shao ziyang / mbed-src-kl05

mbed library sources

Dependents:   frdm_kl05z_gpio_test

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targets/cmsis/TARGET_STM/TARGET_NUCLEO_F411RE/stm32f4xx_hal_can.c@323:9e901b0a5aa1, 2014-09-13 (annotated)

Committer:
shaoziyang
Date:
Sat Sep 13 14:25:46 2014 +0000
Revision:
323:9e901b0a5aa1
Parent:
235:685d5f11838f 
test with CLOCK_SETUP = 0

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbed_official 235:685d5f11838f 1 /**
mbed_official 235:685d5f11838f 2 ******************************************************************************
mbed_official 235:685d5f11838f 3 * @file stm32f4xx_hal_can.c
mbed_official 235:685d5f11838f 4 * @author MCD Application Team
mbed_official 235:685d5f11838f 5 * @version V1.1.0
mbed_official 235:685d5f11838f 6 * @date 19-June-2014
mbed_official 235:685d5f11838f 7 * @brief This file provides firmware functions to manage the following
mbed_official 235:685d5f11838f 8 * functionalities of the Controller Area Network (CAN) peripheral:
mbed_official 235:685d5f11838f 9 * + Initialization and de-initialization functions
mbed_official 235:685d5f11838f 10 * + IO operation functions
mbed_official 235:685d5f11838f 11 * + Peripheral Control functions
mbed_official 235:685d5f11838f 12 * + Peripheral State and Error functions
mbed_official 235:685d5f11838f 13 *
mbed_official 235:685d5f11838f 14 @verbatim
mbed_official 235:685d5f11838f 15 ==============================================================================
mbed_official 235:685d5f11838f 16 ##### How to use this driver #####
mbed_official 235:685d5f11838f 17 ==============================================================================
mbed_official 235:685d5f11838f 18 [..]
mbed_official 235:685d5f11838f 19 (#) Enable the CAN controller interface clock using
mbed_official 235:685d5f11838f 20 __CAN1_CLK_ENABLE() for CAN1 and __CAN1_CLK_ENABLE() for CAN2
mbed_official 235:685d5f11838f 21 -@- In case you are using CAN2 only, you have to enable the CAN1 clock.
mbed_official 235:685d5f11838f 22
mbed_official 235:685d5f11838f 23 (#) CAN pins configuration
mbed_official 235:685d5f11838f 24 (++) Enable the clock for the CAN GPIOs using the following function:
mbed_official 235:685d5f11838f 25 __GPIOx_CLK_ENABLE()
mbed_official 235:685d5f11838f 26 (++) Connect and configure the involved CAN pins to AF9 using the
mbed_official 235:685d5f11838f 27 following function HAL_GPIO_Init()
mbed_official 235:685d5f11838f 28
mbed_official 235:685d5f11838f 29 (#) Initialise and configure the CAN using CAN_Init() function.
mbed_official 235:685d5f11838f 30
mbed_official 235:685d5f11838f 31 (#) Transmit the desired CAN frame using HAL_CAN_Transmit() function.
mbed_official 235:685d5f11838f 32
mbed_official 235:685d5f11838f 33 (#) Receive a CAN frame using HAL_CAN_Recieve() function.
mbed_official 235:685d5f11838f 34
mbed_official 235:685d5f11838f 35 *** Polling mode IO operation ***
mbed_official 235:685d5f11838f 36 =================================
mbed_official 235:685d5f11838f 37 [..]
mbed_official 235:685d5f11838f 38 (+) Start the CAN peripheral transmission and wait the end of this operation
mbed_official 235:685d5f11838f 39 using HAL_CAN_Transmit(), at this stage user can specify the value of timeout
mbed_official 235:685d5f11838f 40 according to his end application
mbed_official 235:685d5f11838f 41 (+) Start the CAN peripheral reception and wait the end of this operation
mbed_official 235:685d5f11838f 42 using HAL_CAN_Receive(), at this stage user can specify the value of timeout
mbed_official 235:685d5f11838f 43 according to his end application
mbed_official 235:685d5f11838f 44
mbed_official 235:685d5f11838f 45 *** Interrupt mode IO operation ***
mbed_official 235:685d5f11838f 46 ===================================
mbed_official 235:685d5f11838f 47 [..]
mbed_official 235:685d5f11838f 48 (+) Start the CAN peripheral transmission using HAL_CAN_Transmit_IT()
mbed_official 235:685d5f11838f 49 (+) Start the CAN peripheral reception using HAL_CAN_Receive_IT()
mbed_official 235:685d5f11838f 50 (+) Use HAL_CAN_IRQHandler() called under the used CAN Interrupt subroutine
mbed_official 235:685d5f11838f 51 (+) At CAN end of transmission HAL_CAN_TxCpltCallback() function is executed and user can
mbed_official 235:685d5f11838f 52 add his own code by customization of function pointer HAL_CAN_TxCpltCallback
mbed_official 235:685d5f11838f 53 (+) In case of CAN Error, HAL_CAN_ErrorCallback() function is executed and user can
mbed_official 235:685d5f11838f 54 add his own code by customization of function pointer HAL_CAN_ErrorCallback
mbed_official 235:685d5f11838f 55
mbed_official 235:685d5f11838f 56 *** CAN HAL driver macros list ***
mbed_official 235:685d5f11838f 57 =============================================
mbed_official 235:685d5f11838f 58 [..]
mbed_official 235:685d5f11838f 59 Below the list of most used macros in CAN HAL driver.
mbed_official 235:685d5f11838f 60
mbed_official 235:685d5f11838f 61 (+) __HAL_CAN_ENABLE_IT: Enable the specified CAN interrupts
mbed_official 235:685d5f11838f 62 (+) __HAL_CAN_DISABLE_IT: Disable the specified CAN interrupts
mbed_official 235:685d5f11838f 63 (+) __HAL_CAN_GET_IT_SOURCE: Check if the specified CAN interrupt source is enabled or disabled
mbed_official 235:685d5f11838f 64 (+) __HAL_CAN_CLEAR_FLAG: Clear the CAN's pending flags
mbed_official 235:685d5f11838f 65 (+) __HAL_CAN_GET_FLAG: Get the selected CAN's flag status
mbed_official 235:685d5f11838f 66
mbed_official 235:685d5f11838f 67 [..]
mbed_official 235:685d5f11838f 68 (@) You can refer to the CAN HAL driver header file for more useful macros
mbed_official 235:685d5f11838f 69
mbed_official 235:685d5f11838f 70 @endverbatim
mbed_official 235:685d5f11838f 71
mbed_official 235:685d5f11838f 72 ******************************************************************************
mbed_official 235:685d5f11838f 73 * @attention
mbed_official 235:685d5f11838f 74 *
mbed_official 235:685d5f11838f 75 * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
mbed_official 235:685d5f11838f 76 *
mbed_official 235:685d5f11838f 77 * Redistribution and use in source and binary forms, with or without modification,
mbed_official 235:685d5f11838f 78 * are permitted provided that the following conditions are met:
mbed_official 235:685d5f11838f 79 * 1. Redistributions of source code must retain the above copyright notice,
mbed_official 235:685d5f11838f 80 * this list of conditions and the following disclaimer.
mbed_official 235:685d5f11838f 81 * 2. Redistributions in binary form must reproduce the above copyright notice,
mbed_official 235:685d5f11838f 82 * this list of conditions and the following disclaimer in the documentation
mbed_official 235:685d5f11838f 83 * and/or other materials provided with the distribution.
mbed_official 235:685d5f11838f 84 * 3. Neither the name of STMicroelectronics nor the names of its contributors
mbed_official 235:685d5f11838f 85 * may be used to endorse or promote products derived from this software
mbed_official 235:685d5f11838f 86 * without specific prior written permission.
mbed_official 235:685d5f11838f 87 *
mbed_official 235:685d5f11838f 88 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
mbed_official 235:685d5f11838f 89 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
mbed_official 235:685d5f11838f 90 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
mbed_official 235:685d5f11838f 91 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
mbed_official 235:685d5f11838f 92 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
mbed_official 235:685d5f11838f 93 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
mbed_official 235:685d5f11838f 94 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
mbed_official 235:685d5f11838f 95 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
mbed_official 235:685d5f11838f 96 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
mbed_official 235:685d5f11838f 97 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
mbed_official 235:685d5f11838f 98 *
mbed_official 235:685d5f11838f 99 ******************************************************************************
mbed_official 235:685d5f11838f 100 */
mbed_official 235:685d5f11838f 101
mbed_official 235:685d5f11838f 102 /* Includes ------------------------------------------------------------------*/
mbed_official 235:685d5f11838f 103 #include "stm32f4xx_hal.h"
mbed_official 235:685d5f11838f 104
mbed_official 235:685d5f11838f 105 /** @addtogroup STM32F4xx_HAL_Driver
mbed_official 235:685d5f11838f 106 * @{
mbed_official 235:685d5f11838f 107 */
mbed_official 235:685d5f11838f 108
mbed_official 235:685d5f11838f 109 /** @defgroup CAN
mbed_official 235:685d5f11838f 110 * @brief CAN driver modules
mbed_official 235:685d5f11838f 111 * @{
mbed_official 235:685d5f11838f 112 */
mbed_official 235:685d5f11838f 113
mbed_official 235:685d5f11838f 114 #ifdef HAL_CAN_MODULE_ENABLED
mbed_official 235:685d5f11838f 115
mbed_official 235:685d5f11838f 116 #if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) || defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)
mbed_official 235:685d5f11838f 117
mbed_official 235:685d5f11838f 118 /* Private typedef -----------------------------------------------------------*/
mbed_official 235:685d5f11838f 119 /* Private define ------------------------------------------------------------*/
mbed_official 235:685d5f11838f 120 #define CAN_TIMEOUT_VALUE 10
mbed_official 235:685d5f11838f 121 /* Private macro -------------------------------------------------------------*/
mbed_official 235:685d5f11838f 122 /* Private variables ---------------------------------------------------------*/
mbed_official 235:685d5f11838f 123 /* Private function prototypes -----------------------------------------------*/
mbed_official 235:685d5f11838f 124 static HAL_StatusTypeDef CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber);
mbed_official 235:685d5f11838f 125 static HAL_StatusTypeDef CAN_Transmit_IT(CAN_HandleTypeDef* hcan);
mbed_official 235:685d5f11838f 126 /* Private functions ---------------------------------------------------------*/
mbed_official 235:685d5f11838f 127
mbed_official 235:685d5f11838f 128 /** @defgroup CAN_Private_Functions
mbed_official 235:685d5f11838f 129 * @{
mbed_official 235:685d5f11838f 130 */
mbed_official 235:685d5f11838f 131
mbed_official 235:685d5f11838f 132 /** @defgroup CAN_Group1 Initialization and de-initialization functions
mbed_official 235:685d5f11838f 133 * @brief Initialization and Configuration functions
mbed_official 235:685d5f11838f 134 *
mbed_official 235:685d5f11838f 135 @verbatim
mbed_official 235:685d5f11838f 136 ==============================================================================
mbed_official 235:685d5f11838f 137 ##### Initialization and de-initialization functions #####
mbed_official 235:685d5f11838f 138 ==============================================================================
mbed_official 235:685d5f11838f 139 [..] This section provides functions allowing to:
mbed_official 235:685d5f11838f 140 (+) Initialize and configure the CAN.
mbed_official 235:685d5f11838f 141 (+) De-initialize the CAN.
mbed_official 235:685d5f11838f 142
mbed_official 235:685d5f11838f 143 @endverbatim
mbed_official 235:685d5f11838f 144 * @{
mbed_official 235:685d5f11838f 145 */
mbed_official 235:685d5f11838f 146
mbed_official 235:685d5f11838f 147 /**
mbed_official 235:685d5f11838f 148 * @brief Initializes the CAN peripheral according to the specified
mbed_official 235:685d5f11838f 149 * parameters in the CAN_InitStruct.
mbed_official 235:685d5f11838f 150 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 235:685d5f11838f 151 * the configuration information for the specified CAN.
mbed_official 235:685d5f11838f 152 * @retval HAL status
mbed_official 235:685d5f11838f 153 */
mbed_official 235:685d5f11838f 154 HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef* hcan)
mbed_official 235:685d5f11838f 155 {
mbed_official 235:685d5f11838f 156 uint32_t InitStatus = 3;
mbed_official 235:685d5f11838f 157 uint32_t tickstart = 0;
mbed_official 235:685d5f11838f 158
mbed_official 235:685d5f11838f 159 /* Check CAN handle */
mbed_official 235:685d5f11838f 160 if(hcan == NULL)
mbed_official 235:685d5f11838f 161 {
mbed_official 235:685d5f11838f 162 return HAL_ERROR;
mbed_official 235:685d5f11838f 163 }
mbed_official 235:685d5f11838f 164
mbed_official 235:685d5f11838f 165 /* Check the parameters */
mbed_official 235:685d5f11838f 166 assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
mbed_official 235:685d5f11838f 167 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TTCM));
mbed_official 235:685d5f11838f 168 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.ABOM));
mbed_official 235:685d5f11838f 169 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.AWUM));
mbed_official 235:685d5f11838f 170 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.NART));
mbed_official 235:685d5f11838f 171 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.RFLM));
mbed_official 235:685d5f11838f 172 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TXFP));
mbed_official 235:685d5f11838f 173 assert_param(IS_CAN_MODE(hcan->Init.Mode));
mbed_official 235:685d5f11838f 174 assert_param(IS_CAN_SJW(hcan->Init.SJW));
mbed_official 235:685d5f11838f 175 assert_param(IS_CAN_BS1(hcan->Init.BS1));
mbed_official 235:685d5f11838f 176 assert_param(IS_CAN_BS2(hcan->Init.BS2));
mbed_official 235:685d5f11838f 177 assert_param(IS_CAN_PRESCALER(hcan->Init.Prescaler));
mbed_official 235:685d5f11838f 178
mbed_official 235:685d5f11838f 179
mbed_official 235:685d5f11838f 180 if(hcan->State == HAL_CAN_STATE_RESET)
mbed_official 235:685d5f11838f 181 {
mbed_official 235:685d5f11838f 182 /* Init the low level hardware */
mbed_official 235:685d5f11838f 183 HAL_CAN_MspInit(hcan);
mbed_official 235:685d5f11838f 184 }
mbed_official 235:685d5f11838f 185
mbed_official 235:685d5f11838f 186 /* Initialize the CAN state*/
mbed_official 235:685d5f11838f 187 hcan->State = HAL_CAN_STATE_BUSY;
mbed_official 235:685d5f11838f 188
mbed_official 235:685d5f11838f 189 /* Exit from sleep mode */
mbed_official 235:685d5f11838f 190 hcan->Instance->MCR &= (~(uint32_t)CAN_MCR_SLEEP);
mbed_official 235:685d5f11838f 191
mbed_official 235:685d5f11838f 192 /* Request initialisation */
mbed_official 235:685d5f11838f 193 hcan->Instance->MCR |= CAN_MCR_INRQ ;
mbed_official 235:685d5f11838f 194
mbed_official 235:685d5f11838f 195 /* Get tick */
mbed_official 235:685d5f11838f 196 tickstart = HAL_GetTick();
mbed_official 235:685d5f11838f 197
mbed_official 235:685d5f11838f 198 /* Wait the acknowledge */
mbed_official 235:685d5f11838f 199 while((hcan->Instance->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
mbed_official 235:685d5f11838f 200 {
mbed_official 235:685d5f11838f 201 if((HAL_GetTick() - tickstart ) > CAN_TIMEOUT_VALUE)
mbed_official 235:685d5f11838f 202 {
mbed_official 235:685d5f11838f 203 hcan->State= HAL_CAN_STATE_TIMEOUT;
mbed_official 235:685d5f11838f 204 /* Process unlocked */
mbed_official 235:685d5f11838f 205 __HAL_UNLOCK(hcan);
mbed_official 235:685d5f11838f 206 return HAL_TIMEOUT;
mbed_official 235:685d5f11838f 207 }
mbed_official 235:685d5f11838f 208 }
mbed_official 235:685d5f11838f 209
mbed_official 235:685d5f11838f 210 /* Check acknowledge */
mbed_official 235:685d5f11838f 211 if ((hcan->Instance->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
mbed_official 235:685d5f11838f 212 {
mbed_official 235:685d5f11838f 213 InitStatus = CAN_INITSTATUS_FAILED;
mbed_official 235:685d5f11838f 214 }
mbed_official 235:685d5f11838f 215 else
mbed_official 235:685d5f11838f 216 {
mbed_official 235:685d5f11838f 217 /* Set the time triggered communication mode */
mbed_official 235:685d5f11838f 218 if (hcan->Init.TTCM == ENABLE)
mbed_official 235:685d5f11838f 219 {
mbed_official 235:685d5f11838f 220 hcan->Instance->MCR |= CAN_MCR_TTCM;
mbed_official 235:685d5f11838f 221 }
mbed_official 235:685d5f11838f 222 else
mbed_official 235:685d5f11838f 223 {
mbed_official 235:685d5f11838f 224 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_TTCM;
mbed_official 235:685d5f11838f 225 }
mbed_official 235:685d5f11838f 226
mbed_official 235:685d5f11838f 227 /* Set the automatic bus-off management */
mbed_official 235:685d5f11838f 228 if (hcan->Init.ABOM == ENABLE)
mbed_official 235:685d5f11838f 229 {
mbed_official 235:685d5f11838f 230 hcan->Instance->MCR |= CAN_MCR_ABOM;
mbed_official 235:685d5f11838f 231 }
mbed_official 235:685d5f11838f 232 else
mbed_official 235:685d5f11838f 233 {
mbed_official 235:685d5f11838f 234 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_ABOM;
mbed_official 235:685d5f11838f 235 }
mbed_official 235:685d5f11838f 236
mbed_official 235:685d5f11838f 237 /* Set the automatic wake-up mode */
mbed_official 235:685d5f11838f 238 if (hcan->Init.AWUM == ENABLE)
mbed_official 235:685d5f11838f 239 {
mbed_official 235:685d5f11838f 240 hcan->Instance->MCR |= CAN_MCR_AWUM;
mbed_official 235:685d5f11838f 241 }
mbed_official 235:685d5f11838f 242 else
mbed_official 235:685d5f11838f 243 {
mbed_official 235:685d5f11838f 244 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_AWUM;
mbed_official 235:685d5f11838f 245 }
mbed_official 235:685d5f11838f 246
mbed_official 235:685d5f11838f 247 /* Set the no automatic retransmission */
mbed_official 235:685d5f11838f 248 if (hcan->Init.NART == ENABLE)
mbed_official 235:685d5f11838f 249 {
mbed_official 235:685d5f11838f 250 hcan->Instance->MCR |= CAN_MCR_NART;
mbed_official 235:685d5f11838f 251 }
mbed_official 235:685d5f11838f 252 else
mbed_official 235:685d5f11838f 253 {
mbed_official 235:685d5f11838f 254 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_NART;
mbed_official 235:685d5f11838f 255 }
mbed_official 235:685d5f11838f 256
mbed_official 235:685d5f11838f 257 /* Set the receive FIFO locked mode */
mbed_official 235:685d5f11838f 258 if (hcan->Init.RFLM == ENABLE)
mbed_official 235:685d5f11838f 259 {
mbed_official 235:685d5f11838f 260 hcan->Instance->MCR |= CAN_MCR_RFLM;
mbed_official 235:685d5f11838f 261 }
mbed_official 235:685d5f11838f 262 else
mbed_official 235:685d5f11838f 263 {
mbed_official 235:685d5f11838f 264 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_RFLM;
mbed_official 235:685d5f11838f 265 }
mbed_official 235:685d5f11838f 266
mbed_official 235:685d5f11838f 267 /* Set the transmit FIFO priority */
mbed_official 235:685d5f11838f 268 if (hcan->Init.TXFP == ENABLE)
mbed_official 235:685d5f11838f 269 {
mbed_official 235:685d5f11838f 270 hcan->Instance->MCR |= CAN_MCR_TXFP;
mbed_official 235:685d5f11838f 271 }
mbed_official 235:685d5f11838f 272 else
mbed_official 235:685d5f11838f 273 {
mbed_official 235:685d5f11838f 274 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_TXFP;
mbed_official 235:685d5f11838f 275 }
mbed_official 235:685d5f11838f 276
mbed_official 235:685d5f11838f 277 /* Set the bit timing register */
mbed_official 235:685d5f11838f 278 hcan->Instance->BTR = (uint32_t)((uint32_t)hcan->Init.Mode) | \
mbed_official 235:685d5f11838f 279 ((uint32_t)hcan->Init.SJW) | \
mbed_official 235:685d5f11838f 280 ((uint32_t)hcan->Init.BS1) | \
mbed_official 235:685d5f11838f 281 ((uint32_t)hcan->Init.BS2) | \
mbed_official 235:685d5f11838f 282 ((uint32_t)hcan->Init.Prescaler - 1);
mbed_official 235:685d5f11838f 283
mbed_official 235:685d5f11838f 284 /* Request leave initialisation */
mbed_official 235:685d5f11838f 285 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_INRQ;
mbed_official 235:685d5f11838f 286
mbed_official 235:685d5f11838f 287 /* Get tick */
mbed_official 235:685d5f11838f 288 tickstart = HAL_GetTick();
mbed_official 235:685d5f11838f 289
mbed_official 235:685d5f11838f 290 /* Wait the acknowledge */
mbed_official 235:685d5f11838f 291 while((hcan->Instance->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)
mbed_official 235:685d5f11838f 292 {
mbed_official 235:685d5f11838f 293 if((HAL_GetTick() - tickstart ) > CAN_TIMEOUT_VALUE)
mbed_official 235:685d5f11838f 294 {
mbed_official 235:685d5f11838f 295 hcan->State= HAL_CAN_STATE_TIMEOUT;
mbed_official 235:685d5f11838f 296 /* Process unlocked */
mbed_official 235:685d5f11838f 297 __HAL_UNLOCK(hcan);
mbed_official 235:685d5f11838f 298 return HAL_TIMEOUT;
mbed_official 235:685d5f11838f 299 }
mbed_official 235:685d5f11838f 300 }
mbed_official 235:685d5f11838f 301
mbed_official 235:685d5f11838f 302 /* Check acknowledged */
mbed_official 235:685d5f11838f 303 if ((hcan->Instance->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)
mbed_official 235:685d5f11838f 304 {
mbed_official 235:685d5f11838f 305 InitStatus = CAN_INITSTATUS_FAILED;
mbed_official 235:685d5f11838f 306 }
mbed_official 235:685d5f11838f 307 else
mbed_official 235:685d5f11838f 308 {
mbed_official 235:685d5f11838f 309 InitStatus = CAN_INITSTATUS_SUCCESS;
mbed_official 235:685d5f11838f 310 }
mbed_official 235:685d5f11838f 311 }
mbed_official 235:685d5f11838f 312
mbed_official 235:685d5f11838f 313 if(InitStatus == CAN_INITSTATUS_SUCCESS)
mbed_official 235:685d5f11838f 314 {
mbed_official 235:685d5f11838f 315 /* Set CAN error code to none */
mbed_official 235:685d5f11838f 316 hcan->ErrorCode = HAL_CAN_ERROR_NONE;
mbed_official 235:685d5f11838f 317
mbed_official 235:685d5f11838f 318 /* Initialize the CAN state */
mbed_official 235:685d5f11838f 319 hcan->State = HAL_CAN_STATE_READY;
mbed_official 235:685d5f11838f 320
mbed_official 235:685d5f11838f 321 /* Return function status */
mbed_official 235:685d5f11838f 322 return HAL_OK;
mbed_official 235:685d5f11838f 323 }
mbed_official 235:685d5f11838f 324 else
mbed_official 235:685d5f11838f 325 {
mbed_official 235:685d5f11838f 326 /* Initialize the CAN state */
mbed_official 235:685d5f11838f 327 hcan->State = HAL_CAN_STATE_ERROR;
mbed_official 235:685d5f11838f 328
mbed_official 235:685d5f11838f 329 /* Return function status */
mbed_official 235:685d5f11838f 330 return HAL_ERROR;
mbed_official 235:685d5f11838f 331 }
mbed_official 235:685d5f11838f 332 }
mbed_official 235:685d5f11838f 333
mbed_official 235:685d5f11838f 334 /**
mbed_official 235:685d5f11838f 335 * @brief Configures the CAN reception filter according to the specified
mbed_official 235:685d5f11838f 336 * parameters in the CAN_FilterInitStruct.
mbed_official 235:685d5f11838f 337 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 235:685d5f11838f 338 * the configuration information for the specified CAN.
mbed_official 235:685d5f11838f 339 * @param sFilterConfig: pointer to a CAN_FilterConfTypeDef structure that
mbed_official 235:685d5f11838f 340 * contains the filter configuration information.
mbed_official 235:685d5f11838f 341 * @retval None
mbed_official 235:685d5f11838f 342 */
mbed_official 235:685d5f11838f 343 HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef* hcan, CAN_FilterConfTypeDef* sFilterConfig)
mbed_official 235:685d5f11838f 344 {
mbed_official 235:685d5f11838f 345 uint32_t filternbrbitpos = 0;
mbed_official 235:685d5f11838f 346
mbed_official 235:685d5f11838f 347 /* Check the parameters */
mbed_official 235:685d5f11838f 348 assert_param(IS_CAN_FILTER_NUMBER(sFilterConfig->FilterNumber));
mbed_official 235:685d5f11838f 349 assert_param(IS_CAN_FILTER_MODE(sFilterConfig->FilterMode));
mbed_official 235:685d5f11838f 350 assert_param(IS_CAN_FILTER_SCALE(sFilterConfig->FilterScale));
mbed_official 235:685d5f11838f 351 assert_param(IS_CAN_FILTER_FIFO(sFilterConfig->FilterFIFOAssignment));
mbed_official 235:685d5f11838f 352 assert_param(IS_FUNCTIONAL_STATE(sFilterConfig->FilterActivation));
mbed_official 235:685d5f11838f 353 assert_param(IS_CAN_BANKNUMBER(sFilterConfig->BankNumber));
mbed_official 235:685d5f11838f 354
mbed_official 235:685d5f11838f 355 filternbrbitpos = ((uint32_t)1) << sFilterConfig->FilterNumber;
mbed_official 235:685d5f11838f 356
mbed_official 235:685d5f11838f 357 /* Initialisation mode for the filter */
mbed_official 235:685d5f11838f 358 CAN1->FMR |= (uint32_t)CAN_FMR_FINIT;
mbed_official 235:685d5f11838f 359
mbed_official 235:685d5f11838f 360 /* Select the start slave bank */
mbed_official 235:685d5f11838f 361 CAN1->FMR &= ~((uint32_t)CAN_FMR_CAN2SB);
mbed_official 235:685d5f11838f 362 CAN1->FMR |= (uint32_t)(sFilterConfig->BankNumber << 8);
mbed_official 235:685d5f11838f 363
mbed_official 235:685d5f11838f 364 /* Filter Deactivation */
mbed_official 235:685d5f11838f 365 CAN1->FA1R &= ~(uint32_t)filternbrbitpos;
mbed_official 235:685d5f11838f 366
mbed_official 235:685d5f11838f 367 /* Filter Scale */
mbed_official 235:685d5f11838f 368 if (sFilterConfig->FilterScale == CAN_FILTERSCALE_16BIT)
mbed_official 235:685d5f11838f 369 {
mbed_official 235:685d5f11838f 370 /* 16-bit scale for the filter */
mbed_official 235:685d5f11838f 371 CAN1->FS1R &= ~(uint32_t)filternbrbitpos;
mbed_official 235:685d5f11838f 372
mbed_official 235:685d5f11838f 373 /* First 16-bit identifier and First 16-bit mask */
mbed_official 235:685d5f11838f 374 /* Or First 16-bit identifier and Second 16-bit identifier */
mbed_official 235:685d5f11838f 375 CAN1->sFilterRegister[sFilterConfig->FilterNumber].FR1 =
mbed_official 235:685d5f11838f 376 ((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdLow) << 16) |
mbed_official 235:685d5f11838f 377 (0x0000FFFF & (uint32_t)sFilterConfig->FilterIdLow);
mbed_official 235:685d5f11838f 378
mbed_official 235:685d5f11838f 379 /* Second 16-bit identifier and Second 16-bit mask */
mbed_official 235:685d5f11838f 380 /* Or Third 16-bit identifier and Fourth 16-bit identifier */
mbed_official 235:685d5f11838f 381 CAN1->sFilterRegister[sFilterConfig->FilterNumber].FR2 =
mbed_official 235:685d5f11838f 382 ((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16) |
mbed_official 235:685d5f11838f 383 (0x0000FFFF & (uint32_t)sFilterConfig->FilterIdHigh);
mbed_official 235:685d5f11838f 384 }
mbed_official 235:685d5f11838f 385
mbed_official 235:685d5f11838f 386 if (sFilterConfig->FilterScale == CAN_FILTERSCALE_32BIT)
mbed_official 235:685d5f11838f 387 {
mbed_official 235:685d5f11838f 388 /* 32-bit scale for the filter */
mbed_official 235:685d5f11838f 389 CAN1->FS1R |= filternbrbitpos;
mbed_official 235:685d5f11838f 390 /* 32-bit identifier or First 32-bit identifier */
mbed_official 235:685d5f11838f 391 CAN1->sFilterRegister[sFilterConfig->FilterNumber].FR1 =
mbed_official 235:685d5f11838f 392 ((0x0000FFFF & (uint32_t)sFilterConfig->FilterIdHigh) << 16) |
mbed_official 235:685d5f11838f 393 (0x0000FFFF & (uint32_t)sFilterConfig->FilterIdLow);
mbed_official 235:685d5f11838f 394 /* 32-bit mask or Second 32-bit identifier */
mbed_official 235:685d5f11838f 395 CAN1->sFilterRegister[sFilterConfig->FilterNumber].FR2 =
mbed_official 235:685d5f11838f 396 ((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16) |
mbed_official 235:685d5f11838f 397 (0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdLow);
mbed_official 235:685d5f11838f 398 }
mbed_official 235:685d5f11838f 399
mbed_official 235:685d5f11838f 400 /* Filter Mode */
mbed_official 235:685d5f11838f 401 if (sFilterConfig->FilterMode == CAN_FILTERMODE_IDMASK)
mbed_official 235:685d5f11838f 402 {
mbed_official 235:685d5f11838f 403 /*Id/Mask mode for the filter*/
mbed_official 235:685d5f11838f 404 CAN1->FM1R &= ~(uint32_t)filternbrbitpos;
mbed_official 235:685d5f11838f 405 }
mbed_official 235:685d5f11838f 406 else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */
mbed_official 235:685d5f11838f 407 {
mbed_official 235:685d5f11838f 408 /*Identifier list mode for the filter*/
mbed_official 235:685d5f11838f 409 CAN1->FM1R |= (uint32_t)filternbrbitpos;
mbed_official 235:685d5f11838f 410 }
mbed_official 235:685d5f11838f 411
mbed_official 235:685d5f11838f 412 /* Filter FIFO assignment */
mbed_official 235:685d5f11838f 413 if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO0)
mbed_official 235:685d5f11838f 414 {
mbed_official 235:685d5f11838f 415 /* FIFO 0 assignation for the filter */
mbed_official 235:685d5f11838f 416 CAN1->FFA1R &= ~(uint32_t)filternbrbitpos;
mbed_official 235:685d5f11838f 417 }
mbed_official 235:685d5f11838f 418
mbed_official 235:685d5f11838f 419 if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO1)
mbed_official 235:685d5f11838f 420 {
mbed_official 235:685d5f11838f 421 /* FIFO 1 assignation for the filter */
mbed_official 235:685d5f11838f 422 CAN1->FFA1R |= (uint32_t)filternbrbitpos;
mbed_official 235:685d5f11838f 423 }
mbed_official 235:685d5f11838f 424
mbed_official 235:685d5f11838f 425 /* Filter activation */
mbed_official 235:685d5f11838f 426 if (sFilterConfig->FilterActivation == ENABLE)
mbed_official 235:685d5f11838f 427 {
mbed_official 235:685d5f11838f 428 CAN1->FA1R |= filternbrbitpos;
mbed_official 235:685d5f11838f 429 }
mbed_official 235:685d5f11838f 430
mbed_official 235:685d5f11838f 431 /* Leave the initialisation mode for the filter */
mbed_official 235:685d5f11838f 432 CAN1->FMR &= ~((uint32_t)CAN_FMR_FINIT);
mbed_official 235:685d5f11838f 433
mbed_official 235:685d5f11838f 434 /* Return function status */
mbed_official 235:685d5f11838f 435 return HAL_OK;
mbed_official 235:685d5f11838f 436 }
mbed_official 235:685d5f11838f 437
mbed_official 235:685d5f11838f 438 /**
mbed_official 235:685d5f11838f 439 * @brief Deinitializes the CANx peripheral registers to their default reset values.
mbed_official 235:685d5f11838f 440 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 235:685d5f11838f 441 * the configuration information for the specified CAN.
mbed_official 235:685d5f11838f 442 * @retval HAL status
mbed_official 235:685d5f11838f 443 */
mbed_official 235:685d5f11838f 444 HAL_StatusTypeDef HAL_CAN_DeInit(CAN_HandleTypeDef* hcan)
mbed_official 235:685d5f11838f 445 {
mbed_official 235:685d5f11838f 446 /* Check CAN handle */
mbed_official 235:685d5f11838f 447 if(hcan == NULL)
mbed_official 235:685d5f11838f 448 {
mbed_official 235:685d5f11838f 449 return HAL_ERROR;
mbed_official 235:685d5f11838f 450 }
mbed_official 235:685d5f11838f 451
mbed_official 235:685d5f11838f 452 /* Check the parameters */
mbed_official 235:685d5f11838f 453 assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
mbed_official 235:685d5f11838f 454
mbed_official 235:685d5f11838f 455 /* Change CAN state */
mbed_official 235:685d5f11838f 456 hcan->State = HAL_CAN_STATE_BUSY;
mbed_official 235:685d5f11838f 457
mbed_official 235:685d5f11838f 458 /* DeInit the low level hardware */
mbed_official 235:685d5f11838f 459 HAL_CAN_MspDeInit(hcan);
mbed_official 235:685d5f11838f 460
mbed_official 235:685d5f11838f 461 /* Change CAN state */
mbed_official 235:685d5f11838f 462 hcan->State = HAL_CAN_STATE_RESET;
mbed_official 235:685d5f11838f 463
mbed_official 235:685d5f11838f 464 /* Release Lock */
mbed_official 235:685d5f11838f 465 __HAL_UNLOCK(hcan);
mbed_official 235:685d5f11838f 466
mbed_official 235:685d5f11838f 467 /* Return function status */
mbed_official 235:685d5f11838f 468 return HAL_OK;
mbed_official 235:685d5f11838f 469 }
mbed_official 235:685d5f11838f 470
mbed_official 235:685d5f11838f 471 /**
mbed_official 235:685d5f11838f 472 * @brief Initializes the CAN MSP.
mbed_official 235:685d5f11838f 473 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 235:685d5f11838f 474 * the configuration information for the specified CAN.
mbed_official 235:685d5f11838f 475 * @retval None
mbed_official 235:685d5f11838f 476 */
mbed_official 235:685d5f11838f 477 __weak void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
mbed_official 235:685d5f11838f 478 {
mbed_official 235:685d5f11838f 479 /* NOTE : This function Should not be modified, when the callback is needed,
mbed_official 235:685d5f11838f 480 the HAL_CAN_MspInit could be implemented in the user file
mbed_official 235:685d5f11838f 481 */
mbed_official 235:685d5f11838f 482 }
mbed_official 235:685d5f11838f 483
mbed_official 235:685d5f11838f 484 /**
mbed_official 235:685d5f11838f 485 * @brief DeInitializes the CAN MSP.
mbed_official 235:685d5f11838f 486 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 235:685d5f11838f 487 * the configuration information for the specified CAN.
mbed_official 235:685d5f11838f 488 * @retval None
mbed_official 235:685d5f11838f 489 */
mbed_official 235:685d5f11838f 490 __weak void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan)
mbed_official 235:685d5f11838f 491 {
mbed_official 235:685d5f11838f 492 /* NOTE : This function Should not be modified, when the callback is needed,
mbed_official 235:685d5f11838f 493 the HAL_CAN_MspDeInit could be implemented in the user file
mbed_official 235:685d5f11838f 494 */
mbed_official 235:685d5f11838f 495 }
mbed_official 235:685d5f11838f 496
mbed_official 235:685d5f11838f 497 /**
mbed_official 235:685d5f11838f 498 * @}
mbed_official 235:685d5f11838f 499 */
mbed_official 235:685d5f11838f 500
mbed_official 235:685d5f11838f 501 /** @defgroup CAN_Group2 IO operation functions
mbed_official 235:685d5f11838f 502 * @brief IO operation functions
mbed_official 235:685d5f11838f 503 *
mbed_official 235:685d5f11838f 504 @verbatim
mbed_official 235:685d5f11838f 505 ==============================================================================
mbed_official 235:685d5f11838f 506 ##### IO operation functions #####
mbed_official 235:685d5f11838f 507 ==============================================================================
mbed_official 235:685d5f11838f 508 [..] This section provides functions allowing to:
mbed_official 235:685d5f11838f 509 (+) Transmit a CAN frame message.
mbed_official 235:685d5f11838f 510 (+) Receive a CAN frame message.
mbed_official 235:685d5f11838f 511 (+) Enter CAN peripheral in sleep mode.
mbed_official 235:685d5f11838f 512 (+) Wake up the CAN peripheral from sleep mode.
mbed_official 235:685d5f11838f 513
mbed_official 235:685d5f11838f 514 @endverbatim
mbed_official 235:685d5f11838f 515 * @{
mbed_official 235:685d5f11838f 516 */
mbed_official 235:685d5f11838f 517
mbed_official 235:685d5f11838f 518 /**
mbed_official 235:685d5f11838f 519 * @brief Initiates and transmits a CAN frame message.
mbed_official 235:685d5f11838f 520 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 235:685d5f11838f 521 * the configuration information for the specified CAN.
mbed_official 235:685d5f11838f 522 * @param Timeout: Specify Timeout value
mbed_official 235:685d5f11838f 523 * @retval HAL status
mbed_official 235:685d5f11838f 524 */
mbed_official 235:685d5f11838f 525 HAL_StatusTypeDef HAL_CAN_Transmit(CAN_HandleTypeDef* hcan, uint32_t Timeout)
mbed_official 235:685d5f11838f 526 {
mbed_official 235:685d5f11838f 527 uint32_t transmitmailbox = 5;
mbed_official 235:685d5f11838f 528 uint32_t tickstart = 0;
mbed_official 235:685d5f11838f 529
mbed_official 235:685d5f11838f 530 /* Check the parameters */
mbed_official 235:685d5f11838f 531 assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE));
mbed_official 235:685d5f11838f 532 assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR));
mbed_official 235:685d5f11838f 533 assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC));
mbed_official 235:685d5f11838f 534
mbed_official 235:685d5f11838f 535 /* Process locked */
mbed_official 235:685d5f11838f 536 __HAL_LOCK(hcan);
mbed_official 235:685d5f11838f 537
mbed_official 235:685d5f11838f 538 if(hcan->State == HAL_CAN_STATE_BUSY_RX)
mbed_official 235:685d5f11838f 539 {
mbed_official 235:685d5f11838f 540 /* Change CAN state */
mbed_official 235:685d5f11838f 541 hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
mbed_official 235:685d5f11838f 542 }
mbed_official 235:685d5f11838f 543 else
mbed_official 235:685d5f11838f 544 {
mbed_official 235:685d5f11838f 545 /* Change CAN state */
mbed_official 235:685d5f11838f 546 hcan->State = HAL_CAN_STATE_BUSY_TX;
mbed_official 235:685d5f11838f 547 }
mbed_official 235:685d5f11838f 548
mbed_official 235:685d5f11838f 549 /* Select one empty transmit mailbox */
mbed_official 235:685d5f11838f 550 if ((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0)
mbed_official 235:685d5f11838f 551 {
mbed_official 235:685d5f11838f 552 transmitmailbox = 0;
mbed_official 235:685d5f11838f 553 }
mbed_official 235:685d5f11838f 554 else if ((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1)
mbed_official 235:685d5f11838f 555 {
mbed_official 235:685d5f11838f 556 transmitmailbox = 1;
mbed_official 235:685d5f11838f 557 }
mbed_official 235:685d5f11838f 558 else if ((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2)
mbed_official 235:685d5f11838f 559 {
mbed_official 235:685d5f11838f 560 transmitmailbox = 2;
mbed_official 235:685d5f11838f 561 }
mbed_official 235:685d5f11838f 562 else
mbed_official 235:685d5f11838f 563 {
mbed_official 235:685d5f11838f 564 transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
mbed_official 235:685d5f11838f 565 }
mbed_official 235:685d5f11838f 566
mbed_official 235:685d5f11838f 567 if (transmitmailbox != CAN_TXSTATUS_NOMAILBOX)
mbed_official 235:685d5f11838f 568 {
mbed_official 235:685d5f11838f 569 /* Set up the Id */
mbed_official 235:685d5f11838f 570 hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
mbed_official 235:685d5f11838f 571 if (hcan->pTxMsg->IDE == CAN_ID_STD)
mbed_official 235:685d5f11838f 572 {
mbed_official 235:685d5f11838f 573 assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId));
mbed_official 235:685d5f11838f 574 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->StdId << 21) | \
mbed_official 235:685d5f11838f 575 hcan->pTxMsg->RTR);
mbed_official 235:685d5f11838f 576 }
mbed_official 235:685d5f11838f 577 else
mbed_official 235:685d5f11838f 578 {
mbed_official 235:685d5f11838f 579 assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId));
mbed_official 235:685d5f11838f 580 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->ExtId << 3) | \
mbed_official 235:685d5f11838f 581 hcan->pTxMsg->IDE | \
mbed_official 235:685d5f11838f 582 hcan->pTxMsg->RTR);
mbed_official 235:685d5f11838f 583 }
mbed_official 235:685d5f11838f 584
mbed_official 235:685d5f11838f 585 /* Set up the DLC */
mbed_official 235:685d5f11838f 586 hcan->pTxMsg->DLC &= (uint8_t)0x0000000F;
mbed_official 235:685d5f11838f 587 hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
mbed_official 235:685d5f11838f 588 hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC;
mbed_official 235:685d5f11838f 589
mbed_official 235:685d5f11838f 590 /* Set up the data field */
mbed_official 235:685d5f11838f 591 hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3] << 24) |
mbed_official 235:685d5f11838f 592 ((uint32_t)hcan->pTxMsg->Data[2] << 16) |
mbed_official 235:685d5f11838f 593 ((uint32_t)hcan->pTxMsg->Data[1] << 8) |
mbed_official 235:685d5f11838f 594 ((uint32_t)hcan->pTxMsg->Data[0]));
mbed_official 235:685d5f11838f 595 hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7] << 24) |
mbed_official 235:685d5f11838f 596 ((uint32_t)hcan->pTxMsg->Data[6] << 16) |
mbed_official 235:685d5f11838f 597 ((uint32_t)hcan->pTxMsg->Data[5] << 8) |
mbed_official 235:685d5f11838f 598 ((uint32_t)hcan->pTxMsg->Data[4]));
mbed_official 235:685d5f11838f 599 /* Request transmission */
mbed_official 235:685d5f11838f 600 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
mbed_official 235:685d5f11838f 601
mbed_official 235:685d5f11838f 602 /* Get tick */
mbed_official 235:685d5f11838f 603 tickstart = HAL_GetTick();
mbed_official 235:685d5f11838f 604
mbed_official 235:685d5f11838f 605 /* Check End of transmission flag */
mbed_official 235:685d5f11838f 606 while(!(__HAL_CAN_TRANSMIT_STATUS(hcan, transmitmailbox)))
mbed_official 235:685d5f11838f 607 {
mbed_official 235:685d5f11838f 608 /* Check for the Timeout */
mbed_official 235:685d5f11838f 609 if(Timeout != HAL_MAX_DELAY)
mbed_official 235:685d5f11838f 610 {
mbed_official 235:685d5f11838f 611 if((Timeout == 0)||((HAL_GetTick() - tickstart ) > Timeout))
mbed_official 235:685d5f11838f 612 {
mbed_official 235:685d5f11838f 613 hcan->State = HAL_CAN_STATE_TIMEOUT;
mbed_official 235:685d5f11838f 614 /* Process unlocked */
mbed_official 235:685d5f11838f 615 __HAL_UNLOCK(hcan);
mbed_official 235:685d5f11838f 616 return HAL_TIMEOUT;
mbed_official 235:685d5f11838f 617 }
mbed_official 235:685d5f11838f 618 }
mbed_official 235:685d5f11838f 619 }
mbed_official 235:685d5f11838f 620 if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
mbed_official 235:685d5f11838f 621 {
mbed_official 235:685d5f11838f 622 /* Change CAN state */
mbed_official 235:685d5f11838f 623 hcan->State = HAL_CAN_STATE_BUSY_RX;
mbed_official 235:685d5f11838f 624
mbed_official 235:685d5f11838f 625 /* Process unlocked */
mbed_official 235:685d5f11838f 626 __HAL_UNLOCK(hcan);
mbed_official 235:685d5f11838f 627 }
mbed_official 235:685d5f11838f 628 else
mbed_official 235:685d5f11838f 629 {
mbed_official 235:685d5f11838f 630 /* Change CAN state */
mbed_official 235:685d5f11838f 631 hcan->State = HAL_CAN_STATE_READY;
mbed_official 235:685d5f11838f 632
mbed_official 235:685d5f11838f 633 /* Process unlocked */
mbed_official 235:685d5f11838f 634 __HAL_UNLOCK(hcan);
mbed_official 235:685d5f11838f 635 }
mbed_official 235:685d5f11838f 636
mbed_official 235:685d5f11838f 637 /* Return function status */
mbed_official 235:685d5f11838f 638 return HAL_OK;
mbed_official 235:685d5f11838f 639 }
mbed_official 235:685d5f11838f 640 else
mbed_official 235:685d5f11838f 641 {
mbed_official 235:685d5f11838f 642 /* Change CAN state */
mbed_official 235:685d5f11838f 643 hcan->State = HAL_CAN_STATE_ERROR;
mbed_official 235:685d5f11838f 644
mbed_official 235:685d5f11838f 645 /* Return function status */
mbed_official 235:685d5f11838f 646 return HAL_ERROR;
mbed_official 235:685d5f11838f 647 }
mbed_official 235:685d5f11838f 648 }
mbed_official 235:685d5f11838f 649
mbed_official 235:685d5f11838f 650 /**
mbed_official 235:685d5f11838f 651 * @brief Initiates and transmits a CAN frame message.
mbed_official 235:685d5f11838f 652 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 235:685d5f11838f 653 * the configuration information for the specified CAN.
mbed_official 235:685d5f11838f 654 * @retval HAL status
mbed_official 235:685d5f11838f 655 */
mbed_official 235:685d5f11838f 656 HAL_StatusTypeDef HAL_CAN_Transmit_IT(CAN_HandleTypeDef* hcan)
mbed_official 235:685d5f11838f 657 {
mbed_official 235:685d5f11838f 658 uint32_t transmitmailbox = 5;
mbed_official 235:685d5f11838f 659 uint32_t tmp = 0;
mbed_official 235:685d5f11838f 660
mbed_official 235:685d5f11838f 661 /* Check the parameters */
mbed_official 235:685d5f11838f 662 assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE));
mbed_official 235:685d5f11838f 663 assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR));
mbed_official 235:685d5f11838f 664 assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC));
mbed_official 235:685d5f11838f 665
mbed_official 235:685d5f11838f 666 tmp = hcan->State;
mbed_official 235:685d5f11838f 667 if((tmp == HAL_CAN_STATE_READY) || (tmp == HAL_CAN_STATE_BUSY_RX))
mbed_official 235:685d5f11838f 668 {
mbed_official 235:685d5f11838f 669 /* Process Locked */
mbed_official 235:685d5f11838f 670 __HAL_LOCK(hcan);
mbed_official 235:685d5f11838f 671
mbed_official 235:685d5f11838f 672 /* Select one empty transmit mailbox */
mbed_official 235:685d5f11838f 673 if((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0)
mbed_official 235:685d5f11838f 674 {
mbed_official 235:685d5f11838f 675 transmitmailbox = 0;
mbed_official 235:685d5f11838f 676 }
mbed_official 235:685d5f11838f 677 else if((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1)
mbed_official 235:685d5f11838f 678 {
mbed_official 235:685d5f11838f 679 transmitmailbox = 1;
mbed_official 235:685d5f11838f 680 }
mbed_official 235:685d5f11838f 681 else if((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2)
mbed_official 235:685d5f11838f 682 {
mbed_official 235:685d5f11838f 683 transmitmailbox = 2;
mbed_official 235:685d5f11838f 684 }
mbed_official 235:685d5f11838f 685 else
mbed_official 235:685d5f11838f 686 {
mbed_official 235:685d5f11838f 687 transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
mbed_official 235:685d5f11838f 688 }
mbed_official 235:685d5f11838f 689
mbed_official 235:685d5f11838f 690 if(transmitmailbox != CAN_TXSTATUS_NOMAILBOX)
mbed_official 235:685d5f11838f 691 {
mbed_official 235:685d5f11838f 692 /* Set up the Id */
mbed_official 235:685d5f11838f 693 hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
mbed_official 235:685d5f11838f 694 if(hcan->pTxMsg->IDE == CAN_ID_STD)
mbed_official 235:685d5f11838f 695 {
mbed_official 235:685d5f11838f 696 assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId));
mbed_official 235:685d5f11838f 697 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->StdId << 21) | \
mbed_official 235:685d5f11838f 698 hcan->pTxMsg->RTR);
mbed_official 235:685d5f11838f 699 }
mbed_official 235:685d5f11838f 700 else
mbed_official 235:685d5f11838f 701 {
mbed_official 235:685d5f11838f 702 assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId));
mbed_official 235:685d5f11838f 703 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->ExtId << 3) | \
mbed_official 235:685d5f11838f 704 hcan->pTxMsg->IDE | \
mbed_official 235:685d5f11838f 705 hcan->pTxMsg->RTR);
mbed_official 235:685d5f11838f 706 }
mbed_official 235:685d5f11838f 707
mbed_official 235:685d5f11838f 708 /* Set up the DLC */
mbed_official 235:685d5f11838f 709 hcan->pTxMsg->DLC &= (uint8_t)0x0000000F;
mbed_official 235:685d5f11838f 710 hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
mbed_official 235:685d5f11838f 711 hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC;
mbed_official 235:685d5f11838f 712
mbed_official 235:685d5f11838f 713 /* Set up the data field */
mbed_official 235:685d5f11838f 714 hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3] << 24) |
mbed_official 235:685d5f11838f 715 ((uint32_t)hcan->pTxMsg->Data[2] << 16) |
mbed_official 235:685d5f11838f 716 ((uint32_t)hcan->pTxMsg->Data[1] << 8) |
mbed_official 235:685d5f11838f 717 ((uint32_t)hcan->pTxMsg->Data[0]));
mbed_official 235:685d5f11838f 718 hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7] << 24) |
mbed_official 235:685d5f11838f 719 ((uint32_t)hcan->pTxMsg->Data[6] << 16) |
mbed_official 235:685d5f11838f 720 ((uint32_t)hcan->pTxMsg->Data[5] << 8) |
mbed_official 235:685d5f11838f 721 ((uint32_t)hcan->pTxMsg->Data[4]));
mbed_official 235:685d5f11838f 722
mbed_official 235:685d5f11838f 723 if(hcan->State == HAL_CAN_STATE_BUSY_RX)
mbed_official 235:685d5f11838f 724 {
mbed_official 235:685d5f11838f 725 /* Change CAN state */
mbed_official 235:685d5f11838f 726 hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
mbed_official 235:685d5f11838f 727 }
mbed_official 235:685d5f11838f 728 else
mbed_official 235:685d5f11838f 729 {
mbed_official 235:685d5f11838f 730 /* Change CAN state */
mbed_official 235:685d5f11838f 731 hcan->State = HAL_CAN_STATE_BUSY_TX;
mbed_official 235:685d5f11838f 732 }
mbed_official 235:685d5f11838f 733
mbed_official 235:685d5f11838f 734 /* Set CAN error code to none */
mbed_official 235:685d5f11838f 735 hcan->ErrorCode = HAL_CAN_ERROR_NONE;
mbed_official 235:685d5f11838f 736
mbed_official 235:685d5f11838f 737 /* Process Unlocked */
mbed_official 235:685d5f11838f 738 __HAL_UNLOCK(hcan);
mbed_official 235:685d5f11838f 739
mbed_official 235:685d5f11838f 740 /* Enable Error warning Interrupt */
mbed_official 235:685d5f11838f 741 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG);
mbed_official 235:685d5f11838f 742
mbed_official 235:685d5f11838f 743 /* Enable Error passive Interrupt */
mbed_official 235:685d5f11838f 744 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EPV);
mbed_official 235:685d5f11838f 745
mbed_official 235:685d5f11838f 746 /* Enable Bus-off Interrupt */
mbed_official 235:685d5f11838f 747 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_BOF);
mbed_official 235:685d5f11838f 748
mbed_official 235:685d5f11838f 749 /* Enable Last error code Interrupt */
mbed_official 235:685d5f11838f 750 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_LEC);
mbed_official 235:685d5f11838f 751
mbed_official 235:685d5f11838f 752 /* Enable Error Interrupt */
mbed_official 235:685d5f11838f 753 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_ERR);
mbed_official 235:685d5f11838f 754
mbed_official 235:685d5f11838f 755 /* Enable Transmit mailbox empty Interrupt */
mbed_official 235:685d5f11838f 756 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_TME);
mbed_official 235:685d5f11838f 757
mbed_official 235:685d5f11838f 758 /* Request transmission */
mbed_official 235:685d5f11838f 759 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
mbed_official 235:685d5f11838f 760 }
mbed_official 235:685d5f11838f 761 }
mbed_official 235:685d5f11838f 762 else
mbed_official 235:685d5f11838f 763 {
mbed_official 235:685d5f11838f 764 return HAL_BUSY;
mbed_official 235:685d5f11838f 765 }
mbed_official 235:685d5f11838f 766
mbed_official 235:685d5f11838f 767 return HAL_OK;
mbed_official 235:685d5f11838f 768 }
mbed_official 235:685d5f11838f 769
mbed_official 235:685d5f11838f 770 /**
mbed_official 235:685d5f11838f 771 * @brief Receives a correct CAN frame.
mbed_official 235:685d5f11838f 772 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 235:685d5f11838f 773 * the configuration information for the specified CAN.
mbed_official 235:685d5f11838f 774 * @param FIFONumber: FIFO Number value
mbed_official 235:685d5f11838f 775 * @param Timeout: Specify Timeout value
mbed_official 235:685d5f11838f 776 * @retval HAL status
mbed_official 235:685d5f11838f 777 */
mbed_official 235:685d5f11838f 778 HAL_StatusTypeDef HAL_CAN_Receive(CAN_HandleTypeDef* hcan, uint8_t FIFONumber, uint32_t Timeout)
mbed_official 235:685d5f11838f 779 {
mbed_official 235:685d5f11838f 780 uint32_t tickstart = 0;
mbed_official 235:685d5f11838f 781
mbed_official 235:685d5f11838f 782 /* Check the parameters */
mbed_official 235:685d5f11838f 783 assert_param(IS_CAN_FIFO(FIFONumber));
mbed_official 235:685d5f11838f 784
mbed_official 235:685d5f11838f 785 /* Process locked */
mbed_official 235:685d5f11838f 786 __HAL_LOCK(hcan);
mbed_official 235:685d5f11838f 787
mbed_official 235:685d5f11838f 788 if(hcan->State == HAL_CAN_STATE_BUSY_TX)
mbed_official 235:685d5f11838f 789 {
mbed_official 235:685d5f11838f 790 /* Change CAN state */
mbed_official 235:685d5f11838f 791 hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
mbed_official 235:685d5f11838f 792 }
mbed_official 235:685d5f11838f 793 else
mbed_official 235:685d5f11838f 794 {
mbed_official 235:685d5f11838f 795 /* Change CAN state */
mbed_official 235:685d5f11838f 796 hcan->State = HAL_CAN_STATE_BUSY_RX;
mbed_official 235:685d5f11838f 797 }
mbed_official 235:685d5f11838f 798
mbed_official 235:685d5f11838f 799 /* Get tick */
mbed_official 235:685d5f11838f 800 tickstart = HAL_GetTick();
mbed_official 235:685d5f11838f 801
mbed_official 235:685d5f11838f 802 /* Check pending message */
mbed_official 235:685d5f11838f 803 while(__HAL_CAN_MSG_PENDING(hcan, FIFONumber) == 0)
mbed_official 235:685d5f11838f 804 {
mbed_official 235:685d5f11838f 805 /* Check for the Timeout */
mbed_official 235:685d5f11838f 806 if(Timeout != HAL_MAX_DELAY)
mbed_official 235:685d5f11838f 807 {
mbed_official 235:685d5f11838f 808 if((Timeout == 0)||((HAL_GetTick() - tickstart ) > Timeout))
mbed_official 235:685d5f11838f 809 {
mbed_official 235:685d5f11838f 810 hcan->State = HAL_CAN_STATE_TIMEOUT;
mbed_official 235:685d5f11838f 811 /* Process unlocked */
mbed_official 235:685d5f11838f 812 __HAL_UNLOCK(hcan);
mbed_official 235:685d5f11838f 813 return HAL_TIMEOUT;
mbed_official 235:685d5f11838f 814 }
mbed_official 235:685d5f11838f 815 }
mbed_official 235:685d5f11838f 816 }
mbed_official 235:685d5f11838f 817
mbed_official 235:685d5f11838f 818 /* Get the Id */
mbed_official 235:685d5f11838f 819 hcan->pRxMsg->IDE = (uint8_t)0x04 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
mbed_official 235:685d5f11838f 820 if (hcan->pRxMsg->IDE == CAN_ID_STD)
mbed_official 235:685d5f11838f 821 {
mbed_official 235:685d5f11838f 822 hcan->pRxMsg->StdId = (uint32_t)0x000007FF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 21);
mbed_official 235:685d5f11838f 823 }
mbed_official 235:685d5f11838f 824 else
mbed_official 235:685d5f11838f 825 {
mbed_official 235:685d5f11838f 826 hcan->pRxMsg->ExtId = (uint32_t)0x1FFFFFFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 3);
mbed_official 235:685d5f11838f 827 }
mbed_official 235:685d5f11838f 828
mbed_official 235:685d5f11838f 829 hcan->pRxMsg->RTR = (uint8_t)0x02 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
mbed_official 235:685d5f11838f 830 /* Get the DLC */
mbed_official 235:685d5f11838f 831 hcan->pRxMsg->DLC = (uint8_t)0x0F & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR;
mbed_official 235:685d5f11838f 832 /* Get the FMI */
mbed_official 235:685d5f11838f 833 hcan->pRxMsg->FMI = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDTR >> 8);
mbed_official 235:685d5f11838f 834 /* Get the data field */
mbed_official 235:685d5f11838f 835 hcan->pRxMsg->Data[0] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR;
mbed_official 235:685d5f11838f 836 hcan->pRxMsg->Data[1] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 8);
mbed_official 235:685d5f11838f 837 hcan->pRxMsg->Data[2] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 16);
mbed_official 235:685d5f11838f 838 hcan->pRxMsg->Data[3] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 24);
mbed_official 235:685d5f11838f 839 hcan->pRxMsg->Data[4] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR;
mbed_official 235:685d5f11838f 840 hcan->pRxMsg->Data[5] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 8);
mbed_official 235:685d5f11838f 841 hcan->pRxMsg->Data[6] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 16);
mbed_official 235:685d5f11838f 842 hcan->pRxMsg->Data[7] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 24);
mbed_official 235:685d5f11838f 843
mbed_official 235:685d5f11838f 844 /* Release the FIFO */
mbed_official 235:685d5f11838f 845 if(FIFONumber == CAN_FIFO0)
mbed_official 235:685d5f11838f 846 {
mbed_official 235:685d5f11838f 847 /* Release FIFO0 */
mbed_official 235:685d5f11838f 848 __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0);
mbed_official 235:685d5f11838f 849 }
mbed_official 235:685d5f11838f 850 else /* FIFONumber == CAN_FIFO1 */
mbed_official 235:685d5f11838f 851 {
mbed_official 235:685d5f11838f 852 /* Release FIFO1 */
mbed_official 235:685d5f11838f 853 __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1);
mbed_official 235:685d5f11838f 854 }
mbed_official 235:685d5f11838f 855
mbed_official 235:685d5f11838f 856 if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
mbed_official 235:685d5f11838f 857 {
mbed_official 235:685d5f11838f 858 /* Change CAN state */
mbed_official 235:685d5f11838f 859 hcan->State = HAL_CAN_STATE_BUSY_TX;
mbed_official 235:685d5f11838f 860
mbed_official 235:685d5f11838f 861 /* Process unlocked */
mbed_official 235:685d5f11838f 862 __HAL_UNLOCK(hcan);
mbed_official 235:685d5f11838f 863 }
mbed_official 235:685d5f11838f 864 else
mbed_official 235:685d5f11838f 865 {
mbed_official 235:685d5f11838f 866 /* Change CAN state */
mbed_official 235:685d5f11838f 867 hcan->State = HAL_CAN_STATE_READY;
mbed_official 235:685d5f11838f 868
mbed_official 235:685d5f11838f 869 /* Process unlocked */
mbed_official 235:685d5f11838f 870 __HAL_UNLOCK(hcan);
mbed_official 235:685d5f11838f 871 }
mbed_official 235:685d5f11838f 872
mbed_official 235:685d5f11838f 873 /* Return function status */
mbed_official 235:685d5f11838f 874 return HAL_OK;
mbed_official 235:685d5f11838f 875 }
mbed_official 235:685d5f11838f 876
mbed_official 235:685d5f11838f 877 /**
mbed_official 235:685d5f11838f 878 * @brief Receives a correct CAN frame.
mbed_official 235:685d5f11838f 879 * @param hcan: Pointer to a CAN_HandleTypeDef structure that contains
mbed_official 235:685d5f11838f 880 * the configuration information for the specified CAN.
mbed_official 235:685d5f11838f 881 * @param FIFONumber: Specify the FIFO number
mbed_official 235:685d5f11838f 882 * @retval HAL status
mbed_official 235:685d5f11838f 883 */
mbed_official 235:685d5f11838f 884 HAL_StatusTypeDef HAL_CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber)
mbed_official 235:685d5f11838f 885 {
mbed_official 235:685d5f11838f 886 uint32_t tmp = 0;
mbed_official 235:685d5f11838f 887
mbed_official 235:685d5f11838f 888 /* Check the parameters */
mbed_official 235:685d5f11838f 889 assert_param(IS_CAN_FIFO(FIFONumber));
mbed_official 235:685d5f11838f 890
mbed_official 235:685d5f11838f 891 tmp = hcan->State;
mbed_official 235:685d5f11838f 892 if((tmp == HAL_CAN_STATE_READY) || (tmp == HAL_CAN_STATE_BUSY_TX))
mbed_official 235:685d5f11838f 893 {
mbed_official 235:685d5f11838f 894 /* Process locked */
mbed_official 235:685d5f11838f 895 __HAL_LOCK(hcan);
mbed_official 235:685d5f11838f 896
mbed_official 235:685d5f11838f 897 if(hcan->State == HAL_CAN_STATE_BUSY_TX)
mbed_official 235:685d5f11838f 898 {
mbed_official 235:685d5f11838f 899 /* Change CAN state */
mbed_official 235:685d5f11838f 900 hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
mbed_official 235:685d5f11838f 901 }
mbed_official 235:685d5f11838f 902 else
mbed_official 235:685d5f11838f 903 {
mbed_official 235:685d5f11838f 904 /* Change CAN state */
mbed_official 235:685d5f11838f 905 hcan->State = HAL_CAN_STATE_BUSY_RX;
mbed_official 235:685d5f11838f 906 }
mbed_official 235:685d5f11838f 907
mbed_official 235:685d5f11838f 908 /* Set CAN error code to none */
mbed_official 235:685d5f11838f 909 hcan->ErrorCode = HAL_CAN_ERROR_NONE;
mbed_official 235:685d5f11838f 910
mbed_official 235:685d5f11838f 911 /* Enable Error warning Interrupt */
mbed_official 235:685d5f11838f 912 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG);
mbed_official 235:685d5f11838f 913
mbed_official 235:685d5f11838f 914 /* Enable Error passive Interrupt */
mbed_official 235:685d5f11838f 915 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EPV);
mbed_official 235:685d5f11838f 916
mbed_official 235:685d5f11838f 917 /* Enable Bus-off Interrupt */
mbed_official 235:685d5f11838f 918 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_BOF);
mbed_official 235:685d5f11838f 919
mbed_official 235:685d5f11838f 920 /* Enable Last error code Interrupt */
mbed_official 235:685d5f11838f 921 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_LEC);
mbed_official 235:685d5f11838f 922
mbed_official 235:685d5f11838f 923 /* Enable Error Interrupt */
mbed_official 235:685d5f11838f 924 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_ERR);
mbed_official 235:685d5f11838f 925
mbed_official 235:685d5f11838f 926 /* Process unlocked */
mbed_official 235:685d5f11838f 927 __HAL_UNLOCK(hcan);
mbed_official 235:685d5f11838f 928
mbed_official 235:685d5f11838f 929 if(FIFONumber == CAN_FIFO0)
mbed_official 235:685d5f11838f 930 {
mbed_official 235:685d5f11838f 931 /* Enable FIFO 0 message pending Interrupt */
mbed_official 235:685d5f11838f 932 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_FMP0);
mbed_official 235:685d5f11838f 933 }
mbed_official 235:685d5f11838f 934 else
mbed_official 235:685d5f11838f 935 {
mbed_official 235:685d5f11838f 936 /* Enable FIFO 1 message pending Interrupt */
mbed_official 235:685d5f11838f 937 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_FMP1);
mbed_official 235:685d5f11838f 938 }
mbed_official 235:685d5f11838f 939
mbed_official 235:685d5f11838f 940 }
mbed_official 235:685d5f11838f 941 else
mbed_official 235:685d5f11838f 942 {
mbed_official 235:685d5f11838f 943 return HAL_BUSY;
mbed_official 235:685d5f11838f 944 }
mbed_official 235:685d5f11838f 945
mbed_official 235:685d5f11838f 946 /* Return function status */
mbed_official 235:685d5f11838f 947 return HAL_OK;
mbed_official 235:685d5f11838f 948 }
mbed_official 235:685d5f11838f 949
mbed_official 235:685d5f11838f 950 /**
mbed_official 235:685d5f11838f 951 * @brief Enters the Sleep (low power) mode.
mbed_official 235:685d5f11838f 952 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 235:685d5f11838f 953 * the configuration information for the specified CAN.
mbed_official 235:685d5f11838f 954 * @retval HAL status.
mbed_official 235:685d5f11838f 955 */
mbed_official 235:685d5f11838f 956 HAL_StatusTypeDef HAL_CAN_Sleep(CAN_HandleTypeDef* hcan)
mbed_official 235:685d5f11838f 957 {
mbed_official 235:685d5f11838f 958 uint32_t tickstart = 0;
mbed_official 235:685d5f11838f 959
mbed_official 235:685d5f11838f 960 /* Process locked */
mbed_official 235:685d5f11838f 961 __HAL_LOCK(hcan);
mbed_official 235:685d5f11838f 962
mbed_official 235:685d5f11838f 963 /* Change CAN state */
mbed_official 235:685d5f11838f 964 hcan->State = HAL_CAN_STATE_BUSY;
mbed_official 235:685d5f11838f 965
mbed_official 235:685d5f11838f 966 /* Request Sleep mode */
mbed_official 235:685d5f11838f 967 hcan->Instance->MCR = (((hcan->Instance->MCR) & (uint32_t)(~(uint32_t)CAN_MCR_INRQ)) | CAN_MCR_SLEEP);
mbed_official 235:685d5f11838f 968
mbed_official 235:685d5f11838f 969 /* Sleep mode status */
mbed_official 235:685d5f11838f 970 if ((hcan->Instance->MSR & (CAN_MSR_SLAK|CAN_MSR_INAK)) != CAN_MSR_SLAK)
mbed_official 235:685d5f11838f 971 {
mbed_official 235:685d5f11838f 972 /* Return function status */
mbed_official 235:685d5f11838f 973 return HAL_ERROR;
mbed_official 235:685d5f11838f 974 }
mbed_official 235:685d5f11838f 975
mbed_official 235:685d5f11838f 976 /* Get tick */
mbed_official 235:685d5f11838f 977 tickstart = HAL_GetTick();
mbed_official 235:685d5f11838f 978
mbed_official 235:685d5f11838f 979 /* Wait the acknowledge */
mbed_official 235:685d5f11838f 980 while((hcan->Instance->MSR & (CAN_MSR_SLAK|CAN_MSR_INAK)) != CAN_MSR_SLAK)
mbed_official 235:685d5f11838f 981 {
mbed_official 235:685d5f11838f 982 if((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
mbed_official 235:685d5f11838f 983 {
mbed_official 235:685d5f11838f 984 hcan->State = HAL_CAN_STATE_TIMEOUT;
mbed_official 235:685d5f11838f 985 /* Process unlocked */
mbed_official 235:685d5f11838f 986 __HAL_UNLOCK(hcan);
mbed_official 235:685d5f11838f 987 return HAL_TIMEOUT;
mbed_official 235:685d5f11838f 988 }
mbed_official 235:685d5f11838f 989 }
mbed_official 235:685d5f11838f 990
mbed_official 235:685d5f11838f 991 /* Change CAN state */
mbed_official 235:685d5f11838f 992 hcan->State = HAL_CAN_STATE_READY;
mbed_official 235:685d5f11838f 993
mbed_official 235:685d5f11838f 994 /* Process unlocked */
mbed_official 235:685d5f11838f 995 __HAL_UNLOCK(hcan);
mbed_official 235:685d5f11838f 996
mbed_official 235:685d5f11838f 997 /* Return function status */
mbed_official 235:685d5f11838f 998 return HAL_OK;
mbed_official 235:685d5f11838f 999 }
mbed_official 235:685d5f11838f 1000
mbed_official 235:685d5f11838f 1001 /**
mbed_official 235:685d5f11838f 1002 * @brief Wakes up the CAN peripheral from sleep mode, after that the CAN peripheral
mbed_official 235:685d5f11838f 1003 * is in the normal mode.
mbed_official 235:685d5f11838f 1004 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 235:685d5f11838f 1005 * the configuration information for the specified CAN.
mbed_official 235:685d5f11838f 1006 * @retval HAL status.
mbed_official 235:685d5f11838f 1007 */
mbed_official 235:685d5f11838f 1008 HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef* hcan)
mbed_official 235:685d5f11838f 1009 {
mbed_official 235:685d5f11838f 1010 uint32_t tickstart = 0;
mbed_official 235:685d5f11838f 1011
mbed_official 235:685d5f11838f 1012 /* Process locked */
mbed_official 235:685d5f11838f 1013 __HAL_LOCK(hcan);
mbed_official 235:685d5f11838f 1014
mbed_official 235:685d5f11838f 1015 /* Change CAN state */
mbed_official 235:685d5f11838f 1016 hcan->State = HAL_CAN_STATE_BUSY;
mbed_official 235:685d5f11838f 1017
mbed_official 235:685d5f11838f 1018 /* Wake up request */
mbed_official 235:685d5f11838f 1019 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_SLEEP;
mbed_official 235:685d5f11838f 1020
mbed_official 235:685d5f11838f 1021 /* Get tick */
mbed_official 235:685d5f11838f 1022 tickstart = HAL_GetTick();
mbed_official 235:685d5f11838f 1023
mbed_official 235:685d5f11838f 1024 /* Sleep mode status */
mbed_official 235:685d5f11838f 1025 while((hcan->Instance->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK)
mbed_official 235:685d5f11838f 1026 {
mbed_official 235:685d5f11838f 1027 if((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
mbed_official 235:685d5f11838f 1028 {
mbed_official 235:685d5f11838f 1029 hcan->State= HAL_CAN_STATE_TIMEOUT;
mbed_official 235:685d5f11838f 1030 /* Process unlocked */
mbed_official 235:685d5f11838f 1031 __HAL_UNLOCK(hcan);
mbed_official 235:685d5f11838f 1032 return HAL_TIMEOUT;
mbed_official 235:685d5f11838f 1033 }
mbed_official 235:685d5f11838f 1034 }
mbed_official 235:685d5f11838f 1035 if((hcan->Instance->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK)
mbed_official 235:685d5f11838f 1036 {
mbed_official 235:685d5f11838f 1037 /* Return function status */
mbed_official 235:685d5f11838f 1038 return HAL_ERROR;
mbed_official 235:685d5f11838f 1039 }
mbed_official 235:685d5f11838f 1040
mbed_official 235:685d5f11838f 1041 /* Change CAN state */
mbed_official 235:685d5f11838f 1042 hcan->State = HAL_CAN_STATE_READY;
mbed_official 235:685d5f11838f 1043
mbed_official 235:685d5f11838f 1044 /* Process unlocked */
mbed_official 235:685d5f11838f 1045 __HAL_UNLOCK(hcan);
mbed_official 235:685d5f11838f 1046
mbed_official 235:685d5f11838f 1047 /* Return function status */
mbed_official 235:685d5f11838f 1048 return HAL_OK;
mbed_official 235:685d5f11838f 1049 }
mbed_official 235:685d5f11838f 1050
mbed_official 235:685d5f11838f 1051 /**
mbed_official 235:685d5f11838f 1052 * @brief Handles CAN interrupt request
mbed_official 235:685d5f11838f 1053 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 235:685d5f11838f 1054 * the configuration information for the specified CAN.
mbed_official 235:685d5f11838f 1055 * @retval None
mbed_official 235:685d5f11838f 1056 */
mbed_official 235:685d5f11838f 1057 void HAL_CAN_IRQHandler(CAN_HandleTypeDef* hcan)
mbed_official 235:685d5f11838f 1058 {
mbed_official 235:685d5f11838f 1059 uint32_t tmp1 = 0, tmp2 = 0, tmp3 = 0;
mbed_official 235:685d5f11838f 1060
mbed_official 235:685d5f11838f 1061 /* Check End of transmission flag */
mbed_official 235:685d5f11838f 1062 if(__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_TME))
mbed_official 235:685d5f11838f 1063 {
mbed_official 235:685d5f11838f 1064 tmp1 = __HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_0);
mbed_official 235:685d5f11838f 1065 tmp2 = __HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_1);
mbed_official 235:685d5f11838f 1066 tmp3 = __HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_2);
mbed_official 235:685d5f11838f 1067 if(tmp1 || tmp2 || tmp3)
mbed_official 235:685d5f11838f 1068 {
mbed_official 235:685d5f11838f 1069 /* Call transmit function */
mbed_official 235:685d5f11838f 1070 CAN_Transmit_IT(hcan);
mbed_official 235:685d5f11838f 1071 }
mbed_official 235:685d5f11838f 1072 }
mbed_official 235:685d5f11838f 1073
mbed_official 235:685d5f11838f 1074 tmp1 = __HAL_CAN_MSG_PENDING(hcan, CAN_FIFO0);
mbed_official 235:685d5f11838f 1075 tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP0);
mbed_official 235:685d5f11838f 1076 /* Check End of reception flag for FIFO0 */
mbed_official 235:685d5f11838f 1077 if((tmp1 != 0) && tmp2)
mbed_official 235:685d5f11838f 1078 {
mbed_official 235:685d5f11838f 1079 /* Call receive function */
mbed_official 235:685d5f11838f 1080 CAN_Receive_IT(hcan, CAN_FIFO0);
mbed_official 235:685d5f11838f 1081 }
mbed_official 235:685d5f11838f 1082
mbed_official 235:685d5f11838f 1083 tmp1 = __HAL_CAN_MSG_PENDING(hcan, CAN_FIFO1);
mbed_official 235:685d5f11838f 1084 tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP1);
mbed_official 235:685d5f11838f 1085 /* Check End of reception flag for FIFO1 */
mbed_official 235:685d5f11838f 1086 if((tmp1 != 0) && tmp2)
mbed_official 235:685d5f11838f 1087 {
mbed_official 235:685d5f11838f 1088 /* Call receive function */
mbed_official 235:685d5f11838f 1089 CAN_Receive_IT(hcan, CAN_FIFO1);
mbed_official 235:685d5f11838f 1090 }
mbed_official 235:685d5f11838f 1091
mbed_official 235:685d5f11838f 1092 tmp1 = __HAL_CAN_GET_FLAG(hcan, CAN_FLAG_EWG);
mbed_official 235:685d5f11838f 1093 tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_EWG);
mbed_official 235:685d5f11838f 1094 tmp3 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR);
mbed_official 235:685d5f11838f 1095 /* Check Error Warning Flag */
mbed_official 235:685d5f11838f 1096 if(tmp1 && tmp2 && tmp3)
mbed_official 235:685d5f11838f 1097 {
mbed_official 235:685d5f11838f 1098 /* Set CAN error code to EWG error */
mbed_official 235:685d5f11838f 1099 hcan->ErrorCode |= HAL_CAN_ERROR_EWG;
mbed_official 235:685d5f11838f 1100 /* Clear Error Warning Flag */
mbed_official 235:685d5f11838f 1101 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_EWG);
mbed_official 235:685d5f11838f 1102 }
mbed_official 235:685d5f11838f 1103
mbed_official 235:685d5f11838f 1104 tmp1 = __HAL_CAN_GET_FLAG(hcan, CAN_FLAG_EPV);
mbed_official 235:685d5f11838f 1105 tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_EPV);
mbed_official 235:685d5f11838f 1106 tmp3 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR);
mbed_official 235:685d5f11838f 1107 /* Check Error Passive Flag */
mbed_official 235:685d5f11838f 1108 if(tmp1 && tmp2 && tmp3)
mbed_official 235:685d5f11838f 1109 {
mbed_official 235:685d5f11838f 1110 /* Set CAN error code to EPV error */
mbed_official 235:685d5f11838f 1111 hcan->ErrorCode |= HAL_CAN_ERROR_EPV;
mbed_official 235:685d5f11838f 1112 /* Clear Error Passive Flag */
mbed_official 235:685d5f11838f 1113 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_EPV);
mbed_official 235:685d5f11838f 1114 }
mbed_official 235:685d5f11838f 1115
mbed_official 235:685d5f11838f 1116 tmp1 = __HAL_CAN_GET_FLAG(hcan, CAN_FLAG_BOF);
mbed_official 235:685d5f11838f 1117 tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_BOF);
mbed_official 235:685d5f11838f 1118 tmp3 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR);
mbed_official 235:685d5f11838f 1119 /* Check Bus-Off Flag */
mbed_official 235:685d5f11838f 1120 if(tmp1 && tmp2 && tmp3)
mbed_official 235:685d5f11838f 1121 {
mbed_official 235:685d5f11838f 1122 /* Set CAN error code to BOF error */
mbed_official 235:685d5f11838f 1123 hcan->ErrorCode |= HAL_CAN_ERROR_BOF;
mbed_official 235:685d5f11838f 1124 /* Clear Bus-Off Flag */
mbed_official 235:685d5f11838f 1125 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_BOF);
mbed_official 235:685d5f11838f 1126 }
mbed_official 235:685d5f11838f 1127
mbed_official 235:685d5f11838f 1128 tmp1 = HAL_IS_BIT_CLR(hcan->Instance->ESR, CAN_ESR_LEC);
mbed_official 235:685d5f11838f 1129 tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_LEC);
mbed_official 235:685d5f11838f 1130 tmp3 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR);
mbed_official 235:685d5f11838f 1131 /* Check Last error code Flag */
mbed_official 235:685d5f11838f 1132 if((!tmp1) && tmp2 && tmp3)
mbed_official 235:685d5f11838f 1133 {
mbed_official 235:685d5f11838f 1134 tmp1 = (hcan->Instance->ESR) & CAN_ESR_LEC;
mbed_official 235:685d5f11838f 1135 switch(tmp1)
mbed_official 235:685d5f11838f 1136 {
mbed_official 235:685d5f11838f 1137 case(CAN_ESR_LEC_0):
mbed_official 235:685d5f11838f 1138 /* Set CAN error code to STF error */
mbed_official 235:685d5f11838f 1139 hcan->ErrorCode |= HAL_CAN_ERROR_STF;
mbed_official 235:685d5f11838f 1140 break;
mbed_official 235:685d5f11838f 1141 case(CAN_ESR_LEC_1):
mbed_official 235:685d5f11838f 1142 /* Set CAN error code to FOR error */
mbed_official 235:685d5f11838f 1143 hcan->ErrorCode |= HAL_CAN_ERROR_FOR;
mbed_official 235:685d5f11838f 1144 break;
mbed_official 235:685d5f11838f 1145 case(CAN_ESR_LEC_1 | CAN_ESR_LEC_0):
mbed_official 235:685d5f11838f 1146 /* Set CAN error code to ACK error */
mbed_official 235:685d5f11838f 1147 hcan->ErrorCode |= HAL_CAN_ERROR_ACK;
mbed_official 235:685d5f11838f 1148 break;
mbed_official 235:685d5f11838f 1149 case(CAN_ESR_LEC_2):
mbed_official 235:685d5f11838f 1150 /* Set CAN error code to BR error */
mbed_official 235:685d5f11838f 1151 hcan->ErrorCode |= HAL_CAN_ERROR_BR;
mbed_official 235:685d5f11838f 1152 break;
mbed_official 235:685d5f11838f 1153 case(CAN_ESR_LEC_2 | CAN_ESR_LEC_0):
mbed_official 235:685d5f11838f 1154 /* Set CAN error code to BD error */
mbed_official 235:685d5f11838f 1155 hcan->ErrorCode |= HAL_CAN_ERROR_BD;
mbed_official 235:685d5f11838f 1156 break;
mbed_official 235:685d5f11838f 1157 case(CAN_ESR_LEC_2 | CAN_ESR_LEC_1):
mbed_official 235:685d5f11838f 1158 /* Set CAN error code to CRC error */
mbed_official 235:685d5f11838f 1159 hcan->ErrorCode |= HAL_CAN_ERROR_CRC;
mbed_official 235:685d5f11838f 1160 break;
mbed_official 235:685d5f11838f 1161 default:
mbed_official 235:685d5f11838f 1162 break;
mbed_official 235:685d5f11838f 1163 }
mbed_official 235:685d5f11838f 1164
mbed_official 235:685d5f11838f 1165 /* Clear Last error code Flag */
mbed_official 235:685d5f11838f 1166 hcan->Instance->ESR &= ~(CAN_ESR_LEC);
mbed_official 235:685d5f11838f 1167 }
mbed_official 235:685d5f11838f 1168
mbed_official 235:685d5f11838f 1169 /* Call the Error call Back in case of Errors */
mbed_official 235:685d5f11838f 1170 if(hcan->ErrorCode != HAL_CAN_ERROR_NONE)
mbed_official 235:685d5f11838f 1171 {
mbed_official 235:685d5f11838f 1172 /* Set the CAN state ready to be able to start again the process */
mbed_official 235:685d5f11838f 1173 hcan->State = HAL_CAN_STATE_READY;
mbed_official 235:685d5f11838f 1174 /* Call Error callback function */
mbed_official 235:685d5f11838f 1175 HAL_CAN_ErrorCallback(hcan);
mbed_official 235:685d5f11838f 1176 }
mbed_official 235:685d5f11838f 1177 }
mbed_official 235:685d5f11838f 1178
mbed_official 235:685d5f11838f 1179 /**
mbed_official 235:685d5f11838f 1180 * @brief Transmission complete callback in non blocking mode
mbed_official 235:685d5f11838f 1181 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 235:685d5f11838f 1182 * the configuration information for the specified CAN.
mbed_official 235:685d5f11838f 1183 * @retval None
mbed_official 235:685d5f11838f 1184 */
mbed_official 235:685d5f11838f 1185 __weak void HAL_CAN_TxCpltCallback(CAN_HandleTypeDef* hcan)
mbed_official 235:685d5f11838f 1186 {
mbed_official 235:685d5f11838f 1187 /* NOTE : This function Should not be modified, when the callback is needed,
mbed_official 235:685d5f11838f 1188 the HAL_CAN_TxCpltCallback could be implemented in the user file
mbed_official 235:685d5f11838f 1189 */
mbed_official 235:685d5f11838f 1190 }
mbed_official 235:685d5f11838f 1191
mbed_official 235:685d5f11838f 1192 /**
mbed_official 235:685d5f11838f 1193 * @brief Transmission complete callback in non blocking mode
mbed_official 235:685d5f11838f 1194 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 235:685d5f11838f 1195 * the configuration information for the specified CAN.
mbed_official 235:685d5f11838f 1196 * @retval None
mbed_official 235:685d5f11838f 1197 */
mbed_official 235:685d5f11838f 1198 __weak void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan)
mbed_official 235:685d5f11838f 1199 {
mbed_official 235:685d5f11838f 1200 /* NOTE : This function Should not be modified, when the callback is needed,
mbed_official 235:685d5f11838f 1201 the HAL_CAN_RxCpltCallback could be implemented in the user file
mbed_official 235:685d5f11838f 1202 */
mbed_official 235:685d5f11838f 1203 }
mbed_official 235:685d5f11838f 1204
mbed_official 235:685d5f11838f 1205 /**
mbed_official 235:685d5f11838f 1206 * @brief Error CAN callback.
mbed_official 235:685d5f11838f 1207 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 235:685d5f11838f 1208 * the configuration information for the specified CAN.
mbed_official 235:685d5f11838f 1209 * @retval None
mbed_official 235:685d5f11838f 1210 */
mbed_official 235:685d5f11838f 1211 __weak void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan)
mbed_official 235:685d5f11838f 1212 {
mbed_official 235:685d5f11838f 1213 /* NOTE : This function Should not be modified, when the callback is needed,
mbed_official 235:685d5f11838f 1214 the HAL_CAN_ErrorCallback could be implemented in the user file
mbed_official 235:685d5f11838f 1215 */
mbed_official 235:685d5f11838f 1216 }
mbed_official 235:685d5f11838f 1217
mbed_official 235:685d5f11838f 1218 /**
mbed_official 235:685d5f11838f 1219 * @}
mbed_official 235:685d5f11838f 1220 */
mbed_official 235:685d5f11838f 1221
mbed_official 235:685d5f11838f 1222 /** @defgroup CAN_Group3 Peripheral State and Error functions
mbed_official 235:685d5f11838f 1223 * @brief CAN Peripheral State functions
mbed_official 235:685d5f11838f 1224 *
mbed_official 235:685d5f11838f 1225 @verbatim
mbed_official 235:685d5f11838f 1226 ==============================================================================
mbed_official 235:685d5f11838f 1227 ##### Peripheral State and Error functions #####
mbed_official 235:685d5f11838f 1228 ==============================================================================
mbed_official 235:685d5f11838f 1229 [..]
mbed_official 235:685d5f11838f 1230 This subsection provides functions allowing to :
mbed_official 235:685d5f11838f 1231 (+) Check the CAN state.
mbed_official 235:685d5f11838f 1232 (+) Check CAN Errors detected during interrupt process
mbed_official 235:685d5f11838f 1233
mbed_official 235:685d5f11838f 1234 @endverbatim
mbed_official 235:685d5f11838f 1235 * @{
mbed_official 235:685d5f11838f 1236 */
mbed_official 235:685d5f11838f 1237
mbed_official 235:685d5f11838f 1238 /**
mbed_official 235:685d5f11838f 1239 * @brief return the CAN state
mbed_official 235:685d5f11838f 1240 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 235:685d5f11838f 1241 * the configuration information for the specified CAN.
mbed_official 235:685d5f11838f 1242 * @retval HAL state
mbed_official 235:685d5f11838f 1243 */
mbed_official 235:685d5f11838f 1244 HAL_CAN_StateTypeDef HAL_CAN_GetState(CAN_HandleTypeDef* hcan)
mbed_official 235:685d5f11838f 1245 {
mbed_official 235:685d5f11838f 1246 /* Return CAN state */
mbed_official 235:685d5f11838f 1247 return hcan->State;
mbed_official 235:685d5f11838f 1248 }
mbed_official 235:685d5f11838f 1249
mbed_official 235:685d5f11838f 1250 /**
mbed_official 235:685d5f11838f 1251 * @brief Return the CAN error code
mbed_official 235:685d5f11838f 1252 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 235:685d5f11838f 1253 * the configuration information for the specified CAN.
mbed_official 235:685d5f11838f 1254 * @retval CAN Error Code
mbed_official 235:685d5f11838f 1255 */
mbed_official 235:685d5f11838f 1256 uint32_t HAL_CAN_GetError(CAN_HandleTypeDef *hcan)
mbed_official 235:685d5f11838f 1257 {
mbed_official 235:685d5f11838f 1258 return hcan->ErrorCode;
mbed_official 235:685d5f11838f 1259 }
mbed_official 235:685d5f11838f 1260
mbed_official 235:685d5f11838f 1261 /**
mbed_official 235:685d5f11838f 1262 * @}
mbed_official 235:685d5f11838f 1263 */
mbed_official 235:685d5f11838f 1264 /**
mbed_official 235:685d5f11838f 1265 * @brief Initiates and transmits a CAN frame message.
mbed_official 235:685d5f11838f 1266 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 235:685d5f11838f 1267 * the configuration information for the specified CAN.
mbed_official 235:685d5f11838f 1268 * @retval HAL status
mbed_official 235:685d5f11838f 1269 */
mbed_official 235:685d5f11838f 1270 static HAL_StatusTypeDef CAN_Transmit_IT(CAN_HandleTypeDef* hcan)
mbed_official 235:685d5f11838f 1271 {
mbed_official 235:685d5f11838f 1272 /* Disable Transmit mailbox empty Interrupt */
mbed_official 235:685d5f11838f 1273 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_TME);
mbed_official 235:685d5f11838f 1274
mbed_official 235:685d5f11838f 1275 if(hcan->State == HAL_CAN_STATE_BUSY_TX)
mbed_official 235:685d5f11838f 1276 {
mbed_official 235:685d5f11838f 1277 /* Disable Error warning Interrupt */
mbed_official 235:685d5f11838f 1278 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG);
mbed_official 235:685d5f11838f 1279
mbed_official 235:685d5f11838f 1280 /* Disable Error passive Interrupt */
mbed_official 235:685d5f11838f 1281 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EPV);
mbed_official 235:685d5f11838f 1282
mbed_official 235:685d5f11838f 1283 /* Disable Bus-off Interrupt */
mbed_official 235:685d5f11838f 1284 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_BOF);
mbed_official 235:685d5f11838f 1285
mbed_official 235:685d5f11838f 1286 /* Disable Last error code Interrupt */
mbed_official 235:685d5f11838f 1287 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_LEC);
mbed_official 235:685d5f11838f 1288
mbed_official 235:685d5f11838f 1289 /* Disable Error Interrupt */
mbed_official 235:685d5f11838f 1290 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_ERR);
mbed_official 235:685d5f11838f 1291 }
mbed_official 235:685d5f11838f 1292
mbed_official 235:685d5f11838f 1293 if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
mbed_official 235:685d5f11838f 1294 {
mbed_official 235:685d5f11838f 1295 /* Change CAN state */
mbed_official 235:685d5f11838f 1296 hcan->State = HAL_CAN_STATE_BUSY_RX;
mbed_official 235:685d5f11838f 1297 }
mbed_official 235:685d5f11838f 1298 else
mbed_official 235:685d5f11838f 1299 {
mbed_official 235:685d5f11838f 1300 /* Change CAN state */
mbed_official 235:685d5f11838f 1301 hcan->State = HAL_CAN_STATE_READY;
mbed_official 235:685d5f11838f 1302 }
mbed_official 235:685d5f11838f 1303
mbed_official 235:685d5f11838f 1304 /* Transmission complete callback */
mbed_official 235:685d5f11838f 1305 HAL_CAN_TxCpltCallback(hcan);
mbed_official 235:685d5f11838f 1306
mbed_official 235:685d5f11838f 1307 return HAL_OK;
mbed_official 235:685d5f11838f 1308 }
mbed_official 235:685d5f11838f 1309
mbed_official 235:685d5f11838f 1310 /**
mbed_official 235:685d5f11838f 1311 * @brief Receives a correct CAN frame.
mbed_official 235:685d5f11838f 1312 * @param hcan: Pointer to a CAN_HandleTypeDef structure that contains
mbed_official 235:685d5f11838f 1313 * the configuration information for the specified CAN.
mbed_official 235:685d5f11838f 1314 * @param FIFONumber: Specify the FIFO number
mbed_official 235:685d5f11838f 1315 * @retval HAL status
mbed_official 235:685d5f11838f 1316 * @retval None
mbed_official 235:685d5f11838f 1317 */
mbed_official 235:685d5f11838f 1318 static HAL_StatusTypeDef CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber)
mbed_official 235:685d5f11838f 1319 {
mbed_official 235:685d5f11838f 1320 /* Get the Id */
mbed_official 235:685d5f11838f 1321 hcan->pRxMsg->IDE = (uint8_t)0x04 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
mbed_official 235:685d5f11838f 1322 if (hcan->pRxMsg->IDE == CAN_ID_STD)
mbed_official 235:685d5f11838f 1323 {
mbed_official 235:685d5f11838f 1324 hcan->pRxMsg->StdId = (uint32_t)0x000007FF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 21);
mbed_official 235:685d5f11838f 1325 }
mbed_official 235:685d5f11838f 1326 else
mbed_official 235:685d5f11838f 1327 {
mbed_official 235:685d5f11838f 1328 hcan->pRxMsg->ExtId = (uint32_t)0x1FFFFFFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 3);
mbed_official 235:685d5f11838f 1329 }
mbed_official 235:685d5f11838f 1330
mbed_official 235:685d5f11838f 1331 hcan->pRxMsg->RTR = (uint8_t)0x02 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
mbed_official 235:685d5f11838f 1332 /* Get the DLC */
mbed_official 235:685d5f11838f 1333 hcan->pRxMsg->DLC = (uint8_t)0x0F & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR;
mbed_official 235:685d5f11838f 1334 /* Get the FMI */
mbed_official 235:685d5f11838f 1335 hcan->pRxMsg->FMI = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDTR >> 8);
mbed_official 235:685d5f11838f 1336 /* Get the data field */
mbed_official 235:685d5f11838f 1337 hcan->pRxMsg->Data[0] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR;
mbed_official 235:685d5f11838f 1338 hcan->pRxMsg->Data[1] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 8);
mbed_official 235:685d5f11838f 1339 hcan->pRxMsg->Data[2] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 16);
mbed_official 235:685d5f11838f 1340 hcan->pRxMsg->Data[3] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 24);
mbed_official 235:685d5f11838f 1341 hcan->pRxMsg->Data[4] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR;
mbed_official 235:685d5f11838f 1342 hcan->pRxMsg->Data[5] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 8);
mbed_official 235:685d5f11838f 1343 hcan->pRxMsg->Data[6] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 16);
mbed_official 235:685d5f11838f 1344 hcan->pRxMsg->Data[7] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 24);
mbed_official 235:685d5f11838f 1345 /* Release the FIFO */
mbed_official 235:685d5f11838f 1346 /* Release FIFO0 */
mbed_official 235:685d5f11838f 1347 if (FIFONumber == CAN_FIFO0)
mbed_official 235:685d5f11838f 1348 {
mbed_official 235:685d5f11838f 1349 __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0);
mbed_official 235:685d5f11838f 1350
mbed_official 235:685d5f11838f 1351 /* Disable FIFO 0 message pending Interrupt */
mbed_official 235:685d5f11838f 1352 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_FMP0);
mbed_official 235:685d5f11838f 1353 }
mbed_official 235:685d5f11838f 1354 /* Release FIFO1 */
mbed_official 235:685d5f11838f 1355 else /* FIFONumber == CAN_FIFO1 */
mbed_official 235:685d5f11838f 1356 {
mbed_official 235:685d5f11838f 1357 __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1);
mbed_official 235:685d5f11838f 1358
mbed_official 235:685d5f11838f 1359 /* Disable FIFO 1 message pending Interrupt */
mbed_official 235:685d5f11838f 1360 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_FMP1);
mbed_official 235:685d5f11838f 1361 }
mbed_official 235:685d5f11838f 1362
mbed_official 235:685d5f11838f 1363 if(hcan->State == HAL_CAN_STATE_BUSY_RX)
mbed_official 235:685d5f11838f 1364 {
mbed_official 235:685d5f11838f 1365 /* Disable Error warning Interrupt */
mbed_official 235:685d5f11838f 1366 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG);
mbed_official 235:685d5f11838f 1367
mbed_official 235:685d5f11838f 1368 /* Disable Error passive Interrupt */
mbed_official 235:685d5f11838f 1369 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EPV);
mbed_official 235:685d5f11838f 1370
mbed_official 235:685d5f11838f 1371 /* Disable Bus-off Interrupt */
mbed_official 235:685d5f11838f 1372 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_BOF);
mbed_official 235:685d5f11838f 1373
mbed_official 235:685d5f11838f 1374 /* Disable Last error code Interrupt */
mbed_official 235:685d5f11838f 1375 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_LEC);
mbed_official 235:685d5f11838f 1376
mbed_official 235:685d5f11838f 1377 /* Disable Error Interrupt */
mbed_official 235:685d5f11838f 1378 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_ERR);
mbed_official 235:685d5f11838f 1379 }
mbed_official 235:685d5f11838f 1380
mbed_official 235:685d5f11838f 1381 if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
mbed_official 235:685d5f11838f 1382 {
mbed_official 235:685d5f11838f 1383 /* Disable CAN state */
mbed_official 235:685d5f11838f 1384 hcan->State = HAL_CAN_STATE_BUSY_TX;
mbed_official 235:685d5f11838f 1385 }
mbed_official 235:685d5f11838f 1386 else
mbed_official 235:685d5f11838f 1387 {
mbed_official 235:685d5f11838f 1388 /* Change CAN state */
mbed_official 235:685d5f11838f 1389 hcan->State = HAL_CAN_STATE_READY;
mbed_official 235:685d5f11838f 1390 }
mbed_official 235:685d5f11838f 1391
mbed_official 235:685d5f11838f 1392 /* Receive complete callback */
mbed_official 235:685d5f11838f 1393 HAL_CAN_RxCpltCallback(hcan);
mbed_official 235:685d5f11838f 1394
mbed_official 235:685d5f11838f 1395 /* Return function status */
mbed_official 235:685d5f11838f 1396 return HAL_OK;
mbed_official 235:685d5f11838f 1397 }
mbed_official 235:685d5f11838f 1398
mbed_official 235:685d5f11838f 1399 /**
mbed_official 235:685d5f11838f 1400 * @}
mbed_official 235:685d5f11838f 1401 */
mbed_official 235:685d5f11838f 1402 #endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx */
mbed_official 235:685d5f11838f 1403
mbed_official 235:685d5f11838f 1404 #endif /* HAL_CAN_MODULE_ENABLED */
mbed_official 235:685d5f11838f 1405 /**
mbed_official 235:685d5f11838f 1406 * @}
mbed_official 235:685d5f11838f 1407 */
mbed_official 235:685d5f11838f 1408
mbed_official 235:685d5f11838f 1409 /**
mbed_official 235:685d5f11838f 1410 * @}
mbed_official 235:685d5f11838f 1411 */
mbed_official 235:685d5f11838f 1412
mbed_official 235:685d5f11838f 1413 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/