart = HAL_GetTick();
phungductung	0:8ede47d38d10	211
phungductung	0:8ede47d38d10	212	/* Wait the acknowledge */
phungductung	0:8ede47d38d10	213	while((hcan->Instance->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
phungductung	0:8ede47d38d10	214	{
phungductung	0:8ede47d38d10	215	if((HAL_GetTick() - tickstart ) > CAN_TIMEOUT_VALUE)
phungductung	0:8ede47d38d10	216	{
phungductung	0:8ede47d38d10	217	hcan->State= HAL_CAN_STATE_TIMEOUT;
phungductung	0:8ede47d38d10	218	/* Process unlocked */
phungductung	0:8ede47d38d10	219	__HAL_UNLOCK(hcan);
phungductung	0:8ede47d38d10	220	return HAL_TIMEOUT;
phungductung	0:8ede47d38d10	221	}
phungductung	0:8ede47d38d10	222	}
phungductung	0:8ede47d38d10	223
phungductung	0:8ede47d38d10	224	/* Check acknowledge */
phungductung	0:8ede47d38d10	225	if ((hcan->Instance->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
phungductung	0:8ede47d38d10	226	{
phungductung	0:8ede47d38d10	227	InitStatus = CAN_INITSTATUS_FAILED;
phungductung	0:8ede47d38d10	228	}
phungductung	0:8ede47d38d10	229	else
phungductung	0:8ede47d38d10	230	{
phungductung	0:8ede47d38d10	231	/* Set the time triggered communication mode */
phungductung	0:8ede47d38d10	232	if (hcan->Init.TTCM == ENABLE)
phungductung	0:8ede47d38d10	233	{
phungductung	0:8ede47d38d10	234	hcan->Instance->MCR \|= CAN_MCR_TTCM;
phungductung	0:8ede47d38d10	235	}
phungductung	0:8ede47d38d10	236	else
phungductung	0:8ede47d38d10	237	{
phungductung	0:8ede47d38d10	238	hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_TTCM;
phungductung	0:8ede47d38d10	239	}
phungductung	0:8ede47d38d10	240
phungductung	0:8ede47d38d10	241	/* Set the automatic bus-off management */
phungductung	0:8ede47d38d10	242	if (hcan->Init.ABOM == ENABLE)
phungductung	0:8ede47d38d10	243	{
phungductung	0:8ede47d38d10	244	hcan->Instance->MCR \|= CAN_MCR_ABOM;
phungductung	0:8ede47d38d10	245	}
phungductung	0:8ede47d38d10	246	else
phungductung	0:8ede47d38d10	247	{
phungductung	0:8ede47d38d10	248	hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_ABOM;
phungductung	0:8ede47d38d10	249	}
phungductung	0:8ede47d38d10	250
phungductung	0:8ede47d38d10	251	/* Set the automatic wake-up mode */
phungductung	0:8ede47d38d10	252	if (hcan->Init.AWUM == ENABLE)
phungductung	0:8ede47d38d10	253	{
phungductung	0:8ede47d38d10	254	hcan->Instance->MCR \|= CAN_MCR_AWUM;
phungductung	0:8ede47d38d10	255	}
phungductung	0:8ede47d38d10	256	else
phungductung	0:8ede47d38d10	257	{
phungductung	0:8ede47d38d10	258	hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_AWUM;
phungductung	0:8ede47d38d10	259	}
phungductung	0:8ede47d38d10	260
phungductung	0:8ede47d38d10	261	/* Set the no automatic retransmission */
phungductung	0:8ede47d38d10	262	if (hcan->Init.NART == ENABLE)
phungductung	0:8ede47d38d10	263	{
phungductung	0:8ede47d38d10	264	hcan->Instance->MCR \|= CAN_MCR_NART;
phungductung	0:8ede47d38d10	265	}
phungductung	0:8ede47d38d10	266	else
phungductung	0:8ede47d38d10	267	{
phungductung	0:8ede47d38d10	268	hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_NART;
phungductung	0:8ede47d38d10	269	}
phungductung	0:8ede47d38d10	270
phungductung	0:8ede47d38d10	271	/* Set the receive FIFO locked mode */
phungductung	0:8ede47d38d10	272	if (hcan->Init.RFLM == ENABLE)
phungductung	0:8ede47d38d10	273	{
phungductung	0:8ede47d38d10	274	hcan->Instance->MCR \|= CAN_MCR_RFLM;
phungductung	0:8ede47d38d10	275	}
phungductung	0:8ede47d38d10	276	else
phungductung	0:8ede47d38d10	277	{
phungductung	0:8ede47d38d10	278	hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_RFLM;
phungductung	0:8ede47d38d10	279	}
phungductung	0:8ede47d38d10	280
phungductung	0:8ede47d38d10	281	/* Set the transmit FIFO priority */
phungductung	0:8ede47d38d10	282	if (hcan->Init.TXFP == ENABLE)
phungductung	0:8ede47d38d10	283	{
phungductung	0:8ede47d38d10	284	hcan->Instance->MCR \|= CAN_MCR_TXFP;
phungductung	0:8ede47d38d10	285	}
phungductung	0:8ede47d38d10	286	else
phungductung	0:8ede47d38d10	287	{
phungductung	0:8ede47d38d10	288	hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_TXFP;
phungductung	0:8ede47d38d10	289	}
phungductung	0:8ede47d38d10	290
phungductung	0:8ede47d38d10	291	/* Set the bit timing register */
phungductung	0:8ede47d38d10	292	hcan->Instance->BTR = (uint32_t)((uint32_t)hcan->Init.Mode) \| \
phungductung	0:8ede47d38d10	293	((uint32_t)hcan->Init.SJW) \| \
phungductung	0:8ede47d38d10	294	((uint32_t)hcan->Init.BS1) \| \
phungductung	0:8ede47d38d10	295	((uint32_t)hcan->Init.BS2) \| \
phungductung	0:8ede47d38d10	296	((uint32_t)hcan->Init.Prescaler - 1);
phungductung	0:8ede47d38d10	297
phungductung	0:8ede47d38d10	298	/* Request leave initialisation */
phungductung	0:8ede47d38d10	299	hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_INRQ;
phungductung	0:8ede47d38d10	300
phungductung	0:8ede47d38d10	301	/* Get tick */
phungductung	0:8ede47d38d10	302	tickstart = HAL_GetTick();
phungductung	0:8ede47d38d10	303
phungductung	0:8ede47d38d10	304	/* Wait the acknowledge */
phungductung	0:8ede47d38d10	305	while((hcan->Instance->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)
phungductung	0:8ede47d38d10	306	{
phungductung	0:8ede47d38d10	307	if((HAL_GetTick() - tickstart ) > CAN_TIMEOUT_VALUE)
phungductung	0:8ede47d38d10	308	{
phungductung	0:8ede47d38d10	309	hcan->State= HAL_CAN_STATE_TIMEOUT;
phungductung	0:8ede47d38d10	310	/* Process unlocked */
phungductung	0:8ede47d38d10	311	__HAL_UNLOCK(hcan);
phungductung	0:8ede47d38d10	312	return HAL_TIMEOUT;
phungductung	0:8ede47d38d10	313	}
phungductung	0:8ede47d38d10	314	}
phungductung	0:8ede47d38d10	315
phungductung	0:8ede47d38d10	316	/* Check acknowledged */
phungductung	0:8ede47d38d10	317	if ((hcan->Instance->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)
phungductung	0:8ede47d38d10	318	{
phungductung	0:8ede47d38d10	319	InitStatus = CAN_INITSTATUS_FAILED;
phungductung	0:8ede47d38d10	320	}
phungductung	0:8ede47d38d10	321	else
phungductung	0:8ede47d38d10	322	{
phungductung	0:8ede47d38d10	323	InitStatus = CAN_INITSTATUS_SUCCESS;
phungductung	0:8ede47d38d10	324	}
phungductung	0:8ede47d38d10	325	}
phungductung	0:8ede47d38d10	326
phungductung	0:8ede47d38d10	327	if(InitStatus == CAN_INITSTATUS_SUCCESS)
phungductung	0:8ede47d38d10	328	{
phungductung	0:8ede47d38d10	329	/* Set CAN error code to none */
phungductung	0:8ede47d38d10	330	hcan->ErrorCode = HAL_CAN_ERROR_NONE;
phungductung	0:8ede47d38d10	331
phungductung	0:8ede47d38d10	332	/* Initialize the CAN state */
phungductung	0:8ede47d38d10	333	hcan->State = HAL_CAN_STATE_READY;
phungductung	0:8ede47d38d10	334
phungductung	0:8ede47d38d10	335	/* Return function status */
phungductung	0:8ede47d38d10	336	return HAL_OK;
phungductung	0:8ede47d38d10	337	}
phungductung	0:8ede47d38d10	338	else
phungductung	0:8ede47d38d10	339	{
phungductung	0:8ede47d38d10	340	/* Initialize the CAN state */
phungductung	0:8ede47d38d10	341	hcan->State = HAL_CAN_STATE_ERROR;
phungductung	0:8ede47d38d10	342
phungductung	0:8ede47d38d10	343	/* Return function status */
phungductung	0:8ede47d38d10	344	return HAL_ERROR;
phungductung	0:8ede47d38d10	345	}
phungductung	0:8ede47d38d10	346	}
phungductung	0:8ede47d38d10	347
phungductung	0:8ede47d38d10	348	/**
phungductung	0:8ede47d38d10	349	* @brief Configures the CAN reception filter according to the specified
phungductung	0:8ede47d38d10	350	* parameters in the CAN_FilterInitStruct.
phungductung	0:8ede47d38d10	351	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
phungductung	0:8ede47d38d10	352	* the configuration information for the specified CAN.
phungductung	0:8ede47d38d10	353	* @param sFilterConfig: pointer to a CAN_FilterConfTypeDef structure that
phungductung	0:8ede47d38d10	354	* contains the filter configuration information.
phungductung	0:8ede47d38d10	355	* @retval None
phungductung	0:8ede47d38d10	356	*/
phungductung	0:8ede47d38d10	357	HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef* hcan, CAN_FilterConfTypeDef* sFilterConfig)
phungductung	0:8ede47d38d10	358	{
phungductung	0:8ede47d38d10	359	uint32_t filternbrbitpos = 0;
phungductung	0:8ede47d38d10	360
phungductung	0:8ede47d38d10	361	/* Check the parameters */
phungductung	0:8ede47d38d10	362	assert_param(IS_CAN_FILTER_NUMBER(sFilterConfig->FilterNumber));
phungductung	0:8ede47d38d10	363	assert_param(IS_CAN_FILTER_MODE(sFilterConfig->FilterMode));
phungductung	0:8ede47d38d10	364	assert_param(IS_CAN_FILTER_SCALE(sFilterConfig->FilterScale));
phungductung	0:8ede47d38d10	365	assert_param(IS_CAN_FILTER_FIFO(sFilterConfig->FilterFIFOAssignment));
phungductung	0:8ede47d38d10	366	assert_param(IS_FUNCTIONAL_STATE(sFilterConfig->FilterActivation));
phungductung	0:8ede47d38d10	367	assert_param(IS_CAN_BANKNUMBER(sFilterConfig->BankNumber));
phungductung	0:8ede47d38d10	368
phungductung	0:8ede47d38d10	369	filternbrbitpos = ((uint32_t)1) << sFilterConfig->FilterNumber;
phungductung	0:8ede47d38d10	370
phungductung	0:8ede47d38d10	371	/* Initialisation mode for the filter */
phungductung	0:8ede47d38d10	372	CAN1->FMR \|= (uint32_t)CAN_FMR_FINIT;
phungductung	0:8ede47d38d10	373
phungductung	0:8ede47d38d10	374	/* Select the start slave bank */
phungductung	0:8ede47d38d10	375	CAN1->FMR &= ~((uint32_t)CAN_FMR_CAN2SB);
phungductung	0:8ede47d38d10	376	CAN1->FMR \|= (uint32_t)(sFilterConfig->BankNumber << 8);
phungductung	0:8ede47d38d10	377
phungductung	0:8ede47d38d10	378	/* Filter Deactivation */
phungductung	0:8ede47d38d10	379	CAN1->FA1R &= ~(uint32_t)filternbrbitpos;
phungductung	0:8ede47d38d10	380
phungductung	0:8ede47d38d10	381	/* Filter Scale */
phungductung	0:8ede47d38d10	382	if (sFilterConfig->FilterScale == CAN_FILTERSCALE_16BIT)
phungductung	0:8ede47d38d10	383	{
phungductung	0:8ede47d38d10	384	/* 16-bit scale for the filter */
phungductung	0:8ede47d38d10	385	CAN1->FS1R &= ~(uint32_t)filternbrbitpos;
phungductung	0:8ede47d38d10	386
phungductung	0:8ede47d38d10	387	/* First 16-bit identifier and First 16-bit mask */
phungductung	0:8ede47d38d10	388	/* Or First 16-bit identifier and Second 16-bit identifier */
phungductung	0:8ede47d38d10	389	CAN1->sFilterRegister[sFilterConfig->FilterNumber].FR1 =
phungductung	0:8ede47d38d10	390	((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdLow) << 16) \|
phungductung	0:8ede47d38d10	391	(0x0000FFFF & (uint32_t)sFilterConfig->FilterIdLow);
phungductung	0:8ede47d38d10	392
phungductung	0:8ede47d38d10	393	/* Second 16-bit identifier and Second 16-bit mask */
phungductung	0:8ede47d38d10	394	/* Or Third 16-bit identifier and Fourth 16-bit identifier */
phungductung	0:8ede47d38d10	395	CAN1->sFilterRegister[sFilterConfig->FilterNumber].FR2 =
phungductung	0:8ede47d38d10	396	((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16) \|
phungductung	0:8ede47d38d10	397	(0x0000FFFF & (uint32_t)sFilterConfig->FilterIdHigh);
phungductung	0:8ede47d38d10	398	}
phungductung	0:8ede47d38d10	399
phungductung	0:8ede47d38d10	400	if (sFilterConfig->FilterScale == CAN_FILTERSCALE_32BIT)
phungductung	0:8ede47d38d10	401	{
phungductung	0:8ede47d38d10	402	/* 32-bit scale for the filter */
phungductung	0:8ede47d38d10	403	CAN1->FS1R \|= filternbrbitpos;
phungductung	0:8ede47d38d10	404	/* 32-bit identifier or First 32-bit identifier */
phungductung	0:8ede47d38d10	405	CAN1->sFilterRegister[sFilterConfig->FilterNumber].FR1 =
phungductung	0:8ede47d38d10	406	((0x0000FFFF & (uint32_t)sFilterConfig->FilterIdHigh) << 16) \|
phungductung	0:8ede47d38d10	407	(0x0000FFFF & (uint32_t)sFilterConfig->FilterIdLow);
phungductung	0:8ede47d38d10	408	/* 32-bit mask or Second 32-bit identifier */
phungductung	0:8ede47d38d10	409	CAN1->sFilterRegister[sFilterConfig->FilterNumber].FR2 =
phungductung	0:8ede47d38d10	410	((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16) \|
phungductung	0:8ede47d38d10	411	(0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdLow);
phungductung	0:8ede47d38d10	412	}
phungductung	0:8ede47d38d10	413
phungductung	0:8ede47d38d10	414	/* Filter Mode */
phungductung	0:8ede47d38d10	415	if (sFilterConfig->FilterMode == CAN_FILTERMODE_IDMASK)
phungductung	0:8ede47d38d10	416	{
phungductung	0:8ede47d38d10	417	/Id/Mask mode for the filter/
phungductung	0:8ede47d38d10	418	CAN1->FM1R &= ~(uint32_t)filternbrbitpos;
phungductung	0:8ede47d38d10	419	}
phungductung	0:8ede47d38d10	420	else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */
phungductung	0:8ede47d38d10	421	{
phungductung	0:8ede47d38d10	422	/Identifier list mode for the filter/
phungductung	0:8ede47d38d10	423	CAN1->FM1R \|= (uint32_t)filternbrbitpos;
phungductung	0:8ede47d38d10	424	}
phungductung	0:8ede47d38d10	425
phungductung	0:8ede47d38d10	426	/* Filter FIFO assignment */
phungductung	0:8ede47d38d10	427	if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO0)
phungductung	0:8ede47d38d10	428	{
phungductung	0:8ede47d38d10	429	/* FIFO 0 assignation for the filter */
phungductung	0:8ede47d38d10	430	CAN1->FFA1R &= ~(uint32_t)filternbrbitpos;
phungductung	0:8ede47d38d10	431	}
phungductung	0:8ede47d38d10	432
phungductung	0:8ede47d38d10	433	if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO1)
phungductung	0:8ede47d38d10	434	{
phungductung	0:8ede47d38d10	435	/* FIFO 1 assignation for the filter */
phungductung	0:8ede47d38d10	436	CAN1->FFA1R \|= (uint32_t)filternbrbitpos;
phungductung	0:8ede47d38d10	437	}
phungductung	0:8ede47d38d10	438
phungductung	0:8ede47d38d10	439	/* Filter activation */
phungductung	0:8ede47d38d10	440	if (sFilterConfig->FilterActivation == ENABLE)
phungductung	0:8ede47d38d10	441	{
phungductung	0:8ede47d38d10	442	CAN1->FA1R \|= filternbrbitpos;
phungductung	0:8ede47d38d10	443	}
phungductung	0:8ede47d38d10	444
phungductung	0:8ede47d38d10	445	/* Leave the initialisation mode for the filter */
phungductung	0:8ede47d38d10	446	CAN1->FMR &= ~((uint32_t)CAN_FMR_FINIT);
phungductung	0:8ede47d38d10	447
phungductung	0:8ede47d38d10	448	/* Return function status */
phungductung	0:8ede47d38d10	449	return HAL_OK;
phungductung	0:8ede47d38d10	450	}
phungductung	0:8ede47d38d10	451
phungductung	0:8ede47d38d10	452	/**
phungductung	0:8ede47d38d10	453	* @brief Deinitializes the CANx peripheral registers to their default reset values.
phungductung	0:8ede47d38d10	454	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
phungductung	0:8ede47d38d10	455	* the configuration information for the specified CAN.
phungductung	0:8ede47d38d10	456	* @retval HAL status
phungductung	0:8ede47d38d10	457	*/
phungductung	0:8ede47d38d10	458	HAL_StatusTypeDef HAL_CAN_DeInit(CAN_HandleTypeDef* hcan)
phungductung	0:8ede47d38d10	459	{
phungductung	0:8ede47d38d10	460	/* Check CAN handle */
phungductung	0:8ede47d38d10	461	if(hcan == NULL)
phungductung	0:8ede47d38d10	462	{
phungductung	0:8ede47d38d10	463	return HAL_ERROR;
phungductung	0:8ede47d38d10	464	}
phungductung	0:8ede47d38d10	465
phungductung	0:8ede47d38d10	466	/* Check the parameters */
phungductung	0:8ede47d38d10	467	assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
phungductung	0:8ede47d38d10	468
phungductung	0:8ede47d38d10	469	/* Change CAN state */
phungductung	0:8ede47d38d10	470	hcan->State = HAL_CAN_STATE_BUSY;
phungductung	0:8ede47d38d10	471
phungductung	0:8ede47d38d10	472	/* DeInit the low level hardware */
phungductung	0:8ede47d38d10	473	HAL_CAN_MspDeInit(hcan);
phungductung	0:8ede47d38d10	474
phungductung	0:8ede47d38d10	475	/* Change CAN state */
phungductung	0:8ede47d38d10	476	hcan->State = HAL_CAN_STATE_RESET;
phungductung	0:8ede47d38d10	477
phungductung	0:8ede47d38d10	478	/* Release Lock */
phungductung	0:8ede47d38d10	479	__HAL_UNLOCK(hcan);
phungductung	0:8ede47d38d10	480
phungductung	0:8ede47d38d10	481	/* Return function status */
phungductung	0:8ede47d38d10	482	return HAL_OK;
phungductung	0:8ede47d38d10	483	}
phungductung	0:8ede47d38d10	484
phungductung	0:8ede47d38d10	485	/**
phungductung	0:8ede47d38d10	486	* @brief Initializes the CAN MSP.
phungductung	0:8ede47d38d10	487	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
phungductung	0:8ede47d38d10	488	* the configuration information for the specified CAN.
phungductung	0:8ede47d38d10	489	* @retval None
phungductung	0:8ede47d38d10	490	*/
phungductung	0:8ede47d38d10	491	__weak void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
phungductung	0:8ede47d38d10	492	{
phungductung	0:8ede47d38d10	493	/* Prevent unused argument(s) compilation warning */
phungductung	0:8ede47d38d10	494	UNUSED(hcan);
phungductung	0:8ede47d38d10	495	/* NOTE : This function Should not be modified, when the callback is needed,
phungductung	0:8ede47d38d10	496	the HAL_CAN_MspInit could be implemented in the user file
phungductung	0:8ede47d38d10	497	*/
phungductung	0:8ede47d38d10	498	}
phungductung	0:8ede47d38d10	499
phungductung	0:8ede47d38d10	500	/**
phungductung	0:8ede47d38d10	501	* @brief DeInitializes the CAN MSP.
phungductung	0:8ede47d38d10	502	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
phungductung	0:8ede47d38d10	503	* the configuration information for the specified CAN.
phungductung	0:8ede47d38d10	504	* @retval None
phungductung	0:8ede47d38d10	505	*/
phungductung	0:8ede47d38d10	506	__weak void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan)
phungductung	0:8ede47d38d10	507	{
phungductung	0:8ede47d38d10	508	/* Prevent unused argument(s) compilation warning */
phungductung	0:8ede47d38d10	509	UNUSED(hcan);
phungductung	0:8ede47d38d10	510	/* NOTE : This function Should not be modified, when the callback is needed,
phungductung	0:8ede47d38d10	511	the HAL_CAN_MspDeInit could be implemented in the user file
phungductung	0:8ede47d38d10	512	*/
phungductung	0:8ede47d38d10	513	}
phungductung	0:8ede47d38d10	514
phungductung	0:8ede47d38d10	515	/**
phungductung	0:8ede47d38d10	516	* @}
phungductung	0:8ede47d38d10	517	*/
phungductung	0:8ede47d38d10	518
phungductung	0:8ede47d38d10	519	/** @defgroup CAN_Exported_Functions_Group2 IO operation functions
phungductung	0:8ede47d38d10	520	* @brief IO operation functions
phungductung	0:8ede47d38d10	521	*
phungductung	0:8ede47d38d10	522	@verbatim
phungductung	0:8ede47d38d10	523	==============================================================================
phungductung	0:8ede47d38d10	524	##### IO operation functions #####
phungductung	0:8ede47d38d10	525	==============================================================================
phungductung	0:8ede47d38d10	526	[..] This section provides functions allowing to:
phungductung	0:8ede47d38d10	527	(+) Transmit a CAN frame message.
phungductung	0:8ede47d38d10	528	(+) Receive a CAN frame message.
phungductung	0:8ede47d38d10	529	(+) Enter CAN peripheral in sleep mode.
phungductung	0:8ede47d38d10	530	(+) Wake up the CAN peripheral from sleep mode.
phungductung	0:8ede47d38d10	531
phungductung	0:8ede47d38d10	532	@endverbatim
phungductung	0:8ede47d38d10	533	* @{
phungductung	0:8ede47d38d10	534	*/
phungductung	0:8ede47d38d10	535
phungductung	0:8ede47d38d10	536	/**
phungductung	0:8ede47d38d10	537	* @brief Initiates and transmits a CAN frame message.
phungductung	0:8ede47d38d10	538	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
phungductung	0:8ede47d38d10	539	* the configuration information for the specified CAN.
phungductung	0:8ede47d38d10	540	* @param Timeout: Specify Timeout value
phungductung	0:8ede47d38d10	541	* @retval HAL status
phungductung	0:8ede47d38d10	542	*/
phungductung	0:8ede47d38d10	543	HAL_StatusTypeDef HAL_CAN_Transmit(CAN_HandleTypeDef* hcan, uint32_t Timeout)
phungductung	0:8ede47d38d10	544	{
phungductung	0:8ede47d38d10	545	uint32_t transmitmailbox = 5;
phungductung	0:8ede47d38d10	546	uint32_t tickstart = 0;
phungductung	0:8ede47d38d10	547
phungductung	0:8ede47d38d10	548	/* Check the parameters */
phungductung	0:8ede47d38d10	549	assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE));
phungductung	0:8ede47d38d10	550	assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR));
phungductung	0:8ede47d38d10	551	assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC));
phungductung	0:8ede47d38d10	552
phungductung	0:8ede47d38d10	553	/* Process locked */
phungductung	0:8ede47d38d10	554	__HAL_LOCK(hcan);
phungductung	0:8ede47d38d10	555
phungductung	0:8ede47d38d10	556	if(hcan->State == HAL_CAN_STATE_BUSY_RX)
phungductung	0:8ede47d38d10	557	{
phungductung	0:8ede47d38d10	558	/* Change CAN state */
phungductung	0:8ede47d38d10	559	hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
phungductung	0:8ede47d38d10	560	}
phungductung	0:8ede47d38d10	561	else
phungductung	0:8ede47d38d10	562	{
phungductung	0:8ede47d38d10	563	/* Change CAN state */
phungductung	0:8ede47d38d10	564	hcan->State = HAL_CAN_STATE_BUSY_TX;
phungductung	0:8ede47d38d10	565	}
phungductung	0:8ede47d38d10	566
phungductung	0:8ede47d38d10	567	/* Select one empty transmit mailbox */
phungductung	0:8ede47d38d10	568	if ((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0)
phungductung	0:8ede47d38d10	569	{
phungductung	0:8ede47d38d10	570	transmitmailbox = 0;
phungductung	0:8ede47d38d10	571	}
phungductung	0:8ede47d38d10	572	else if ((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1)
phungductung	0:8ede47d38d10	573	{
phungductung	0:8ede47d38d10	574	transmitmailbox = 1;
phungductung	0:8ede47d38d10	575	}
phungductung	0:8ede47d38d10	576	else if ((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2)
phungductung	0:8ede47d38d10	577	{
phungductung	0:8ede47d38d10	578	transmitmailbox = 2;
phungductung	0:8ede47d38d10	579	}
phungductung	0:8ede47d38d10	580	else
phungductung	0:8ede47d38d10	581	{
phungductung	0:8ede47d38d10	582	transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
phungductung	0:8ede47d38d10	583	}
phungductung	0:8ede47d38d10	584
phungductung	0:8ede47d38d10	585	if (transmitmailbox != CAN_TXSTATUS_NOMAILBOX)
phungductung	0:8ede47d38d10	586	{
phungductung	0:8ede47d38d10	587	/* Set up the Id */
phungductung	0:8ede47d38d10	588	hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
phungductung	0:8ede47d38d10	589	if (hcan->pTxMsg->IDE == CAN_ID_STD)
phungductung	0:8ede47d38d10	590	{
phungductung	0:8ede47d38d10	591	assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId));
phungductung	0:8ede47d38d10	592	hcan->Instance->sTxMailBox[transmitmailbox].TIR \|= ((hcan->pTxMsg->StdId << 21) \| \
phungductung	0:8ede47d38d10	593	hcan->pTxMsg->RTR);
phungductung	0:8ede47d38d10	594	}
phungductung	0:8ede47d38d10	595	else
phungductung	0:8ede47d38d10	596	{
phungductung	0:8ede47d38d10	597	assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId));
phungductung	0:8ede47d38d10	598	hcan->Instance->sTxMailBox[transmitmailbox].TIR \|= ((hcan->pTxMsg->ExtId << 3) \| \
phungductung	0:8ede47d38d10	599	hcan->pTxMsg->IDE \| \
phungductung	0:8ede47d38d10	600	hcan->pTxMsg->RTR);
phungductung	0:8ede47d38d10	601	}
phungductung	0:8ede47d38d10	602
phungductung	0:8ede47d38d10	603	/* Set up the DLC */
phungductung	0:8ede47d38d10	604	hcan->pTxMsg->DLC &= (uint8_t)0x0000000F;
phungductung	0:8ede47d38d10	605	hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
phungductung	0:8ede47d38d10	606	hcan->Instance->sTxMailBox[transmitmailbox].TDTR \|= hcan->pTxMsg->DLC;
phungductung	0:8ede47d38d10	607
phungductung	0:8ede47d38d10	608	/* Set up the data field */
phungductung	0:8ede47d38d10	609	hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3] << 24) \|
phungductung	0:8ede47d38d10	610	((uint32_t)hcan->pTxMsg->Data[2] << 16) \|
phungductung	0:8ede47d38d10	611	((uint32_t)hcan->pTxMsg->Data[1] << 8) \|
phungductung	0:8ede47d38d10	612	((uint32_t)hcan->pTxMsg->Data[0]));
phungductung	0:8ede47d38d10	613	hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7] << 24) \|
phungductung	0:8ede47d38d10	614	((uint32_t)hcan->pTxMsg->Data[6] << 16) \|
phungductung	0:8ede47d38d10	615	((uint32_t)hcan->pTxMsg->Data[5] << 8) \|
phungductung	0:8ede47d38d10	616	((uint32_t)hcan->pTxMsg->Data[4]));
phungductung	0:8ede47d38d10	617	/* Request transmission */
phungductung	0:8ede47d38d10	618	hcan->Instance->sTxMailBox[transmitmailbox].TIR \|= CAN_TI0R_TXRQ;
phungductung	0:8ede47d38d10	619
phungductung	0:8ede47d38d10	620	/* Get tick */
phungductung	0:8ede47d38d10	621	tickstart = HAL_GetTick();
phungductung	0:8ede47d38d10	622
phungductung	0:8ede47d38d10	623	/* Check End of transmission flag */
phungductung	0:8ede47d38d10	624	while(!(__HAL_CAN_TRANSMIT_STATUS(hcan, transmitmailbox)))
phungductung	0:8ede47d38d10	625	{
phungductung	0:8ede47d38d10	626	/* Check for the Timeout */
phungductung	0:8ede47d38d10	627	if(Timeout != HAL_MAX_DELAY)
phungductung	0:8ede47d38d10	628	{
phungductung	0:8ede47d38d10	629	if((Timeout == 0)\|\|((HAL_GetTick() - tickstart ) > Timeout))
phungductung	0:8ede47d38d10	630	{
phungductung	0:8ede47d38d10	631	hcan->State = HAL_CAN_STATE_TIMEOUT;
phungductung	0:8ede47d38d10	632	/* Process unlocked */
phungductung	0:8ede47d38d10	633	__HAL_UNLOCK(hcan);
phungductung	0:8ede47d38d10	634	return HAL_TIMEOUT;
phungductung	0:8ede47d38d10	635	}
phungductung	0:8ede47d38d10	636	}
phungductung	0:8ede47d38d10	637	}
phungductung	0:8ede47d38d10	638	if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
phungductung	0:8ede47d38d10	639	{
phungductung	0:8ede47d38d10	640	/* Change CAN state */
phungductung	0:8ede47d38d10	641	hcan->State = HAL_CAN_STATE_BUSY_RX;
phungductung	0:8ede47d38d10	642
phungductung	0:8ede47d38d10	643	/* Process unlocked */
phungductung	0:8ede47d38d10	644	__HAL_UNLOCK(hcan);
phungductung	0:8ede47d38d10	645	}
phungductung	0:8ede47d38d10	646	else
phungductung	0:8ede47d38d10	647	{
phungductung	0:8ede47d38d10	648	/* Change CAN state */
phungductung	0:8ede47d38d10	649	hcan->State = HAL_CAN_STATE_READY;
phungductung	0:8ede47d38d10	650
phungductung	0:8ede47d38d10	651	/* Process unlocked */
phungductung	0:8ede47d38d10	652	__HAL_UNLOCK(hcan);
phungductung	0:8ede47d38d10	653	}
phungductung	0:8ede47d38d10	654
phungductung	0:8ede47d38d10	655	/* Return function status */
phungductung	0:8ede47d38d10	656	return HAL_OK;
phungductung	0:8ede47d38d10	657	}
phungductung	0:8ede47d38d10	658	else
phungductung	0:8ede47d38d10	659	{
phungductung	0:8ede47d38d10	660	/* Change CAN state */
phungductung	0:8ede47d38d10	661	hcan->State = HAL_CAN_STATE_ERROR;
phungductung	0:8ede47d38d10	662
phungductung	0:8ede47d38d10	663	/* Process unlocked */
phungductung	0:8ede47d38d10	664	__HAL_UNLOCK(hcan);
phungductung	0:8ede47d38d10	665
phungductung	0:8ede47d38d10	666	/* Return function status */
phungductung	0:8ede47d38d10	667	return HAL_ERROR;
phungductung	0:8ede47d38d10	668	}
phungductung	0:8ede47d38d10	669	}
phungductung	0:8ede47d38d10	670
phungductung	0:8ede47d38d10	671	/**
phungductung	0:8ede47d38d10	672	* @brief Initiates and transmits a CAN frame message.
phungductung	0:8ede47d38d10	673	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
phungductung	0:8ede47d38d10	674	* the configuration information for the specified CAN.
phungductung	0:8ede47d38d10	675	* @retval HAL status
phungductung	0:8ede47d38d10	676	*/
phungductung	0:8ede47d38d10	677	HAL_StatusTypeDef HAL_CAN_Transmit_IT(CAN_HandleTypeDef* hcan)
phungductung	0:8ede47d38d10	678	{
phungductung	0:8ede47d38d10	679	uint32_t transmitmailbox = 5;
phungductung	0:8ede47d38d10	680	uint32_t tmp = 0;
phungductung	0:8ede47d38d10	681
phungductung	0:8ede47d38d10	682	/* Check the parameters */
phungductung	0:8ede47d38d10	683	assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE));
phungductung	0:8ede47d38d10	684	assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR));
phungductung	0:8ede47d38d10	685	assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC));
phungductung	0:8ede47d38d10	686
phungductung	0:8ede47d38d10	687	tmp = hcan->State;
phungductung	0:8ede47d38d10	688	if((tmp == HAL_CAN_STATE_READY) \|\| (tmp == HAL_CAN_STATE_BUSY_RX))
phungductung	0:8ede47d38d10	689	{
phungductung	0:8ede47d38d10	690	/* Process Locked */
phungductung	0:8ede47d38d10	691	__HAL_LOCK(hcan);
phungductung	0:8ede47d38d10	692
phungductung	0:8ede47d38d10	693	/* Select one empty transmit mailbox */
phungductung	0:8ede47d38d10	694	if((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0)
phungductung	0:8ede47d38d10	695	{
phungductung	0:8ede47d38d10	696	transmitmailbox = 0;
phungductung	0:8ede47d38d10	697	}
phungductung	0:8ede47d38d10	698	else if((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1)
phungductung	0:8ede47d38d10	699	{
phungductung	0:8ede47d38d10	700	transmitmailbox = 1;
phungductung	0:8ede47d38d10	701	}
phungductung	0:8ede47d38d10	702	else if((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2)
phungductung	0:8ede47d38d10	703	{
phungductung	0:8ede47d38d10	704	transmitmailbox = 2;
phungductung	0:8ede47d38d10	705	}
phungductung	0:8ede47d38d10	706	else
phungductung	0:8ede47d38d10	707	{
phungductung	0:8ede47d38d10	708	transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
phungductung	0:8ede47d38d10	709	}
phungductung	0:8ede47d38d10	710
phungductung	0:8ede47d38d10	711	if(transmitmailbox != CAN_TXSTATUS_NOMAILBOX)
phungductung	0:8ede47d38d10	712	{
phungductung	0:8ede47d38d10	713	/* Set up the Id */
phungductung	0:8ede47d38d10	714	hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
phungductung	0:8ede47d38d10	715	if(hcan->pTxMsg->IDE == CAN_ID_STD)
phungductung	0:8ede47d38d10	716	{
phungductung	0:8ede47d38d10	717	assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId));
phungductung	0:8ede47d38d10	718	hcan->Instance->sTxMailBox[transmitmailbox].TIR \|= ((hcan->pTxMsg->StdId << 21) \| \
phungductung	0:8ede47d38d10	719	hcan->pTxMsg->RTR);
phungductung	0:8ede47d38d10	720	}
phungductung	0:8ede47d38d10	721	else
phungductung	0:8ede47d38d10	722	{
phungductung	0:8ede47d38d10	723	assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId));
phungductung	0:8ede47d38d10	724	hcan->Instance->sTxMailBox[transmitmailbox].TIR \|= ((hcan->pTxMsg->ExtId << 3) \| \
phungductung	0:8ede47d38d10	725	hcan->pTxMsg->IDE \| \
phungductung	0:8ede47d38d10	726	hcan->pTxMsg->RTR);
phungductung	0:8ede47d38d10	727	}
phungductung	0:8ede47d38d10	728
phungductung	0:8ede47d38d10	729	/* Set up the DLC */
phungductung	0:8ede47d38d10	730	hcan->pTxMsg->DLC &= (uint8_t)0x0000000F;
phungductung	0:8ede47d38d10	731	hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
phungductung	0:8ede47d38d10	732	hcan->Instance->sTxMailBox[transmitmailbox].TDTR \|= hcan->pTxMsg->DLC;
phungductung	0:8ede47d38d10	733
phungductung	0:8ede47d38d10	734	/* Set up the data field */
phungductung	0:8ede47d38d10	735	hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3] << 24) \|
phungductung	0:8ede47d38d10	736	((uint32_t)hcan->pTxMsg->Data[2] << 16) \|
phungductung	0:8ede47d38d10	737	((uint32_t)hcan->pTxMsg->Data[1] << 8) \|
phungductung	0:8ede47d38d10	738	((uint32_t)hcan->pTxMsg->Data[0]));
phungductung	0:8ede47d38d10	739	hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7] << 24) \|
phungductung	0:8ede47d38d10	740	((uint32_t)hcan->pTxMsg->Data[6] << 16) \|
phungductung	0:8ede47d38d10	741	((uint32_t)hcan->pTxMsg->Data[5] << 8) \|
phungductung	0:8ede47d38d10	742	((uint32_t)hcan->pTxMsg->Data[4]));
phungductung	0:8ede47d38d10	743
phungductung	0:8ede47d38d10	744	if(hcan->State == HAL_CAN_STATE_BUSY_RX)
phungductung	0:8ede47d38d10	745	{
phungductung	0:8ede47d38d10	746	/* Change CAN state */
phungductung	0:8ede47d38d10	747	hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
phungductung	0:8ede47d38d10	748	}
phungductung	0:8ede47d38d10	749	else
phungductung	0:8ede47d38d10	750	{
phungductung	0:8ede47d38d10	751	/* Change CAN state */
phungductung	0:8ede47d38d10	752	hcan->State = HAL_CAN_STATE_BUSY_TX;
phungductung	0:8ede47d38d10	753	}
phungductung	0:8ede47d38d10	754
phungductung	0:8ede47d38d10	755	/* Set CAN error code to none */
phungductung	0:8ede47d38d10	756	hcan->ErrorCode = HAL_CAN_ERROR_NONE;
phungductung	0:8ede47d38d10	757
phungductung	0:8ede47d38d10	758	/* Process Unlocked */
phungductung	0:8ede47d38d10	759	__HAL_UNLOCK(hcan);
phungductung	0:8ede47d38d10	760
phungductung	0:8ede47d38d10	761	/* Enable Error warning Interrupt */
phungductung	0:8ede47d38d10	762	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG);
phungductung	0:8ede47d38d10	763
phungductung	0:8ede47d38d10	764	/* Enable Error passive Interrupt */
phungductung	0:8ede47d38d10	765	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_EPV);
phungductung	0:8ede47d38d10	766
phungductung	0:8ede47d38d10	767	/* Enable Bus-off Interrupt */
phungductung	0:8ede47d38d10	768	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_BOF);
phungductung	0:8ede47d38d10	769
phungductung	0:8ede47d38d10	770	/* Enable Last error code Interrupt */
phungductung	0:8ede47d38d10	771	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_LEC);
phungductung	0:8ede47d38d10	772
phungductung	0:8ede47d38d10	773	/* Enable Error Interrupt */
phungductung	0:8ede47d38d10	774	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_ERR);
phungductung	0:8ede47d38d10	775
phungductung	0:8ede47d38d10	776	/* Enable Transmit mailbox empty Interrupt */
phungductung	0:8ede47d38d10	777	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_TME);
phungductung	0:8ede47d38d10	778
phungductung	0:8ede47d38d10	779	/* Request transmission */
phungductung	0:8ede47d38d10	780	hcan->Instance->sTxMailBox[transmitmailbox].TIR \|= CAN_TI0R_TXRQ;
phungductung	0:8ede47d38d10	781	}
phungductung	0:8ede47d38d10	782	}
phungductung	0:8ede47d38d10	783	else
phungductung	0:8ede47d38d10	784	{
phungductung	0:8ede47d38d10	785	return HAL_BUSY;
phungductung	0:8ede47d38d10	786	}
phungductung	0:8ede47d38d10	787
phungductung	0:8ede47d38d10	788	return HAL_OK;
phungductung	0:8ede47d38d10	789	}
phungductung	0:8ede47d38d10	790
phungductung	0:8ede47d38d10	791	/**
phungductung	0:8ede47d38d10	792	* @brief Receives a correct CAN frame.
phungductung	0:8ede47d38d10	793	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
phungductung	0:8ede47d38d10	794	* the configuration information for the specified CAN.
phungductung	0:8ede47d38d10	795	* @param FIFONumber: FIFO Number value
phungductung	0:8ede47d38d10	796	* @param Timeout: Specify Timeout value
phungductung	0:8ede47d38d10	797	* @retval HAL status
phungductung	0:8ede47d38d10	798	*/
phungductung	0:8ede47d38d10	799	HAL_StatusTypeDef HAL_CAN_Receive(CAN_HandleTypeDef* hcan, uint8_t FIFONumber, uint32_t Timeout)
phungductung	0:8ede47d38d10	800	{
phungductung	0:8ede47d38d10	801	uint32_t tickstart = 0;
phungductung	0:8ede47d38d10	802
phungductung	0:8ede47d38d10	803	/* Check the parameters */
phungductung	0:8ede47d38d10	804	assert_param(IS_CAN_FIFO(FIFONumber));
phungductung	0:8ede47d38d10	805
phungductung	0:8ede47d38d10	806	/* Process locked */
phungductung	0:8ede47d38d10	807	__HAL_LOCK(hcan);
phungductung	0:8ede47d38d10	808
phungductung	0:8ede47d38d10	809	if(hcan->State == HAL_CAN_STATE_BUSY_TX)
phungductung	0:8ede47d38d10	810	{
phungductung	0:8ede47d38d10	811	/* Change CAN state */
phungductung	0:8ede47d38d10	812	hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
phungductung	0:8ede47d38d10	813	}
phungductung	0:8ede47d38d10	814	else
phungductung	0:8ede47d38d10	815	{
phungductung	0:8ede47d38d10	816	/* Change CAN state */
phungductung	0:8ede47d38d10	817	hcan->State = HAL_CAN_STATE_BUSY_RX;
phungductung	0:8ede47d38d10	818	}
phungductung	0:8ede47d38d10	819
phungductung	0:8ede47d38d10	820	/* Get tick */
phungductung	0:8ede47d38d10	821	tickstart = HAL_GetTick();
phungductung	0:8ede47d38d10	822
phungductung	0:8ede47d38d10	823	/* Check pending message */
phungductung	0:8ede47d38d10	824	while(__HAL_CAN_MSG_PENDING(hcan, FIFONumber) == 0)
phungductung	0:8ede47d38d10	825	{
phungductung	0:8ede47d38d10	826	/* Check for the Timeout */
phungductung	0:8ede47d38d10	827	if(Timeout != HAL_MAX_DELAY)
phungductung	0:8ede47d38d10	828	{
phungductung	0:8ede47d38d10	829	if((Timeout == 0)\|\|((HAL_GetTick() - tickstart ) > Timeout))
phungductung	0:8ede47d38d10	830	{
phungductung	0:8ede47d38d10	831	hcan->State = HAL_CAN_STATE_TIMEOUT;
phungductung	0:8ede47d38d10	832	/* Process unlocked */
phungductung	0:8ede47d38d10	833	__HAL_UNLOCK(hcan);
phungductung	0:8ede47d38d10	834	return HAL_TIMEOUT;
phungductung	0:8ede47d38d10	835	}
phungductung	0:8ede47d38d10	836	}
phungductung	0:8ede47d38d10	837	}
phungductung	0:8ede47d38d10	838
phungductung	0:8ede47d38d10	839	/* Get the Id */
phungductung	0:8ede47d38d10	840	hcan->pRxMsg->IDE = (uint8_t)0x04 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
phungductung	0:8ede47d38d10	841	if (hcan->pRxMsg->IDE == CAN_ID_STD)
phungductung	0:8ede47d38d10	842	{
phungductung	0:8ede47d38d10	843	hcan->pRxMsg->StdId = (uint32_t)0x000007FF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 21);
phungductung	0:8ede47d38d10	844	}
phungductung	0:8ede47d38d10	845	else
phungductung	0:8ede47d38d10	846	{
phungductung	0:8ede47d38d10	847	hcan->pRxMsg->ExtId = (uint32_t)0x1FFFFFFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 3);
phungductung	0:8ede47d38d10	848	}
phungductung	0:8ede47d38d10	849
phungductung	0:8ede47d38d10	850	hcan->pRxMsg->RTR = (uint8_t)0x02 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
phungductung	0:8ede47d38d10	851	/* Get the DLC */
phungductung	0:8ede47d38d10	852	hcan->pRxMsg->DLC = (uint8_t)0x0F & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR;
phungductung	0:8ede47d38d10	853	/* Get the FMI */
phungductung	0:8ede47d38d10	854	hcan->pRxMsg->FMI = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDTR >> 8);
phungductung	0:8ede47d38d10	855	/* Get the data field */
phungductung	0:8ede47d38d10	856	hcan->pRxMsg->Data[0] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR;
phungductung	0:8ede47d38d10	857	hcan->pRxMsg->Data[1] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 8);
phungductung	0:8ede47d38d10	858	hcan->pRxMsg->Data[2] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 16);
phungductung	0:8ede47d38d10	859	hcan->pRxMsg->Data[3] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 24);
phungductung	0:8ede47d38d10	860	hcan->pRxMsg->Data[4] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR;
phungductung	0:8ede47d38d10	861	hcan->pRxMsg->Data[5] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 8);
phungductung	0:8ede47d38d10	862	hcan->pRxMsg->Data[6] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 16);
phungductung	0:8ede47d38d10	863	hcan->pRxMsg->Data[7] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 24);
phungductung	0:8ede47d38d10	864
phungductung	0:8ede47d38d10	865	/* Release the FIFO */
phungductung	0:8ede47d38d10	866	if(FIFONumber == CAN_FIFO0)
phungductung	0:8ede47d38d10	867	{
phungductung	0:8ede47d38d10	868	/* Release FIFO0 */
phungductung	0:8ede47d38d10	869	__HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0);
phungductung	0:8ede47d38d10	870	}
phungductung	0:8ede47d38d10	871	else /* FIFONumber == CAN_FIFO1 */
phungductung	0:8ede47d38d10	872	{
phungductung	0:8ede47d38d10	873	/* Release FIFO1 */
phungductung	0:8ede47d38d10	874	__HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1);
phungductung	0:8ede47d38d10	875	}
phungductung	0:8ede47d38d10	876
phungductung	0:8ede47d38d10	877	if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
phungductung	0:8ede47d38d10	878	{
phungductung	0:8ede47d38d10	879	/* Change CAN state */
phungductung	0:8ede47d38d10	880	hcan->State = HAL_CAN_STATE_BUSY_TX;
phungductung	0:8ede47d38d10	881
phungductung	0:8ede47d38d10	882	/* Process unlocked */
phungductung	0:8ede47d38d10	883	__HAL_UNLOCK(hcan);
phungductung	0:8ede47d38d10	884	}
phungductung	0:8ede47d38d10	885	else
phungductung	0:8ede47d38d10	886	{
phungductung	0:8ede47d38d10	887	/* Change CAN state */
phungductung	0:8ede47d38d10	888	hcan->State = HAL_CAN_STATE_READY;
phungductung	0:8ede47d38d10	889
phungductung	0:8ede47d38d10	890	/* Process unlocked */
phungductung	0:8ede47d38d10	891	__HAL_UNLOCK(hcan);
phungductung	0:8ede47d38d10	892	}
phungductung	0:8ede47d38d10	893
phungductung	0:8ede47d38d10	894	/* Return function status */
phungductung	0:8ede47d38d10	895	return HAL_OK;
phungductung	0:8ede47d38d10	896	}
phungductung	0:8ede47d38d10	897
phungductung	0:8ede47d38d10	898	/**
phungductung	0:8ede47d38d10	899	* @brief Receives a correct CAN frame.
phungductung	0:8ede47d38d10	900	* @param hcan: Pointer to a CAN_HandleTypeDef structure that contains
phungductung	0:8ede47d38d10	901	* the configuration information for the specified CAN.
phungductung	0:8ede47d38d10	902	* @param FIFONumber: Specify the FIFO number
phungductung	0:8ede47d38d10	903	* @retval HAL status
phungductung	0:8ede47d38d10	904	*/
phungductung	0:8ede47d38d10	905	HAL_StatusTypeDef HAL_CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber)
phungductung	0:8ede47d38d10	906	{
phungductung	0:8ede47d38d10	907	uint32_t tmp = 0;
phungductung	0:8ede47d38d10	908
phungductung	0:8ede47d38d10	909	/* Check the parameters */
phungductung	0:8ede47d38d10	910	assert_param(IS_CAN_FIFO(FIFONumber));
phungductung	0:8ede47d38d10	911
phungductung	0:8ede47d38d10	912	tmp = hcan->State;
phungductung	0:8ede47d38d10	913	if((tmp == HAL_CAN_STATE_READY) \|\| (tmp == HAL_CAN_STATE_BUSY_TX))
phungductung	0:8ede47d38d10	914	{
phungductung	0:8ede47d38d10	915	/* Process locked */
phungductung	0:8ede47d38d10	916	__HAL_LOCK(hcan);
phungductung	0:8ede47d38d10	917
phungductung	0:8ede47d38d10	918	if(hcan->State == HAL_CAN_STATE_BUSY_TX)
phungductung	0:8ede47d38d10	919	{
phungductung	0:8ede47d38d10	920	/* Change CAN state */
phungductung	0:8ede47d38d10	921	hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
phungductung	0:8ede47d38d10	922	}
phungductung	0:8ede47d38d10	923	else
phungductung	0:8ede47d38d10	924	{
phungductung	0:8ede47d38d10	925	/* Change CAN state */
phungductung	0:8ede47d38d10	926	hcan->State = HAL_CAN_STATE_BUSY_RX;
phungductung	0:8ede47d38d10	927	}
phungductung	0:8ede47d38d10	928
phungductung	0:8ede47d38d10	929	/* Set CAN error code to none */
phungductung	0:8ede47d38d10	930	hcan->ErrorCode = HAL_CAN_ERROR_NONE;
phungductung	0:8ede47d38d10	931
phungductung	0:8ede47d38d10	932	/* Enable Error warning Interrupt */
phungductung	0:8ede47d38d10	933	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG);
phungductung	0:8ede47d38d10	934
phungductung	0:8ede47d38d10	935	/* Enable Error passive Interrupt */
phungductung	0:8ede47d38d10	936	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_EPV);
phungductung	0:8ede47d38d10	937
phungductung	0:8ede47d38d10	938	/* Enable Bus-off Interrupt */
phungductung	0:8ede47d38d10	939	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_BOF);
phungductung	0:8ede47d38d10	940
phungductung	0:8ede47d38d10	941	/* Enable Last error code Interrupt */
phungductung	0:8ede47d38d10	942	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_LEC);
phungductung	0:8ede47d38d10	943
phungductung	0:8ede47d38d10	944	/* Enable Error Interrupt */
phungductung	0:8ede47d38d10	945	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_ERR);
phungductung	0:8ede47d38d10	946
phungductung	0:8ede47d38d10	947	/* Process unlocked */
phungductung	0:8ede47d38d10	948	__HAL_UNLOCK(hcan);
phungductung	0:8ede47d38d10	949
phungductung	0:8ede47d38d10	950	if(FIFONumber == CAN_FIFO0)
phungductung	0:8ede47d38d10	951	{
phungductung	0:8ede47d38d10	952	/* Enable FIFO 0 message pending Interrupt */
phungductung	0:8ede47d38d10	953	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_FMP0);
phungductung	0:8ede47d38d10	954	}
phungductung	0:8ede47d38d10	955	else
phungductung	0:8ede47d38d10	956	{
phungductung	0:8ede47d38d10	957	/* Enable FIFO 1 message pending Interrupt */
phungductung	0:8ede47d38d10	958	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_FMP1);
phungductung	0:8ede47d38d10	959	}
phungductung	0:8ede47d38d10	960
phungductung	0:8ede47d38d10	961	}
phungductung	0:8ede47d38d10	962	else
phungductung	0:8ede47d38d10	963	{
phungductung	0:8ede47d38d10	964	return HAL_BUSY;
phungductung	0:8ede47d38d10	965	}
phungductung	0:8ede47d38d10	966
phungductung	0:8ede47d38d10	967	/* Return function status */
phungductung	0:8ede47d38d10	968	return HAL_OK;
phungductung	0:8ede47d38d10	969	}
phungductung	0:8ede47d38d10	970
phungductung	0:8ede47d38d10	971	/**
phungductung	0:8ede47d38d10	972	* @brief Enters the Sleep (low power) mode.
phungductung	0:8ede47d38d10	973	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
phungductung	0:8ede47d38d10	974	* the configuration information for the specified CAN.
phungductung	0:8ede47d38d10	975	* @retval HAL status.
phungductung	0:8ede47d38d10	976	*/
phungductung	0:8ede47d38d10	977	HAL_StatusTypeDef HAL_CAN_Sleep(CAN_HandleTypeDef* hcan)
phungductung	0:8ede47d38d10	978	{
phungductung	0:8ede47d38d10	979	uint32_t tickstart = 0;
phungductung	0:8ede47d38d10	980
phungductung	0:8ede47d38d10	981	/* Process locked */
phungductung	0:8ede47d38d10	982	__HAL_LOCK(hcan);
phungductung	0:8ede47d38d10	983
phungductung	0:8ede47d38d10	984	/* Change CAN state */
phungductung	0:8ede47d38d10	985	hcan->State = HAL_CAN_STATE_BUSY;
phungductung	0:8ede47d38d10	986
phungductung	0:8ede47d38d10	987	/* Request Sleep mode */
phungductung	0:8ede47d38d10	988	hcan->Instance->MCR = (((hcan->Instance->MCR) & (uint32_t)(~(uint32_t)CAN_MCR_INRQ)) \| CAN_MCR_SLEEP);
phungductung	0:8ede47d38d10	989
phungductung	0:8ede47d38d10	990	/* Sleep mode status */
phungductung	0:8ede47d38d10	991	if ((hcan->Instance->MSR & (CAN_MSR_SLAK\|CAN_MSR_INAK)) != CAN_MSR_SLAK)
phungductung	0:8ede47d38d10	992	{
phungductung	0:8ede47d38d10	993	/* Process unlocked */
phungductung	0:8ede47d38d10	994	__HAL_UNLOCK(hcan);
phungductung	0:8ede47d38d10	995
phungductung	0:8ede47d38d10	996	/* Return function status */
phungductung	0:8ede47d38d10	997	return HAL_ERROR;
phungductung	0:8ede47d38d10	998	}
phungductung	0:8ede47d38d10	999
phungductung	0:8ede47d38d10	1000	/* Get tick */
phungductung	0:8ede47d38d10	1001	tickstart = HAL_GetTick();
phungductung	0:8ede47d38d10	1002
phungductung	0:8ede47d38d10	1003	/* Wait the acknowledge */
phungductung	0:8ede47d38d10	1004	while((hcan->Instance->MSR & (CAN_MSR_SLAK\|CAN_MSR_INAK)) != CAN_MSR_SLAK)
phungductung	0:8ede47d38d10	1005	{
phungductung	0:8ede47d38d10	1006	if((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
phungductung	0:8ede47d38d10	1007	{
phungductung	0:8ede47d38d10	1008	hcan->State = HAL_CAN_STATE_TIMEOUT;
phungductung	0:8ede47d38d10	1009	/* Process unlocked */
phungductung	0:8ede47d38d10	1010	__HAL_UNLOCK(hcan);
phungductung	0:8ede47d38d10	1011	return HAL_TIMEOUT;
phungductung	0:8ede47d38d10	1012	}
phungductung	0:8ede47d38d10	1013	}
phungductung	0:8ede47d38d10	1014
phungductung	0:8ede47d38d10	1015	/* Change CAN state */
phungductung	0:8ede47d38d10	1016	hcan->State = HAL_CAN_STATE_READY;
phungductung	0:8ede47d38d10	1017
phungductung	0:8ede47d38d10	1018	/* Process unlocked */
phungductung	0:8ede47d38d10	1019	__HAL_UNLOCK(hcan);
phungductung	0:8ede47d38d10	1020
phungductung	0:8ede47d38d10	1021	/* Return function status */
phungductung	0:8ede47d38d10	1022	return HAL_OK;
phungductung	0:8ede47d38d10	1023	}
phungductung	0:8ede47d38d10	1024
phungductung	0:8ede47d38d10	1025	/**
phungductung	0:8ede47d38d10	1026	* @brief Wakes up the CAN peripheral from sleep mode, after that the CAN peripheral
phungductung	0:8ede47d38d10	1027	* is in the normal mode.
phungductung	0:8ede47d38d10	1028	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
phungductung	0:8ede47d38d10	1029	* the configuration information for the specified CAN.
phungductung	0:8ede47d38d10	1030	* @retval HAL status.
phungductung	0:8ede47d38d10	1031	*/
phungductung	0:8ede47d38d10	1032	HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef* hcan)
phungductung	0:8ede47d38d10	1033	{
phungductung	0:8ede47d38d10	1034	uint32_t tickstart = 0;
phungductung	0:8ede47d38d10	1035
phungductung	0:8ede47d38d10	1036	/* Process locked */
phungductung	0:8ede47d38d10	1037	__HAL_LOCK(hcan);
phungductung	0:8ede47d38d10	1038
phungductung	0:8ede47d38d10	1039	/* Change CAN state */
phungductung	0:8ede47d38d10	1040	hcan->State = HAL_CAN_STATE_BUSY;
phungductung	0:8ede47d38d10	1041
phungductung	0:8ede47d38d10	1042	/* Wake up request */
phungductung	0:8ede47d38d10	1043	hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_SLEEP;
phungductung	0:8ede47d38d10	1044
phungductung	0:8ede47d38d10	1045	/* Get tick */
phungductung	0:8ede47d38d10	1046	tickstart = HAL_GetTick();
phungductung	0:8ede47d38d10	1047
phungductung	0:8ede47d38d10	1048	/* Sleep mode status */
phungductung	0:8ede47d38d10	1049	while((hcan->Instance->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK)
phungductung	0:8ede47d38d10	1050	{
phungductung	0:8ede47d38d10	1051	if((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
phungductung	0:8ede47d38d10	1052	{
phungductung	0:8ede47d38d10	1053	hcan->State= HAL_CAN_STATE_TIMEOUT;
phungductung	0:8ede47d38d10	1054	/* Process unlocked */
phungductung	0:8ede47d38d10	1055	__HAL_UNLOCK(hcan);
phungductung	0:8ede47d38d10	1056	return HAL_TIMEOUT;
phungductung	0:8ede47d38d10	1057	}
phungductung	0:8ede47d38d10	1058	}
phungductung	0:8ede47d38d10	1059	if((hcan->Instance->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK)
phungductung	0:8ede47d38d10	1060	{
phungductung	0:8ede47d38d10	1061	/* Process unlocked */
phungductung	0:8ede47d38d10	1062	__HAL_UNLOCK(hcan);
phungductung	0:8ede47d38d10	1063
phungductung	0:8ede47d38d10	1064	/* Return function status */
phungductung	0:8ede47d38d10	1065	return HAL_ERROR;
phungductung	0:8ede47d38d10	1066	}
phungductung	0:8ede47d38d10	1067
phungductung	0:8ede47d38d10	1068	/* Change CAN state */
phungductung	0:8ede47d38d10	1069	hcan->State = HAL_CAN_STATE_READY;
phungductung	0:8ede47d38d10	1070
phungductung	0:8ede47d38d10	1071	/* Process unlocked */
phungductung	0:8ede47d38d10	1072	__HAL_UNLOCK(hcan);
phungductung	0:8ede47d38d10	1073
phungductung	0:8ede47d38d10	1074	/* Return function status */
phungductung	0:8ede47d38d10	1075	return HAL_OK;
phungductung	0:8ede47d38d10	1076	}
phungductung	0:8ede47d38d10	1077
phungductung	0:8ede47d38d10	1078	/**
phungductung	0:8ede47d38d10	1079	* @brief Handles CAN interrupt request
phungductung	0:8ede47d38d10	1080	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
phungductung	0:8ede47d38d10	1081	* the configuration information for the specified CAN.
phungductung	0:8ede47d38d10	1082	* @retval None
phungductung	0:8ede47d38d10	1083	*/
phungductung	0:8ede47d38d10	1084	void HAL_CAN_IRQHandler(CAN_HandleTypeDef* hcan)
phungductung	0:8ede47d38d10	1085	{
phungductung	0:8ede47d38d10	1086	uint32_t tmp1 = 0, tmp2 = 0, tmp3 = 0;
phungductung	0:8ede47d38d10	1087
phungductung	0:8ede47d38d10	1088	/* Check End of transmission flag */
phungductung	0:8ede47d38d10	1089	if(__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_TME))
phungductung	0:8ede47d38d10	1090	{
phungductung	0:8ede47d38d10	1091	tmp1 = __HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_0);
phungductung	0:8ede47d38d10	1092	tmp2 = __HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_1);
phungductung	0:8ede47d38d10	1093	tmp3 = __HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_2);
phungductung	0:8ede47d38d10	1094	if(tmp1 \|\| tmp2 \|\| tmp3)
phungductung	0:8ede47d38d10	1095	{
phungductung	0:8ede47d38d10	1096	/* Call transmit function */
phungductung	0:8ede47d38d10	1097	CAN_Transmit_IT(hcan);
phungductung	0:8ede47d38d10	1098	}
phungductung	0:8ede47d38d10	1099	}
phungductung	0:8ede47d38d10	1100
phungductung	0:8ede47d38d10	1101	tmp1 = __HAL_CAN_MSG_PENDING(hcan, CAN_FIFO0);
phungductung	0:8ede47d38d10	1102	tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP0);
phungductung	0:8ede47d38d10	1103	/* Check End of reception flag for FIFO0 */
phungductung	0:8ede47d38d10	1104	if((tmp1 != 0) && tmp2)
phungductung	0:8ede47d38d10	1105	{
phungductung	0:8ede47d38d10	1106	/* Call receive function */
phungductung	0:8ede47d38d10	1107	CAN_Receive_IT(hcan, CAN_FIFO0);
phungductung	0:8ede47d38d10	1108	}
phungductung	0:8ede47d38d10	1109
phungductung	0:8ede47d38d10	1110	tmp1 = __HAL_CAN_MSG_PENDING(hcan, CAN_FIFO1);
phungductung	0:8ede47d38d10	1111	tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP1);
phungductung	0:8ede47d38d10	1112	/* Check End of reception flag for FIFO1 */
phungductung	0:8ede47d38d10	1113	if((tmp1 != 0) && tmp2)
phungductung	0:8ede47d38d10	1114	{
phungductung	0:8ede47d38d10	1115	/* Call receive function */
phungductung	0:8ede47d38d10	1116	CAN_Receive_IT(hcan, CAN_FIFO1);
phungductung	0:8ede47d38d10	1117	}
phungductung	0:8ede47d38d10	1118
phungductung	0:8ede47d38d10	1119	tmp1 = __HAL_CAN_GET_FLAG(hcan, CAN_FLAG_EWG);
phungductung	0:8ede47d38d10	1120	tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_EWG);
phungductung	0:8ede47d38d10	1121	tmp3 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR);
phungductung	0:8ede47d38d10	1122	/* Check Error Warning Flag */
phungductung	0:8ede47d38d10	1123	if(tmp1 && tmp2 && tmp3)
phungductung	0:8ede47d38d10	1124	{
phungductung	0:8ede47d38d10	1125	/* Set CAN error code to EWG error */
phungductung	0:8ede47d38d10	1126	hcan->ErrorCode \|= HAL_CAN_ERROR_EWG;
phungductung	0:8ede47d38d10	1127	}
phungductung	0:8ede47d38d10	1128
phungductung	0:8ede47d38d10	1129	tmp1 = __HAL_CAN_GET_FLAG(hcan, CAN_FLAG_EPV);
phungductung	0:8ede47d38d10	1130	tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_EPV);
phungductung	0:8ede47d38d10	1131	tmp3 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR);
phungductung	0:8ede47d38d10	1132	/* Check Error Passive Flag */
phungductung	0:8ede47d38d10	1133	if(tmp1 && tmp2 && tmp3)
phungductung	0:8ede47d38d10	1134	{
phungductung	0:8ede47d38d10	1135	/* Set CAN error code to EPV error */
phungductung	0:8ede47d38d10	1136	hcan->ErrorCode \|= HAL_CAN_ERROR_EPV;
phungductung	0:8ede47d38d10	1137	}
phungductung	0:8ede47d38d10	1138
phungductung	0:8ede47d38d10	1139	tmp1 = __HAL_CAN_GET_FLAG(hcan, CAN_FLAG_BOF);
phungductung	0:8ede47d38d10	1140	tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_BOF);
phungductung	0:8ede47d38d10	1141	tmp3 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR);
phungductung	0:8ede47d38d10	1142	/* Check Bus-Off Flag */
phungductung	0:8ede47d38d10	1143	if(tmp1 && tmp2 && tmp3)
phungductung	0:8ede47d38d10	1144	{
phungductung	0:8ede47d38d10	1145	/* Set CAN error code to BOF error */
phungductung	0:8ede47d38d10	1146	hcan->ErrorCode \|= HAL_CAN_ERROR_BOF;
phungductung	0:8ede47d38d10	1147	}
phungductung	0:8ede47d38d10	1148
phungductung	0:8ede47d38d10	1149	tmp1 = HAL_IS_BIT_CLR(hcan->Instance->ESR, CAN_ESR_LEC);
phungductung	0:8ede47d38d10	1150	tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_LEC);
phungductung	0:8ede47d38d10	1151	tmp3 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR);
phungductung	0:8ede47d38d10	1152	/* Check Last error code Flag */
phungductung	0:8ede47d38d10	1153	if((!tmp1) && tmp2 && tmp3)
phungductung	0:8ede47d38d10	1154	{
phungductung	0:8ede47d38d10	1155	tmp1 = (hcan->Instance->ESR) & CAN_ESR_LEC;
phungductung	0:8ede47d38d10	1156	switch(tmp1)
phungductung	0:8ede47d38d10	1157	{
phungductung	0:8ede47d38d10	1158	case(CAN_ESR_LEC_0):
phungductung	0:8ede47d38d10	1159	/* Set CAN error code to STF error */
phungductung	0:8ede47d38d10	1160	hcan->ErrorCode \|= HAL_CAN_ERROR_STF;
phungductung	0:8ede47d38d10	1161	break;
phungductung	0:8ede47d38d10	1162	case(CAN_ESR_LEC_1):
phungductung	0:8ede47d38d10	1163	/* Set CAN error code to FOR error */
phungductung	0:8ede47d38d10	1164	hcan->ErrorCode \|= HAL_CAN_ERROR_FOR;
phungductung	0:8ede47d38d10	1165	break;
phungductung	0:8ede47d38d10	1166	case(CAN_ESR_LEC_1 \| CAN_ESR_LEC_0):
phungductung	0:8ede47d38d10	1167	/* Set CAN error code to ACK error */
phungductung	0:8ede47d38d10	1168	hcan->ErrorCode \|= HAL_CAN_ERROR_ACK;
phungductung	0:8ede47d38d10	1169	break;
phungductung	0:8ede47d38d10	1170	case(CAN_ESR_LEC_2):
phungductung	0:8ede47d38d10	1171	/* Set CAN error code to BR error */
phungductung	0:8ede47d38d10	1172	hcan->ErrorCode \|= HAL_CAN_ERROR_BR;
phungductung	0:8ede47d38d10	1173	break;
phungductung	0:8ede47d38d10	1174	case(CAN_ESR_LEC_2 \| CAN_ESR_LEC_0):
phungductung	0:8ede47d38d10	1175	/* Set CAN error code to BD error */
phungductung	0:8ede47d38d10	1176	hcan->ErrorCode \|= HAL_CAN_ERROR_BD;
phungductung	0:8ede47d38d10	1177	break;
phungductung	0:8ede47d38d10	1178	case(CAN_ESR_LEC_2 \| CAN_ESR_LEC_1):
phungductung	0:8ede47d38d10	1179	/* Set CAN error code to CRC error */
phungductung	0:8ede47d38d10	1180	hcan->ErrorCode \|= HAL_CAN_ERROR_CRC;
phungductung	0:8ede47d38d10	1181	break;
phungductung	0:8ede47d38d10	1182	default:
phungductung	0:8ede47d38d10	1183	break;
phungductung	0:8ede47d38d10	1184	}
phungductung	0:8ede47d38d10	1185
phungductung	0:8ede47d38d10	1186	/* Clear Last error code Flag */
phungductung	0:8ede47d38d10	1187	hcan->Instance->ESR &= ~(CAN_ESR_LEC);
phungductung	0:8ede47d38d10	1188	}
phungductung	0:8ede47d38d10	1189
phungductung	0:8ede47d38d10	1190	/* Call the Error call Back in case of Errors */
phungductung	0:8ede47d38d10	1191	if(hcan->ErrorCode != HAL_CAN_ERROR_NONE)
phungductung	0:8ede47d38d10	1192	{
phungductung	0:8ede47d38d10	1193	/* Clear ERRI Flag */
phungductung	0:8ede47d38d10	1194	hcan->Instance->MSR = CAN_MSR_ERRI;
phungductung	0:8ede47d38d10	1195	/* Set the CAN state ready to be able to start again the process */
phungductung	0:8ede47d38d10	1196	hcan->State = HAL_CAN_STATE_READY;
phungductung	0:8ede47d38d10	1197	/* Call Error callback function */
phungductung	0:8ede47d38d10	1198	HAL_CAN_ErrorCallback(hcan);
phungductung	0:8ede47d38d10	1199	}
phungductung	0:8ede47d38d10	1200	}
phungductung	0:8ede47d38d10	1201
phungductung	0:8ede47d38d10	1202	/**
phungductung	0:8ede47d38d10	1203	* @brief Transmission complete callback in non blocking mode
phungductung	0:8ede47d38d10	1204	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
phungductung	0:8ede47d38d10	1205	* the configuration information for the specified CAN.
phungductung	0:8ede47d38d10	1206	* @retval None
phungductung	0:8ede47d38d10	1207	*/
phungductung	0:8ede47d38d10	1208	__weak void HAL_CAN_TxCpltCallback(CAN_HandleTypeDef* hcan)
phungductung	0:8ede47d38d10	1209	{
phungductung	0:8ede47d38d10	1210	/* Prevent unused argument(s) compilation warning */
phungductung	0:8ede47d38d10	1211	UNUSED(hcan);
phungductung	0:8ede47d38d10	1212	/* NOTE : This function Should not be modified, when the callback is needed,
phungductung	0:8ede47d38d10	1213	the HAL_CAN_TxCpltCallback could be implemented in the user file
phungductung	0:8ede47d38d10	1214	*/
phungductung	0:8ede47d38d10	1215	}
phungductung	0:8ede47d38d10	1216
phungductung	0:8ede47d38d10	1217	/**
phungductung	0:8ede47d38d10	1218	* @brief Transmission complete callback in non blocking mode
phungductung	0:8ede47d38d10	1219	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
phungductung	0:8ede47d38d10	1220	* the configuration information for the specified CAN.
phungductung	0:8ede47d38d10	1221	* @retval None
phungductung	0:8ede47d38d10	1222	*/
phungductung	0:8ede47d38d10	1223	__weak void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan)
phungductung	0:8ede47d38d10	1224	{
phungductung	0:8ede47d38d10	1225	/* Prevent unused argument(s) compilation warning */
phungductung	0:8ede47d38d10	1226	UNUSED(hcan);
phungductung	0:8ede47d38d10	1227	/* NOTE : This function Should not be modified, when the callback is needed,
phungductung	0:8ede47d38d10	1228	the HAL_CAN_RxCpltCallback could be implemented in the user file
phungductung	0:8ede47d38d10	1229	*/
phungductung	0:8ede47d38d10	1230	}
phungductung	0:8ede47d38d10	1231
phungductung	0:8ede47d38d10	1232	/**
phungductung	0:8ede47d38d10	1233	* @brief Error CAN callback.
phungductung	0:8ede47d38d10	1234	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
phungductung	0:8ede47d38d10	1235	* the configuration information for the specified CAN.
phungductung	0:8ede47d38d10	1236	* @retval None
phungductung	0:8ede47d38d10	1237	*/
phungductung	0:8ede47d38d10	1238	__weak void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan)
phungductung	0:8ede47d38d10	1239	{
phungductung	0:8ede47d38d10	1240	/* Prevent unused argument(s) compilation warning */
phungductung	0:8ede47d38d10	1241	UNUSED(hcan);
phungductung	0:8ede47d38d10	1242	/* NOTE : This function Should not be modified, when the callback is needed,
phungductung	0:8ede47d38d10	1243	the HAL_CAN_ErrorCallback could be implemented in the user file
phungductung	0:8ede47d38d10	1244	*/
phungductung	0:8ede47d38d10	1245	}
phungductung	0:8ede47d38d10	1246
phungductung	0:8ede47d38d10	1247	/**
phungductung	0:8ede47d38d10	1248	* @}
phungductung	0:8ede47d38d10	1249	*/
phungductung	0:8ede47d38d10	1250
phungductung	0:8ede47d38d10	1251	/** @defgroup CAN_Exported_Functions_Group3 Peripheral State and Error functions
phungductung	0:8ede47d38d10	1252	* @brief CAN Peripheral State functions
phungductung	0:8ede47d38d10	1253	*
phungductung	0:8ede47d38d10	1254	@verbatim
phungductung	0:8ede47d38d10	1255	==============================================================================
phungductung	0:8ede47d38d10	1256	##### Peripheral State and Error functions #####
phungductung	0:8ede47d38d10	1257	==============================================================================
phungductung	0:8ede47d38d10	1258	[..]
phungductung	0:8ede47d38d10	1259	This subsection provides functions allowing to :
phungductung	0:8ede47d38d10	1260	(+) Check the CAN state.
phungductung	0:8ede47d38d10	1261	(+) Check CAN Errors detected during interrupt process
phungductung	0:8ede47d38d10	1262
phungductung	0:8ede47d38d10	1263	@endverbatim
phungductung	0:8ede47d38d10	1264	* @{
phungductung	0:8ede47d38d10	1265	*/
phungductung	0:8ede47d38d10	1266
phungductung	0:8ede47d38d10	1267	/**
phungductung	0:8ede47d38d10	1268	* @brief return the CAN state
phungductung	0:8ede47d38d10	1269	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
phungductung	0:8ede47d38d10	1270	* the configuration information for the specified CAN.
phungductung	0:8ede47d38d10	1271	* @retval HAL state
phungductung	0:8ede47d38d10	1272	*/
phungductung	0:8ede47d38d10	1273	HAL_CAN_StateTypeDef HAL_CAN_GetState(CAN_HandleTypeDef* hcan)
phungductung	0:8ede47d38d10	1274	{
phungductung	0:8ede47d38d10	1275	/* Return CAN state */
phungductung	0:8ede47d38d10	1276	return hcan->State;
phungductung	0:8ede47d38d10	1277	}
phungductung	0:8ede47d38d10	1278
phungductung	0:8ede47d38d10	1279	/**
phungductung	0:8ede47d38d10	1280	* @brief Return the CAN error code
phungductung	0:8ede47d38d10	1281	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
phungductung	0:8ede47d38d10	1282	* the configuration information for the specified CAN.
phungductung	0:8ede47d38d10	1283	* @retval CAN Error Code
phungductung	0:8ede47d38d10	1284	*/
phungductung	0:8ede47d38d10	1285	uint32_t HAL_CAN_GetError(CAN_HandleTypeDef *hcan)
phungductung	0:8ede47d38d10	1286	{
phungductung	0:8ede47d38d10	1287	return hcan->ErrorCode;
phungductung	0:8ede47d38d10	1288	}
phungductung	0:8ede47d38d10	1289
phungductung	0:8ede47d38d10	1290	/**
phungductung	0:8ede47d38d10	1291	* @}
phungductung	0:8ede47d38d10	1292	*/
phungductung	0:8ede47d38d10	1293	/**
phungductung	0:8ede47d38d10	1294	* @brief Initiates and transmits a CAN frame message.
phungductung	0:8ede47d38d10	1295	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
phungductung	0:8ede47d38d10	1296	* the configuration information for the specified CAN.
phungductung	0:8ede47d38d10	1297	* @retval HAL status
phungductung	0:8ede47d38d10	1298	*/
phungductung	0:8ede47d38d10	1299	static HAL_StatusTypeDef CAN_Transmit_IT(CAN_HandleTypeDef* hcan)
phungductung	0:8ede47d38d10	1300	{
phungductung	0:8ede47d38d10	1301	/* Disable Transmit mailbox empty Interrupt */
phungductung	0:8ede47d38d10	1302	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_TME);
phungductung	0:8ede47d38d10	1303
phungductung	0:8ede47d38d10	1304	if(hcan->State == HAL_CAN_STATE_BUSY_TX)
phungductung	0:8ede47d38d10	1305	{
phungductung	0:8ede47d38d10	1306	/* Disable Error warning Interrupt */
phungductung	0:8ede47d38d10	1307	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG);
phungductung	0:8ede47d38d10	1308
phungductung	0:8ede47d38d10	1309	/* Disable Error passive Interrupt */
phungductung	0:8ede47d38d10	1310	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_EPV);
phungductung	0:8ede47d38d10	1311
phungductung	0:8ede47d38d10	1312	/* Disable Bus-off Interrupt */
phungductung	0:8ede47d38d10	1313	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_BOF);
phungductung	0:8ede47d38d10	1314
phungductung	0:8ede47d38d10	1315	/* Disable Last error code Interrupt */
phungductung	0:8ede47d38d10	1316	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_LEC);
phungductung	0:8ede47d38d10	1317
phungductung	0:8ede47d38d10	1318	/* Disable Error Interrupt */
phungductung	0:8ede47d38d10	1319	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_ERR);
phungductung	0:8ede47d38d10	1320	}
phungductung	0:8ede47d38d10	1321
phungductung	0:8ede47d38d10	1322	if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
phungductung	0:8ede47d38d10	1323	{
phungductung	0:8ede47d38d10	1324	/* Change CAN state */
phungductung	0:8ede47d38d10	1325	hcan->State = HAL_CAN_STATE_BUSY_RX;
phungductung	0:8ede47d38d10	1326	}
phungductung	0:8ede47d38d10	1327	else
phungductung	0:8ede47d38d10	1328	{
phungductung	0:8ede47d38d10	1329	/* Change CAN state */
phungductung	0:8ede47d38d10	1330	hcan->State = HAL_CAN_STATE_READY;
phungductung	0:8ede47d38d10	1331	}
phungductung	0:8ede47d38d10	1332
phungductung	0:8ede47d38d10	1333	/* Transmission complete callback */
phungductung	0:8ede47d38d10	1334	HAL_CAN_TxCpltCallback(hcan);
phungductung	0:8ede47d38d10	1335
phungductung	0:8ede47d38d10	1336	return HAL_OK;
phungductung	0:8ede47d38d10	1337	}
phungductung	0:8ede47d38d10	1338
phungductung	0:8ede47d38d10	1339	/**
phungductung	0:8ede47d38d10	1340	* @brief Receives a correct CAN frame.
phungductung	0:8ede47d38d10	1341	* @param hcan: Pointer to a CAN_HandleTypeDef structure that contains
phungductung	0:8ede47d38d10	1342	* the configuration information for the specified CAN.
phungductung	0:8ede47d38d10	1343	* @param FIFONumber: Specify the FIFO number
phungductung	0:8ede47d38d10	1344	* @retval HAL status
phungductung	0:8ede47d38d10	1345	* @retval None
phungductung	0:8ede47d38d10	1346	*/
phungductung	0:8ede47d38d10	1347	static HAL_StatusTypeDef CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber)
phungductung	0:8ede47d38d10	1348	{
phungductung	0:8ede47d38d10	1349	/* Get the Id */
phungductung	0:8ede47d38d10	1350	hcan->pRxMsg->IDE = (uint8_t)0x04 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
phungductung	0:8ede47d38d10	1351	if (hcan->pRxMsg->IDE == CAN_ID_STD)
phungductung	0:8ede47d38d10	1352	{
phungductung	0:8ede47d38d10	1353	hcan->pRxMsg->StdId = (uint32_t)0x000007FF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 21);
phungductung	0:8ede47d38d10	1354	}
phungductung	0:8ede47d38d10	1355	else
phungductung	0:8ede47d38d10	1356	{
phungductung	0:8ede47d38d10	1357	hcan->pRxMsg->ExtId = (uint32_t)0x1FFFFFFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 3);
phungductung	0:8ede47d38d10	1358	}
phungductung	0:8ede47d38d10	1359
phungductung	0:8ede47d38d10	1360	hcan->pRxMsg->RTR = (uint8_t)0x02 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
phungductung	0:8ede47d38d10	1361	/* Get the DLC */
phungductung	0:8ede47d38d10	1362	hcan->pRxMsg->DLC = (uint8_t)0x0F & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR;
phungductung	0:8ede47d38d10	1363	/* Get the FMI */
phungductung	0:8ede47d38d10	1364	hcan->pRxMsg->FMI = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDTR >> 8);
phungductung	0:8ede47d38d10	1365	/* Get the data field */
phungductung	0:8ede47d38d10	1366	hcan->pRxMsg->Data[0] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR;
phungductung	0:8ede47d38d10	1367	hcan->pRxMsg->Data[1] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 8);
phungductung	0:8ede47d38d10	1368	hcan->pRxMsg->Data[2] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 16);
phungductung	0:8ede47d38d10	1369	hcan->pRxMsg->Data[3] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 24);
phungductung	0:8ede47d38d10	1370	hcan->pRxMsg->Data[4] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR;
phungductung	0:8ede47d38d10	1371	hcan->pRxMsg->Data[5] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 8);
phungductung	0:8ede47d38d10	1372	hcan->pRxMsg->Data[6] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 16);
phungductung	0:8ede47d38d10	1373	hcan->pRxMsg->Data[7] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 24);
phungductung	0:8ede47d38d10	1374	/* Release the FIFO */
phungductung	0:8ede47d38d10	1375	/* Release FIFO0 */
phungductung	0:8ede47d38d10	1376	if (FIFONumber == CAN_FIFO0)
phungductung	0:8ede47d38d10	1377	{
phungductung	0:8ede47d38d10	1378	__HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0);
phungductung	0:8ede47d38d10	1379
phungductung	0:8ede47d38d10	1380	/* Disable FIFO 0 message pending Interrupt */
phungductung	0:8ede47d38d10	1381	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_FMP0);
phungductung	0:8ede47d38d10	1382	}
phungductung	0:8ede47d38d10	1383	/* Release FIFO1 */
phungductung	0:8ede47d38d10	1384	else /* FIFONumber == CAN_FIFO1 */
phungductung	0:8ede47d38d10	1385	{
phungductung	0:8ede47d38d10	1386	__HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1);
phungductung	0:8ede47d38d10	1387
phungductung	0:8ede47d38d10	1388	/* Disable FIFO 1 message pending Interrupt */
phungductung	0:8ede47d38d10	1389	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_FMP1);
phungductung	0:8ede47d38d10	1390	}
phungductung	0:8ede47d38d10	1391
phungductung	0:8ede47d38d10	1392	if(hcan->State == HAL_CAN_STATE_BUSY_RX)
phungductung	0:8ede47d38d10	1393	{
phungductung	0:8ede47d38d10	1394	/* Disable Error warning Interrupt */
phungductung	0:8ede47d38d10	1395	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG);
phungductung	0:8ede47d38d10	1396
phungductung	0:8ede47d38d10	1397	/* Disable Error passive Interrupt */
phungductung	0:8ede47d38d10	1398	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_EPV);
phungductung	0:8ede47d38d10	1399
phungductung	0:8ede47d38d10	1400	/* Disable Bus-off Interrupt */
phungductung	0:8ede47d38d10	1401	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_BOF);
phungductung	0:8ede47d38d10	1402
phungductung	0:8ede47d38d10	1403	/* Disable Last error code Interrupt */
phungductung	0:8ede47d38d10	1404	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_LEC);
phungductung	0:8ede47d38d10	1405
phungductung	0:8ede47d38d10	1406	/* Disable Error Interrupt */
phungductung	0:8ede47d38d10	1407	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_ERR);
phungductung	0:8ede47d38d10	1408	}
phungductung	0:8ede47d38d10	1409
phungductung	0:8ede47d38d10	1410	if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
phungductung	0:8ede47d38d10	1411	{
phungductung	0:8ede47d38d10	1412	/* Disable CAN state */
phungductung	0:8ede47d38d10	1413	hcan->State = HAL_CAN_STATE_BUSY_TX;
phungductung	0:8ede47d38d10	1414	}
phungductung	0:8ede47d38d10	1415	else
phungductung	0:8ede47d38d10	1416	{
phungductung	0:8ede47d38d10	1417	/* Change CAN state */
phungductung	0:8ede47d38d10	1418	hcan->State = HAL_CAN_STATE_READY;
phungductung	0:8ede47d38d10	1419	}
phungductung	0:8ede47d38d10	1420
phungductung	0:8ede47d38d10	1421	/* Receive complete callback */
phungductung	0:8ede47d38d10	1422	HAL_CAN_RxCpltCallback(hcan);
phungductung	0:8ede47d38d10	1423
phungductung	0:8ede47d38d10	1424	/* Return function status */
phungductung	0:8ede47d38d10	1425	return HAL_OK;
phungductung	0:8ede47d38d10	1426	}
phungductung	0:8ede47d38d10	1427
phungductung	0:8ede47d38d10	1428	/**
phungductung	0:8ede47d38d10	1429	* @}
phungductung	0:8ede47d38d10	1430	*/
phungductung	0:8ede47d38d10	1431
phungductung	0:8ede47d38d10	1432	#endif /* HAL_CAN_MODULE_ENABLED */
phungductung	0:8ede47d38d10	1433	/**
phungductung	0:8ede47d38d10	1434	* @}
phungductung	0:8ede47d38d10	1435	*/
phungductung	0:8ede47d38d10	1436
phungductung	0:8ede47d38d10	1437	/**
phungductung	0:8ede47d38d10	1438	* @}
phungductung	0:8ede47d38d10	1439	*/
phungductung	0:8ede47d38d10	1440
phungductung	0:8ede47d38d10	1441	/********************** (C) COPYRIGHT STMicroelectronics *END OF FILE**/

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Type:	Program
Created:	04 Jun 2019
Imports:	17
Forks:	0
Commits:	1
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Dependencies:	3
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SRC_STM32F7/targets/cmsis/TARGET_STM/TARGET_STM32F7/stm32f7xx_hal_can.c@0:8ede47d38d10, 2019-06-04 (annotated)

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