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IronOS/workspace/TS100/HAL_Driver/Src/stm32f1xx_hal_can.c
Ben V. Brown 873eb2a1e9 Move to latest HAL release trying to get I2C DMA to be more reliable, and known good point. 
Cleans up some redundant calls as well to make some flash room.
2018-12-16 18:13:59 +11:00

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/**
******************************************************************************
* @file stm32f1xx_hal_can.c
* @author MCD Application Team
* @brief CAN HAL module driver.
* This file provides firmware functions to manage the following
* functionalities of the Controller Area Network (CAN) peripheral:
* + Initialization and de-initialization functions
* + Configuration functions
* + Control functions
* + Interrupts management
* + Callbacks functions
* + Peripheral State and Error functions
*
@verbatim
==============================================================================
##### How to use this driver #####
==============================================================================
[..]
(#) Initialize the CAN low level resources by implementing the
HAL_CAN_MspInit():
(++) Enable the CAN interface clock using __HAL_RCC_CANx_CLK_ENABLE()
(++) Configure CAN pins
(+++) Enable the clock for the CAN GPIOs
(+++) Configure CAN pins as alternate function open-drain
(++) In case of using interrupts (e.g. HAL_CAN_ActivateNotification())
(+++) Configure the CAN interrupt priority using
HAL_NVIC_SetPriority()
(+++) Enable the CAN IRQ handler using HAL_NVIC_EnableIRQ()
(+++) In CAN IRQ handler, call HAL_CAN_IRQHandler()
(#) Initialize the CAN peripheral using HAL_CAN_Init() function. This
function resorts to HAL_CAN_MspInit() for low-level initialization.
(#) Configure the reception filters using the following configuration
functions:
(++) HAL_CAN_ConfigFilter()
(#) Start the CAN module using HAL_CAN_Start() function. At this level
the node is active on the bus: it receive messages, and can send
messages.
(#) To manage messages transmission, the following Tx control functions
can be used:
(++) HAL_CAN_AddTxMessage() to request transmission of a new
message.
(++) HAL_CAN_AbortTxRequest() to abort transmission of a pending
message.
(++) HAL_CAN_GetTxMailboxesFreeLevel() to get the number of free Tx
mailboxes.
(++) HAL_CAN_IsTxMessagePending() to check if a message is pending
in a Tx mailbox.
(++) HAL_CAN_GetTxTimestamp() to get the timestamp of Tx message
sent, if time triggered communication mode is enabled.
(#) When a message is received into the CAN Rx FIFOs, it can be retrieved
using the HAL_CAN_GetRxMessage() function. The function
HAL_CAN_GetRxFifoFillLevel() allows to know how many Rx message are
stored in the Rx Fifo.
(#) Calling the HAL_CAN_Stop() function stops the CAN module.
(#) The deinitialization is achieved with HAL_CAN_DeInit() function.
*** Polling mode operation ***
==============================
[..]
(#) Reception:
(++) Monitor reception of message using HAL_CAN_GetRxFifoFillLevel()
until at least one message is received.
(++) Then get the message using HAL_CAN_GetRxMessage().
(#) Transmission:
(++) Monitor the Tx mailboxes availability until at least one Tx
mailbox is free, using HAL_CAN_GetTxMailboxesFreeLevel().
(++) Then request transmission of a message using
HAL_CAN_AddTxMessage().
*** Interrupt mode operation ***
================================
[..]
(#) Notifications are activated using HAL_CAN_ActivateNotification()
function. Then, the process can be controlled through the
available user callbacks: HAL_CAN_xxxCallback(), using same APIs
HAL_CAN_GetRxMessage() and HAL_CAN_AddTxMessage().
(#) Notifications can be deactivated using
HAL_CAN_DeactivateNotification() function.
(#) Special care should be taken for CAN_IT_RX_FIFO0_MSG_PENDING and
CAN_IT_RX_FIFO1_MSG_PENDING notifications. These notifications trig
the callbacks HAL_CAN_RxFIFO0MsgPendingCallback() and
HAL_CAN_RxFIFO1MsgPendingCallback(). User has two possible options
here.
(++) Directly get the Rx message in the callback, using
HAL_CAN_GetRxMessage().
(++) Or deactivate the notification in the callback without
getting the Rx message. The Rx message can then be got later
using HAL_CAN_GetRxMessage(). Once the Rx message have been
read, the notification can be activated again.
*** Sleep mode ***
==================
[..]
(#) The CAN peripheral can be put in sleep mode (low power), using
HAL_CAN_RequestSleep(). The sleep mode will be entered as soon as the
current CAN activity (transmission or reception of a CAN frame) will
be completed.
(#) A notification can be activated to be informed when the sleep mode
will be entered.
(#) It can be checked if the sleep mode is entered using
HAL_CAN_IsSleepActive().
Note that the CAN state (accessible from the API HAL_CAN_GetState())
is HAL_CAN_STATE_SLEEP_PENDING as soon as the sleep mode request is
submitted (the sleep mode is not yet entered), and become
HAL_CAN_STATE_SLEEP_ACTIVE when the sleep mode is effective.
(#) The wake-up from sleep mode can be trigged by two ways:
(++) Using HAL_CAN_WakeUp(). When returning from this function,
the sleep mode is exited (if return status is HAL_OK).
(++) When a start of Rx CAN frame is detected by the CAN peripheral,
if automatic wake up mode is enabled.
@endverbatim
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "stm32f1xx_hal.h"
/** @addtogroup STM32F1xx_HAL_Driver
* @{
*/
#if defined(CAN1)
/** @defgroup CAN CAN
* @brief CAN driver modules
* @{
*/
#ifdef HAL_CAN_MODULE_ENABLED
#ifdef HAL_CAN_LEGACY_MODULE_ENABLED
#error "The CAN driver cannot be used with its legacy, Please enable only one CAN module at once"
#endif
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/** @defgroup CAN_Private_Constants CAN Private Constants
* @{
*/
#define CAN_TIMEOUT_VALUE 10U
/**
* @}
*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/* Private function prototypes -----------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
/** @defgroup CAN_Exported_Functions CAN Exported Functions
* @{
*/
/** @defgroup CAN_Exported_Functions_Group1 Initialization and de-initialization functions
* @brief Initialization and Configuration functions
*
@verbatim
==============================================================================
##### Initialization and de-initialization functions #####
==============================================================================
[..] This section provides functions allowing to:
(+) HAL_CAN_Init : Initialize and configure the CAN.
(+) HAL_CAN_DeInit : De-initialize the CAN.
(+) HAL_CAN_MspInit : Initialize the CAN MSP.
(+) HAL_CAN_MspDeInit : DeInitialize the CAN MSP.
@endverbatim
* @{
*/
/**
* @brief Initializes the CAN peripheral according to the specified
* parameters in the CAN_InitStruct.
* @param hcan pointer to a CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @retval HAL status
*/
HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef *hcan)
{
uint32_t tickstart;
/* Check CAN handle */
if (hcan == NULL)
{
return HAL_ERROR;
}
/* Check the parameters */
assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TimeTriggeredMode));
assert_param(IS_FUNCTIONAL_STATE(hcan->Init.AutoBusOff));
assert_param(IS_FUNCTIONAL_STATE(hcan->Init.AutoWakeUp));
assert_param(IS_FUNCTIONAL_STATE(hcan->Init.AutoRetransmission));
assert_param(IS_FUNCTIONAL_STATE(hcan->Init.ReceiveFifoLocked));
assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TransmitFifoPriority));
assert_param(IS_CAN_MODE(hcan->Init.Mode));
assert_param(IS_CAN_SJW(hcan->Init.SyncJumpWidth));
assert_param(IS_CAN_BS1(hcan->Init.TimeSeg1));
assert_param(IS_CAN_BS2(hcan->Init.TimeSeg2));
assert_param(IS_CAN_PRESCALER(hcan->Init.Prescaler));
if (hcan->State == HAL_CAN_STATE_RESET)
{
/* Init the low level hardware: CLOCK, NVIC */
HAL_CAN_MspInit(hcan);
}
/* Exit from sleep mode */
CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
/* Get tick */
tickstart = HAL_GetTick();
/* Check Sleep mode leave acknowledge */
while ((hcan->Instance->MSR & CAN_MSR_SLAK) != 0U)
{
if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
{
/* Update error code */
hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;
/* Change CAN state */
hcan->State = HAL_CAN_STATE_ERROR;
return HAL_ERROR;
}
}
/* Request initialisation */
SET_BIT(hcan->Instance->MCR, CAN_MCR_INRQ);
/* Get tick */
tickstart = HAL_GetTick();
/* Wait initialisation acknowledge */
while ((hcan->Instance->MSR & CAN_MSR_INAK) == 0U)
{
if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
{
/* Update error code */
hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;
/* Change CAN state */
hcan->State = HAL_CAN_STATE_ERROR;
return HAL_ERROR;
}
}
/* Set the time triggered communication mode */
if (hcan->Init.TimeTriggeredMode == ENABLE)
{
SET_BIT(hcan->Instance->MCR, CAN_MCR_TTCM);
}
else
{
CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_TTCM);
}
/* Set the automatic bus-off management */
if (hcan->Init.AutoBusOff == ENABLE)
{
SET_BIT(hcan->Instance->MCR, CAN_MCR_ABOM);
}
else
{
CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_ABOM);
}
/* Set the automatic wake-up mode */
if (hcan->Init.AutoWakeUp == ENABLE)
{
SET_BIT(hcan->Instance->MCR, CAN_MCR_AWUM);
}
else
{
CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_AWUM);
}
/* Set the automatic retransmission */
if (hcan->Init.AutoRetransmission == ENABLE)
{
CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_NART);
}
else
{
SET_BIT(hcan->Instance->MCR, CAN_MCR_NART);
}
/* Set the receive FIFO locked mode */
if (hcan->Init.ReceiveFifoLocked == ENABLE)
{
SET_BIT(hcan->Instance->MCR, CAN_MCR_RFLM);
}
else
{
CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_RFLM);
}
/* Set the transmit FIFO priority */
if (hcan->Init.TransmitFifoPriority == ENABLE)
{
SET_BIT(hcan->Instance->MCR, CAN_MCR_TXFP);
}
else
{
CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_TXFP);
}
/* Set the bit timing register */
WRITE_REG(hcan->Instance->BTR, (uint32_t)(hcan->Init.Mode |
hcan->Init.SyncJumpWidth |
hcan->Init.TimeSeg1 |
hcan->Init.TimeSeg2 |
(hcan->Init.Prescaler - 1U)));
/* Initialize the error code */
hcan->ErrorCode = HAL_CAN_ERROR_NONE;
/* Initialize the CAN state */
hcan->State = HAL_CAN_STATE_READY;
/* Return function status */
return HAL_OK;
}
/**
* @brief Deinitializes the CAN peripheral registers to their default
* reset values.
* @param hcan pointer to a CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @retval HAL status
*/
HAL_StatusTypeDef HAL_CAN_DeInit(CAN_HandleTypeDef *hcan)
{
/* Check CAN handle */
if (hcan == NULL)
{
return HAL_ERROR;
}
/* Check the parameters */
assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
/* Stop the CAN module */
(void)HAL_CAN_Stop(hcan);
/* DeInit the low level hardware: CLOCK, NVIC */
HAL_CAN_MspDeInit(hcan);
/* Reset the CAN peripheral */
SET_BIT(hcan->Instance->MCR, CAN_MCR_RESET);
/* Reset the CAN ErrorCode */
hcan->ErrorCode = HAL_CAN_ERROR_NONE;
/* Change CAN state */
hcan->State = HAL_CAN_STATE_RESET;
/* Return function status */
return HAL_OK;
}
/**
* @brief Initializes the CAN MSP.
* @param hcan pointer to a CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @retval None
*/
__weak void HAL_CAN_MspInit(CAN_HandleTypeDef *hcan)
{
/* Prevent unused argument(s) compilation warning */
UNUSED(hcan);
/* NOTE : This function Should not be modified, when the callback is needed,
the HAL_CAN_MspInit could be implemented in the user file
*/
}
/**
* @brief DeInitializes the CAN MSP.
* @param hcan pointer to a CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @retval None
*/
__weak void HAL_CAN_MspDeInit(CAN_HandleTypeDef *hcan)
{
/* Prevent unused argument(s) compilation warning */
UNUSED(hcan);
/* NOTE : This function Should not be modified, when the callback is needed,
the HAL_CAN_MspDeInit could be implemented in the user file
*/
}
/**
* @}
*/
/** @defgroup CAN_Exported_Functions_Group2 Configuration functions
* @brief Configuration functions.
*
@verbatim
==============================================================================
##### Configuration functions #####
==============================================================================
[..] This section provides functions allowing to:
(+) HAL_CAN_ConfigFilter : Configure the CAN reception filters
@endverbatim
* @{
*/
/**
* @brief Configures the CAN reception filter according to the specified
* parameters in the CAN_FilterInitStruct.
* @param hcan pointer to a CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @param sFilterConfig pointer to a CAN_FilterTypeDef structure that
* contains the filter configuration information.
* @retval None
*/
HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef *hcan, CAN_FilterTypeDef *sFilterConfig)
{
uint32_t filternbrbitpos;
CAN_TypeDef *can_ip = hcan->Instance;
HAL_CAN_StateTypeDef state = hcan->State;
if ((state == HAL_CAN_STATE_READY) ||
(state == HAL_CAN_STATE_LISTENING))
{
/* Check the parameters */
assert_param(IS_CAN_FILTER_ID_HALFWORD(sFilterConfig->FilterIdHigh));
assert_param(IS_CAN_FILTER_ID_HALFWORD(sFilterConfig->FilterIdLow));
assert_param(IS_CAN_FILTER_ID_HALFWORD(sFilterConfig->FilterMaskIdHigh));
assert_param(IS_CAN_FILTER_ID_HALFWORD(sFilterConfig->FilterMaskIdLow));
assert_param(IS_CAN_FILTER_MODE(sFilterConfig->FilterMode));
assert_param(IS_CAN_FILTER_SCALE(sFilterConfig->FilterScale));
assert_param(IS_CAN_FILTER_FIFO(sFilterConfig->FilterFIFOAssignment));
assert_param(IS_CAN_FILTER_ACTIVATION(sFilterConfig->FilterActivation));
#if defined(CAN2)
/* CAN1 and CAN2 are dual instances with 28 common filters banks */
/* Select master instance to access the filter banks */
can_ip = CAN1;
/* Check the parameters */
assert_param(IS_CAN_FILTER_BANK_DUAL(sFilterConfig->FilterBank));
assert_param(IS_CAN_FILTER_BANK_DUAL(sFilterConfig->SlaveStartFilterBank));
#else
/* CAN1 is single instance with 14 dedicated filters banks */
/* Check the parameters */
assert_param(IS_CAN_FILTER_BANK_SINGLE(sFilterConfig->FilterBank));
#endif
/* Initialisation mode for the filter */
SET_BIT(can_ip->FMR, CAN_FMR_FINIT);
#if defined(CAN2)
/* Select the start filter number of CAN2 slave instance */
CLEAR_BIT(can_ip->FMR, CAN_FMR_CAN2SB);
SET_BIT(can_ip->FMR, sFilterConfig->SlaveStartFilterBank << CAN_FMR_CAN2SB_Pos);
#endif
/* Convert filter number into bit position */
filternbrbitpos = (uint32_t)1 << (sFilterConfig->FilterBank & 0x1FU);
/* Filter Deactivation */
CLEAR_BIT(can_ip->FA1R, filternbrbitpos);
/* Filter Scale */
if (sFilterConfig->FilterScale == CAN_FILTERSCALE_16BIT)
{
/* 16-bit scale for the filter */
CLEAR_BIT(can_ip->FS1R, filternbrbitpos);
/* First 16-bit identifier and First 16-bit mask */
/* Or First 16-bit identifier and Second 16-bit identifier */
can_ip->sFilterRegister[sFilterConfig->FilterBank].FR1 =
((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdLow) << 16U) |
(0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdLow);
/* Second 16-bit identifier and Second 16-bit mask */
/* Or Third 16-bit identifier and Fourth 16-bit identifier */
can_ip->sFilterRegister[sFilterConfig->FilterBank].FR2 =
((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16U) |
(0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdHigh);
}
if (sFilterConfig->FilterScale == CAN_FILTERSCALE_32BIT)
{
/* 32-bit scale for the filter */
SET_BIT(can_ip->FS1R, filternbrbitpos);
/* 32-bit identifier or First 32-bit identifier */
can_ip->sFilterRegister[sFilterConfig->FilterBank].FR1 =
((0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdHigh) << 16U) |
(0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdLow);
/* 32-bit mask or Second 32-bit identifier */
can_ip->sFilterRegister[sFilterConfig->FilterBank].FR2 =
((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16U) |
(0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdLow);
}
/* Filter Mode */
if (sFilterConfig->FilterMode == CAN_FILTERMODE_IDMASK)
{
/* Id/Mask mode for the filter*/
CLEAR_BIT(can_ip->FM1R, filternbrbitpos);
}
else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */
{
/* Identifier list mode for the filter*/
SET_BIT(can_ip->FM1R, filternbrbitpos);
}
/* Filter FIFO assignment */
if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO0)
{
/* FIFO 0 assignation for the filter */
CLEAR_BIT(can_ip->FFA1R, filternbrbitpos);
}
else
{
/* FIFO 1 assignation for the filter */
SET_BIT(can_ip->FFA1R, filternbrbitpos);
}
/* Filter activation */
if (sFilterConfig->FilterActivation == CAN_FILTER_ENABLE)
{
SET_BIT(can_ip->FA1R, filternbrbitpos);
}
/* Leave the initialisation mode for the filter */
CLEAR_BIT(can_ip->FMR, CAN_FMR_FINIT);
/* Return function status */
return HAL_OK;
}
else
{
/* Update error code */
hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
return HAL_ERROR;
}
}
/**
* @}
*/
/** @defgroup CAN_Exported_Functions_Group3 Control functions
* @brief Control functions
*
@verbatim
==============================================================================
##### Control functions #####
==============================================================================
[..] This section provides functions allowing to:
(+) HAL_CAN_Start : Start the CAN module
(+) HAL_CAN_Stop : Stop the CAN module
(+) HAL_CAN_RequestSleep : Request sleep mode entry.
(+) HAL_CAN_WakeUp : Wake up from sleep mode.
(+) HAL_CAN_IsSleepActive : Check is sleep mode is active.
(+) HAL_CAN_AddTxMessage : Add a message to the Tx mailboxes
and activate the corresponding
transmission request
(+) HAL_CAN_AbortTxRequest : Abort transmission request
(+) HAL_CAN_GetTxMailboxesFreeLevel : Return Tx mailboxes free level
(+) HAL_CAN_IsTxMessagePending : Check if a transmission request is
pending on the selected Tx mailbox
(+) HAL_CAN_GetRxMessage : Get a CAN frame from the Rx FIFO
(+) HAL_CAN_GetRxFifoFillLevel : Return Rx FIFO fill level
@endverbatim
* @{
*/
/**
* @brief Start the CAN module.
* @param hcan pointer to an CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @retval HAL status
*/
HAL_StatusTypeDef HAL_CAN_Start(CAN_HandleTypeDef *hcan)
{
uint32_t tickstart;
if (hcan->State == HAL_CAN_STATE_READY)
{
/* Change CAN peripheral state */
hcan->State = HAL_CAN_STATE_LISTENING;
/* Request leave initialisation */
CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_INRQ);
/* Get tick */
tickstart = HAL_GetTick();
/* Wait the acknowledge */
while ((hcan->Instance->MSR & CAN_MSR_INAK) != 0U)
{
/* Check for the Timeout */
if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
{
/* Update error code */
hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;
/* Change CAN state */
hcan->State = HAL_CAN_STATE_ERROR;
return HAL_ERROR;
}
}
/* Reset the CAN ErrorCode */
hcan->ErrorCode = HAL_CAN_ERROR_NONE;
/* Return function status */
return HAL_OK;
}
else
{
/* Update error code */
hcan->ErrorCode |= HAL_CAN_ERROR_NOT_READY;
return HAL_ERROR;
}
}
/**
* @brief Stop the CAN module and enable access to configuration registers.
* @param hcan pointer to an CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @retval HAL status
*/
HAL_StatusTypeDef HAL_CAN_Stop(CAN_HandleTypeDef *hcan)
{
uint32_t tickstart;
if (hcan->State == HAL_CAN_STATE_LISTENING)
{
/* Request initialisation */
SET_BIT(hcan->Instance->MCR, CAN_MCR_INRQ);
/* Get tick */
tickstart = HAL_GetTick();
/* Wait the acknowledge */
while ((hcan->Instance->MSR & CAN_MSR_INAK) == 0U)
{
/* Check for the Timeout */
if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
{
/* Update error code */
hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;
/* Change CAN state */
hcan->State = HAL_CAN_STATE_ERROR;
return HAL_ERROR;
}
}
/* Exit from sleep mode */
CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
/* Change CAN peripheral state */
hcan->State = HAL_CAN_STATE_READY;
/* Return function status */
return HAL_OK;
}
else
{
/* Update error code */
hcan->ErrorCode |= HAL_CAN_ERROR_NOT_STARTED;
return HAL_ERROR;
}
}
/**
* @brief Request the sleep mode (low power) entry.
* When returning from this function, Sleep mode will be entered
* as soon as the current CAN activity (transmission or reception
* of a CAN frame) has been completed.
* @param hcan pointer to a CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @retval HAL status.
*/
HAL_StatusTypeDef HAL_CAN_RequestSleep(CAN_HandleTypeDef *hcan)
{
HAL_CAN_StateTypeDef state = hcan->State;
if ((state == HAL_CAN_STATE_READY) ||
(state == HAL_CAN_STATE_LISTENING))
{
/* Request Sleep mode */
SET_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
/* Return function status */
return HAL_OK;
}
else
{
/* Update error code */
hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
/* Return function status */
return HAL_ERROR;
}
}
/**
* @brief Wake up from sleep mode.
* When returning with HAL_OK status from this function, Sleep mode
* is exited.
* @param hcan pointer to a CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @retval HAL status.
*/
HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef *hcan)
{
__IO uint32_t count = 0;
uint32_t timeout = 1000000U;
HAL_CAN_StateTypeDef state = hcan->State;
if ((state == HAL_CAN_STATE_READY) ||
(state == HAL_CAN_STATE_LISTENING))
{
/* Wake up request */
CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
/* Wait sleep mode is exited */
do
{
/* Increment counter */
count++;
/* Check if timeout is reached */
if (count > timeout)
{
/* Update error code */
hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;
return HAL_ERROR;
}
}
while ((hcan->Instance->MSR & CAN_MSR_SLAK) != 0U);
/* Return function status */
return HAL_OK;
}
else
{
/* Update error code */
hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
return HAL_ERROR;
}
}
/**
* @brief Check is sleep mode is active.
* @param hcan pointer to a CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @retval Status
* - 0 : Sleep mode is not active.
* - 1 : Sleep mode is active.
*/
uint32_t HAL_CAN_IsSleepActive(CAN_HandleTypeDef *hcan)
{
uint32_t status = 0U;
HAL_CAN_StateTypeDef state = hcan->State;
if ((state == HAL_CAN_STATE_READY) ||
(state == HAL_CAN_STATE_LISTENING))
{
/* Check Sleep mode */
if ((hcan->Instance->MSR & CAN_MSR_SLAK) != 0U)
{
status = 1U;
}
}
/* Return function status */
return status;
}
/**
* @brief Add a message to the first free Tx mailbox and activate the
* corresponding transmission request.
* @param hcan pointer to a CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @param pHeader pointer to a CAN_TxHeaderTypeDef structure.
* @param aData array containing the payload of the Tx frame.
* @param pTxMailbox pointer to a variable where the function will return
* the TxMailbox used to store the Tx message.
* This parameter can be a value of @arg CAN_Tx_Mailboxes.
* @retval HAL status
*/
HAL_StatusTypeDef HAL_CAN_AddTxMessage(CAN_HandleTypeDef *hcan, CAN_TxHeaderTypeDef *pHeader, uint8_t aData[], uint32_t *pTxMailbox)
{
uint32_t transmitmailbox;
HAL_CAN_StateTypeDef state = hcan->State;
uint32_t tsr = READ_REG(hcan->Instance->TSR);
/* Check the parameters */
assert_param(IS_CAN_IDTYPE(pHeader->IDE));
assert_param(IS_CAN_RTR(pHeader->RTR));
assert_param(IS_CAN_DLC(pHeader->DLC));
if (pHeader->IDE == CAN_ID_STD)
{
assert_param(IS_CAN_STDID(pHeader->StdId));
}
else
{
assert_param(IS_CAN_EXTID(pHeader->ExtId));
}
assert_param(IS_FUNCTIONAL_STATE(pHeader->TransmitGlobalTime));
if ((state == HAL_CAN_STATE_READY) ||
(state == HAL_CAN_STATE_LISTENING))
{
/* Check that all the Tx mailboxes are not full */
if (((tsr & CAN_TSR_TME0) != 0U) ||
((tsr & CAN_TSR_TME1) != 0U) ||
((tsr & CAN_TSR_TME2) != 0U))
{
/* Select an empty transmit mailbox */
transmitmailbox = (tsr & CAN_TSR_CODE) >> CAN_TSR_CODE_Pos;
/* Check transmit mailbox value */
if (transmitmailbox > 2U)
{
/* Update error code */
hcan->ErrorCode |= HAL_CAN_ERROR_INTERNAL;
return HAL_ERROR;
}
/* Store the Tx mailbox */
*pTxMailbox = (uint32_t)1 << transmitmailbox;
/* Set up the Id */
if (pHeader->IDE == CAN_ID_STD)
{
hcan->Instance->sTxMailBox[transmitmailbox].TIR = ((pHeader->StdId << CAN_TI0R_STID_Pos) |
pHeader->RTR);
}
else
{
hcan->Instance->sTxMailBox[transmitmailbox].TIR = ((pHeader->ExtId << CAN_TI0R_EXID_Pos) |
pHeader->IDE |
pHeader->RTR);
}
/* Set up the DLC */
hcan->Instance->sTxMailBox[transmitmailbox].TDTR = (pHeader->DLC);
/* Set up the Transmit Global Time mode */
if (pHeader->TransmitGlobalTime == ENABLE)
{
SET_BIT(hcan->Instance->sTxMailBox[transmitmailbox].TDTR, CAN_TDT0R_TGT);
}
/* Set up the data field */
WRITE_REG(hcan->Instance->sTxMailBox[transmitmailbox].TDHR,
((uint32_t)aData[7] << CAN_TDH0R_DATA7_Pos) |
((uint32_t)aData[6] << CAN_TDH0R_DATA6_Pos) |
((uint32_t)aData[5] << CAN_TDH0R_DATA5_Pos) |
((uint32_t)aData[4] << CAN_TDH0R_DATA4_Pos));
WRITE_REG(hcan->Instance->sTxMailBox[transmitmailbox].TDLR,
((uint32_t)aData[3] << CAN_TDL0R_DATA3_Pos) |
((uint32_t)aData[2] << CAN_TDL0R_DATA2_Pos) |
((uint32_t)aData[1] << CAN_TDL0R_DATA1_Pos) |
((uint32_t)aData[0] << CAN_TDL0R_DATA0_Pos));
/* Request transmission */
SET_BIT(hcan->Instance->sTxMailBox[transmitmailbox].TIR, CAN_TI0R_TXRQ);
/* Return function status */
return HAL_OK;
}
else
{
/* Update error code */
hcan->ErrorCode |= HAL_CAN_ERROR_PARAM;
return HAL_ERROR;
}
}
else
{
/* Update error code */
hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
return HAL_ERROR;
}
}
/**
* @brief Abort transmission requests
* @param hcan pointer to an CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @param TxMailboxes List of the Tx Mailboxes to abort.
* This parameter can be any combination of @arg CAN_Tx_Mailboxes.
* @retval HAL status
*/
HAL_StatusTypeDef HAL_CAN_AbortTxRequest(CAN_HandleTypeDef *hcan, uint32_t TxMailboxes)
{
HAL_CAN_StateTypeDef state = hcan->State;
/* Check function parameters */
assert_param(IS_CAN_TX_MAILBOX_LIST(TxMailboxes));
if ((state == HAL_CAN_STATE_READY) ||
(state == HAL_CAN_STATE_LISTENING))
{
/* Check Tx Mailbox 0 */
if ((TxMailboxes & CAN_TX_MAILBOX0) != 0U)
{
/* Add cancellation request for Tx Mailbox 0 */
SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ0);
}
/* Check Tx Mailbox 1 */
if ((TxMailboxes & CAN_TX_MAILBOX1) != 0U)
{
/* Add cancellation request for Tx Mailbox 1 */
SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ1);
}
/* Check Tx Mailbox 2 */
if ((TxMailboxes & CAN_TX_MAILBOX2) != 0U)
{
/* Add cancellation request for Tx Mailbox 2 */
SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ2);
}
/* Return function status */
return HAL_OK;
}
else
{
/* Update error code */
hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
return HAL_ERROR;
}
}
/**
* @brief Return Tx Mailboxes free level: number of free Tx Mailboxes.
* @param hcan pointer to a CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @retval Number of free Tx Mailboxes.
*/
uint32_t HAL_CAN_GetTxMailboxesFreeLevel(CAN_HandleTypeDef *hcan)
{
uint32_t freelevel = 0U;
HAL_CAN_StateTypeDef state = hcan->State;
if ((state == HAL_CAN_STATE_READY) ||
(state == HAL_CAN_STATE_LISTENING))
{
/* Check Tx Mailbox 0 status */
if ((hcan->Instance->TSR & CAN_TSR_TME0) != 0U)
{
freelevel++;
}
/* Check Tx Mailbox 1 status */
if ((hcan->Instance->TSR & CAN_TSR_TME1) != 0U)
{
freelevel++;
}
/* Check Tx Mailbox 2 status */
if ((hcan->Instance->TSR & CAN_TSR_TME2) != 0U)
{
freelevel++;
}
}
/* Return Tx Mailboxes free level */
return freelevel;
}
/**
* @brief Check if a transmission request is pending on the selected Tx
* Mailboxes.
* @param hcan pointer to an CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @param TxMailboxes List of Tx Mailboxes to check.
* This parameter can be any combination of @arg CAN_Tx_Mailboxes.
* @retval Status
* - 0 : No pending transmission request on any selected Tx Mailboxes.
* - 1 : Pending transmission request on at least one of the selected
* Tx Mailbox.
*/
uint32_t HAL_CAN_IsTxMessagePending(CAN_HandleTypeDef *hcan, uint32_t TxMailboxes)
{
uint32_t status = 0U;
HAL_CAN_StateTypeDef state = hcan->State;
/* Check function parameters */
assert_param(IS_CAN_TX_MAILBOX_LIST(TxMailboxes));
if ((state == HAL_CAN_STATE_READY) ||
(state == HAL_CAN_STATE_LISTENING))
{
/* Check pending transmission request on the selected Tx Mailboxes */
if ((hcan->Instance->TSR & (TxMailboxes << CAN_TSR_TME0_Pos)) != (TxMailboxes << CAN_TSR_TME0_Pos))
{
status = 1U;
}
}
/* Return status */
return status;
}
/**
* @brief Return timestamp of Tx message sent, if time triggered communication
mode is enabled.
* @param hcan pointer to a CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @param TxMailbox Tx Mailbox where the timestamp of message sent will be
* read.
* This parameter can be one value of @arg CAN_Tx_Mailboxes.
* @retval Timestamp of message sent from Tx Mailbox.
*/
uint32_t HAL_CAN_GetTxTimestamp(CAN_HandleTypeDef *hcan, uint32_t TxMailbox)
{
uint32_t timestamp = 0U;
uint32_t transmitmailbox;
HAL_CAN_StateTypeDef state = hcan->State;
/* Check function parameters */
assert_param(IS_CAN_TX_MAILBOX(TxMailbox));
if ((state == HAL_CAN_STATE_READY) ||
(state == HAL_CAN_STATE_LISTENING))
{
/* Select the Tx mailbox */
transmitmailbox = POSITION_VAL(TxMailbox);
/* Get timestamp */
timestamp = (hcan->Instance->sTxMailBox[transmitmailbox].TDTR & CAN_TDT0R_TIME) >> CAN_TDT0R_TIME_Pos;
}
/* Return the timestamp */
return timestamp;
}
/**
* @brief Get an CAN frame from the Rx FIFO zone into the message RAM.
* @param hcan pointer to an CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @param RxFifo Fifo number of the received message to be read.
* This parameter can be a value of @arg CAN_receive_FIFO_number.
* @param pHeader pointer to a CAN_RxHeaderTypeDef structure where the header
* of the Rx frame will be stored.
* @param aData array where the payload of the Rx frame will be stored.
* @retval HAL status
*/
HAL_StatusTypeDef HAL_CAN_GetRxMessage(CAN_HandleTypeDef *hcan, uint32_t RxFifo, CAN_RxHeaderTypeDef *pHeader, uint8_t aData[])
{
HAL_CAN_StateTypeDef state = hcan->State;
assert_param(IS_CAN_RX_FIFO(RxFifo));
if ((state == HAL_CAN_STATE_READY) ||
(state == HAL_CAN_STATE_LISTENING))
{
/* Check the Rx FIFO */
if (RxFifo == CAN_RX_FIFO0) /* Rx element is assigned to Rx FIFO 0 */
{
/* Check that the Rx FIFO 0 is not empty */
if ((hcan->Instance->RF0R & CAN_RF0R_FMP0) == 0U)
{
/* Update error code */
hcan->ErrorCode |= HAL_CAN_ERROR_PARAM;
return HAL_ERROR;
}
}
else /* Rx element is assigned to Rx FIFO 1 */
{
/* Check that the Rx FIFO 1 is not empty */
if ((hcan->Instance->RF1R & CAN_RF1R_FMP1) == 0U)
{
/* Update error code */
hcan->ErrorCode |= HAL_CAN_ERROR_PARAM;
return HAL_ERROR;
}
}
/* Get the header */
pHeader->IDE = CAN_RI0R_IDE & hcan->Instance->sFIFOMailBox[RxFifo].RIR;
if (pHeader->IDE == CAN_ID_STD)
{
pHeader->StdId = (CAN_RI0R_STID & hcan->Instance->sFIFOMailBox[RxFifo].RIR) >> CAN_TI0R_STID_Pos;
}
else
{
pHeader->ExtId = ((CAN_RI0R_EXID | CAN_RI0R_STID) & hcan->Instance->sFIFOMailBox[RxFifo].RIR) >> CAN_RI0R_EXID_Pos;
}
pHeader->RTR = (CAN_RI0R_RTR & hcan->Instance->sFIFOMailBox[RxFifo].RIR) >> CAN_RI0R_RTR_Pos;
pHeader->DLC = (CAN_RDT0R_DLC & hcan->Instance->sFIFOMailBox[RxFifo].RDTR) >> CAN_RDT0R_DLC_Pos;
pHeader->FilterMatchIndex = (CAN_RDT0R_FMI & hcan->Instance->sFIFOMailBox[RxFifo].RDTR) >> CAN_RDT0R_FMI_Pos;
pHeader->Timestamp = (CAN_RDT0R_TIME & hcan->Instance->sFIFOMailBox[RxFifo].RDTR) >> CAN_RDT0R_TIME_Pos;
/* Get the data */
aData[0] = (uint8_t)((CAN_RDL0R_DATA0 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA0_Pos);
aData[1] = (uint8_t)((CAN_RDL0R_DATA1 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA1_Pos);
aData[2] = (uint8_t)((CAN_RDL0R_DATA2 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA2_Pos);
aData[3] = (uint8_t)((CAN_RDL0R_DATA3 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA3_Pos);
aData[4] = (uint8_t)((CAN_RDH0R_DATA4 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA4_Pos);
aData[5] = (uint8_t)((CAN_RDH0R_DATA5 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA5_Pos);
aData[6] = (uint8_t)((CAN_RDH0R_DATA6 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA6_Pos);
aData[7] = (uint8_t)((CAN_RDH0R_DATA7 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA7_Pos);
/* Release the FIFO */
if (RxFifo == CAN_RX_FIFO0) /* Rx element is assigned to Rx FIFO 0 */
{
/* Release RX FIFO 0 */
SET_BIT(hcan->Instance->RF0R, CAN_RF0R_RFOM0);
}
else /* Rx element is assigned to Rx FIFO 1 */
{
/* Release RX FIFO 1 */
SET_BIT(hcan->Instance->RF1R, CAN_RF1R_RFOM1);
}
/* Return function status */
return HAL_OK;
}
else
{
/* Update error code */
hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
return HAL_ERROR;
}
}
/**
* @brief Return Rx FIFO fill level.
* @param hcan pointer to an CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @param RxFifo Rx FIFO.
* This parameter can be a value of @arg CAN_receive_FIFO_number.
* @retval Number of messages available in Rx FIFO.
*/
uint32_t HAL_CAN_GetRxFifoFillLevel(CAN_HandleTypeDef *hcan, uint32_t RxFifo)
{
uint32_t filllevel = 0U;
HAL_CAN_StateTypeDef state = hcan->State;
/* Check function parameters */
assert_param(IS_CAN_RX_FIFO(RxFifo));
if ((state == HAL_CAN_STATE_READY) ||
(state == HAL_CAN_STATE_LISTENING))
{
if (RxFifo == CAN_RX_FIFO0)
{
filllevel = hcan->Instance->RF0R & CAN_RF0R_FMP0;
}
else /* RxFifo == CAN_RX_FIFO1 */
{
filllevel = hcan->Instance->RF1R & CAN_RF1R_FMP1;
}
}
/* Return Rx FIFO fill level */
return filllevel;
}
/**
* @}
*/
/** @defgroup CAN_Exported_Functions_Group4 Interrupts management
* @brief Interrupts management
*
@verbatim
==============================================================================
##### Interrupts management #####
==============================================================================
[..] This section provides functions allowing to:
(+) HAL_CAN_ActivateNotification : Enable interrupts
(+) HAL_CAN_DeactivateNotification : Disable interrupts
(+) HAL_CAN_IRQHandler : Handles CAN interrupt request
@endverbatim
* @{
*/
/**
* @brief Enable interrupts.
* @param hcan pointer to an CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @param ActiveITs indicates which interrupts will be enabled.
* This parameter can be any combination of @arg CAN_Interrupts.
* @retval HAL status
*/
HAL_StatusTypeDef HAL_CAN_ActivateNotification(CAN_HandleTypeDef *hcan, uint32_t ActiveITs)
{
HAL_CAN_StateTypeDef state = hcan->State;
/* Check function parameters */
assert_param(IS_CAN_IT(ActiveITs));
if ((state == HAL_CAN_STATE_READY) ||
(state == HAL_CAN_STATE_LISTENING))
{
/* Enable the selected interrupts */
__HAL_CAN_ENABLE_IT(hcan, ActiveITs);
/* Return function status */
return HAL_OK;
}
else
{
/* Update error code */
hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
return HAL_ERROR;
}
}
/**
* @brief Disable interrupts.
* @param hcan pointer to an CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @param InactiveITs indicates which interrupts will be disabled.
* This parameter can be any combination of @arg CAN_Interrupts.
* @retval HAL status
*/
HAL_StatusTypeDef HAL_CAN_DeactivateNotification(CAN_HandleTypeDef *hcan, uint32_t InactiveITs)
{
HAL_CAN_StateTypeDef state = hcan->State;
/* Check function parameters */
assert_param(IS_CAN_IT(InactiveITs));
if ((state == HAL_CAN_STATE_READY) ||
(state == HAL_CAN_STATE_LISTENING))
{
/* Disable the selected interrupts */
__HAL_CAN_DISABLE_IT(hcan, InactiveITs);
/* Return function status */
return HAL_OK;
}
else
{
/* Update error code */
hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
return HAL_ERROR;
}
}
/**
* @brief Handles CAN interrupt request
* @param hcan pointer to a CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @retval None
*/
void HAL_CAN_IRQHandler(CAN_HandleTypeDef *hcan)
{
uint32_t errorcode = HAL_CAN_ERROR_NONE;
uint32_t interrupts = READ_REG(hcan->Instance->IER);
uint32_t msrflags = READ_REG(hcan->Instance->MSR);
uint32_t tsrflags = READ_REG(hcan->Instance->TSR);
uint32_t rf0rflags = READ_REG(hcan->Instance->RF0R);
uint32_t rf1rflags = READ_REG(hcan->Instance->RF1R);
uint32_t esrflags = READ_REG(hcan->Instance->ESR);
/* Transmit Mailbox empty interrupt management *****************************/
if ((interrupts & CAN_IT_TX_MAILBOX_EMPTY) != 0U)
{
/* Transmit Mailbox 0 management *****************************************/
if ((tsrflags & CAN_TSR_RQCP0) != 0U)
{
/* Clear the Transmission Complete flag (and TXOK0,ALST0,TERR0 bits) */
__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_RQCP0);
if ((tsrflags & CAN_TSR_TXOK0) != 0U)
{
/* Transmission Mailbox 0 complete callback */
/* Call weak (surcharged) callback */
HAL_CAN_TxMailbox0CompleteCallback(hcan);
}
else
{
if ((tsrflags & CAN_TSR_ALST0) != 0U)
{
/* Update error code */
errorcode |= HAL_CAN_ERROR_TX_ALST0;
}
else if ((tsrflags & CAN_TSR_TERR0) != 0U)
{
/* Update error code */
errorcode |= HAL_CAN_ERROR_TX_TERR0;
}
else
{
/* Transmission Mailbox 0 abort callback */
/* Call weak (surcharged) callback */
HAL_CAN_TxMailbox0AbortCallback(hcan);
}
}
}
/* Transmit Mailbox 1 management *****************************************/
if ((tsrflags & CAN_TSR_RQCP1) != 0U)
{
/* Clear the Transmission Complete flag (and TXOK1,ALST1,TERR1 bits) */
__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_RQCP1);
if ((tsrflags & CAN_TSR_TXOK1) != 0U)
{
/* Transmission Mailbox 1 complete callback */
/* Call weak (surcharged) callback */
HAL_CAN_TxMailbox1CompleteCallback(hcan);
}
else
{
if ((tsrflags & CAN_TSR_ALST1) != 0U)
{
/* Update error code */
errorcode |= HAL_CAN_ERROR_TX_ALST1;
}
else if ((tsrflags & CAN_TSR_TERR1) != 0U)
{
/* Update error code */
errorcode |= HAL_CAN_ERROR_TX_TERR1;
}
else
{
/* Transmission Mailbox 1 abort callback */
/* Call weak (surcharged) callback */
HAL_CAN_TxMailbox1AbortCallback(hcan);
}
}
}
/* Transmit Mailbox 2 management *****************************************/
if ((tsrflags & CAN_TSR_RQCP2) != 0U)
{
/* Clear the Transmission Complete flag (and TXOK2,ALST2,TERR2 bits) */
__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_RQCP2);
if ((tsrflags & CAN_TSR_TXOK2) != 0U)
{
/* Transmission Mailbox 2 complete callback */
/* Call weak (surcharged) callback */
HAL_CAN_TxMailbox2CompleteCallback(hcan);
}
else
{
if ((tsrflags & CAN_TSR_ALST2) != 0U)
{
/* Update error code */
errorcode |= HAL_CAN_ERROR_TX_ALST2;
}
else if ((tsrflags & CAN_TSR_TERR2) != 0U)
{
/* Update error code */
errorcode |= HAL_CAN_ERROR_TX_TERR2;
}
else
{
/* Transmission Mailbox 2 abort callback */
/* Call weak (surcharged) callback */
HAL_CAN_TxMailbox2AbortCallback(hcan);
}
}
}
}
/* Receive FIFO 0 overrun interrupt management *****************************/
if ((interrupts & CAN_IT_RX_FIFO0_OVERRUN) != 0U)
{
if ((rf0rflags & CAN_RF0R_FOVR0) != 0U)
{
/* Set CAN error code to Rx Fifo 0 overrun error */
errorcode |= HAL_CAN_ERROR_RX_FOV0;
/* Clear FIFO0 Overrun Flag */
__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV0);
}
}
/* Receive FIFO 0 full interrupt management ********************************/
if ((interrupts & CAN_IT_RX_FIFO0_FULL) != 0U)
{
if ((rf0rflags & CAN_RF0R_FULL0) != 0U)
{
/* Clear FIFO 0 full Flag */
__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF0);
/* Receive FIFO 0 full Callback */
/* Call weak (surcharged) callback */
HAL_CAN_RxFifo0FullCallback(hcan);
}
}
/* Receive FIFO 0 message pending interrupt management *********************/
if ((interrupts & CAN_IT_RX_FIFO0_MSG_PENDING) != 0U)
{
/* Check if message is still pending */
if ((hcan->Instance->RF0R & CAN_RF0R_FMP0) != 0U)
{
/* Receive FIFO 0 mesage pending Callback */
/* Call weak (surcharged) callback */
HAL_CAN_RxFifo0MsgPendingCallback(hcan);
}
}
/* Receive FIFO 1 overrun interrupt management *****************************/
if ((interrupts & CAN_IT_RX_FIFO1_OVERRUN) != 0U)
{
if ((rf1rflags & CAN_RF1R_FOVR1) != 0U)
{
/* Set CAN error code to Rx Fifo 1 overrun error */
errorcode |= HAL_CAN_ERROR_RX_FOV1;
/* Clear FIFO1 Overrun Flag */
__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV1);
}
}
/* Receive FIFO 1 full interrupt management ********************************/
if ((interrupts & CAN_IT_RX_FIFO1_FULL) != 0U)
{
if ((rf1rflags & CAN_RF1R_FULL1) != 0U)
{
/* Clear FIFO 1 full Flag */
__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF1);
/* Receive FIFO 1 full Callback */
/* Call weak (surcharged) callback */
HAL_CAN_RxFifo1FullCallback(hcan);
}
}
/* Receive FIFO 1 message pending interrupt management *********************/
if ((interrupts & CAN_IT_RX_FIFO1_MSG_PENDING) != 0U)
{
/* Check if message is still pending */
if ((hcan->Instance->RF1R & CAN_RF1R_FMP1) != 0U)
{
/* Receive FIFO 1 mesage pending Callback */
/* Call weak (surcharged) callback */
HAL_CAN_RxFifo1MsgPendingCallback(hcan);
}
}
/* Sleep interrupt management *********************************************/
if ((interrupts & CAN_IT_SLEEP_ACK) != 0U)
{
if ((msrflags & CAN_MSR_SLAKI) != 0U)
{
/* Clear Sleep interrupt Flag */
__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_SLAKI);
/* Sleep Callback */
/* Call weak (surcharged) callback */
HAL_CAN_SleepCallback(hcan);
}
}
/* WakeUp interrupt management *********************************************/
if ((interrupts & CAN_IT_WAKEUP) != 0U)
{
if ((msrflags & CAN_MSR_WKUI) != 0U)
{
/* Clear WakeUp Flag */
__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_WKU);
/* WakeUp Callback */
/* Call weak (surcharged) callback */
HAL_CAN_WakeUpFromRxMsgCallback(hcan);
}
}
/* Error interrupts management *********************************************/
if ((interrupts & CAN_IT_ERROR) != 0U)
{
if ((msrflags & CAN_MSR_ERRI) != 0U)
{
/* Check Error Warning Flag */
if (((interrupts & CAN_IT_ERROR_WARNING) != 0U) &&
((esrflags & CAN_ESR_EWGF) != 0U))
{
/* Set CAN error code to Error Warning */
errorcode |= HAL_CAN_ERROR_EWG;
/* No need for clear of Error Warning Flag as read-only */
}
/* Check Error Passive Flag */
if (((interrupts & CAN_IT_ERROR_PASSIVE) != 0U) &&
((esrflags & CAN_ESR_EPVF) != 0U))
{
/* Set CAN error code to Error Passive */
errorcode |= HAL_CAN_ERROR_EPV;
/* No need for clear of Error Passive Flag as read-only */
}
/* Check Bus-off Flag */
if (((interrupts & CAN_IT_BUSOFF) != 0U) &&
((esrflags & CAN_ESR_BOFF) != 0U))
{
/* Set CAN error code to Bus-Off */
errorcode |= HAL_CAN_ERROR_BOF;
/* No need for clear of Error Bus-Off as read-only */
}
/* Check Last Error Code Flag */
if (((interrupts & CAN_IT_LAST_ERROR_CODE) != 0U) &&
((esrflags & CAN_ESR_LEC) != 0U))
{
switch (esrflags & CAN_ESR_LEC)
{
case (CAN_ESR_LEC_0):
/* Set CAN error code to Stuff error */
errorcode |= HAL_CAN_ERROR_STF;
break;
case (CAN_ESR_LEC_1):
/* Set CAN error code to Form error */
errorcode |= HAL_CAN_ERROR_FOR;
break;
case (CAN_ESR_LEC_1 | CAN_ESR_LEC_0):
/* Set CAN error code to Acknowledgement error */
errorcode |= HAL_CAN_ERROR_ACK;
break;
case (CAN_ESR_LEC_2):
/* Set CAN error code to Bit recessive error */
errorcode |= HAL_CAN_ERROR_BR;
break;
case (CAN_ESR_LEC_2 | CAN_ESR_LEC_0):
/* Set CAN error code to Bit Dominant error */
errorcode |= HAL_CAN_ERROR_BD;
break;
case (CAN_ESR_LEC_2 | CAN_ESR_LEC_1):
/* Set CAN error code to CRC error */
errorcode |= HAL_CAN_ERROR_CRC;
break;
default:
break;
}
/* Clear Last error code Flag */
CLEAR_BIT(hcan->Instance->ESR, CAN_ESR_LEC);
}
}
/* Clear ERRI Flag */
__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_ERRI);
}
/* Call the Error call Back in case of Errors */
if (errorcode != HAL_CAN_ERROR_NONE)
{
/* Update error code in handle */
hcan->ErrorCode |= errorcode;
/* Call Error callback function */
/* Call weak (surcharged) callback */
HAL_CAN_ErrorCallback(hcan);
}
}
/**
* @}
*/
/** @defgroup CAN_Exported_Functions_Group5 Callback functions
* @brief CAN Callback functions
*
@verbatim
==============================================================================
##### Callback functions #####
==============================================================================
[..]
This subsection provides the following callback functions:
(+) HAL_CAN_TxMailbox0CompleteCallback
(+) HAL_CAN_TxMailbox1CompleteCallback
(+) HAL_CAN_TxMailbox2CompleteCallback
(+) HAL_CAN_TxMailbox0AbortCallback
(+) HAL_CAN_TxMailbox1AbortCallback
(+) HAL_CAN_TxMailbox2AbortCallback
(+) HAL_CAN_RxFifo0MsgPendingCallback
(+) HAL_CAN_RxFifo0FullCallback
(+) HAL_CAN_RxFifo1MsgPendingCallback
(+) HAL_CAN_RxFifo1FullCallback
(+) HAL_CAN_SleepCallback
(+) HAL_CAN_WakeUpFromRxMsgCallback
(+) HAL_CAN_ErrorCallback
@endverbatim
* @{
*/
/**
* @brief Transmission Mailbox 0 complete callback.
* @param hcan pointer to a CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @retval None
*/
__weak void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan)
{
/* Prevent unused argument(s) compilation warning */
UNUSED(hcan);
/* NOTE : This function Should not be modified, when the callback is needed,
the HAL_CAN_TxMailbox0CompleteCallback could be implemented in the
user file
*/
}
/**
* @brief Transmission Mailbox 1 complete callback.
* @param hcan pointer to a CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @retval None
*/
__weak void HAL_CAN_TxMailbox1CompleteCallback(CAN_HandleTypeDef *hcan)
{
/* Prevent unused argument(s) compilation warning */
UNUSED(hcan);
/* NOTE : This function Should not be modified, when the callback is needed,
the HAL_CAN_TxMailbox1CompleteCallback could be implemented in the
user file
*/
}
/**
* @brief Transmission Mailbox 2 complete callback.
* @param hcan pointer to a CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @retval None
*/
__weak void HAL_CAN_TxMailbox2CompleteCallback(CAN_HandleTypeDef *hcan)
{
/* Prevent unused argument(s) compilation warning */
UNUSED(hcan);
/* NOTE : This function Should not be modified, when the callback is needed,
the HAL_CAN_TxMailbox2CompleteCallback could be implemented in the
user file
*/
}
/**
* @brief Transmission Mailbox 0 Cancellation callback.
* @param hcan pointer to an CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @retval None
*/
__weak void HAL_CAN_TxMailbox0AbortCallback(CAN_HandleTypeDef *hcan)
{
/* Prevent unused argument(s) compilation warning */
UNUSED(hcan);
/* NOTE : This function Should not be modified, when the callback is needed,
the HAL_CAN_TxMailbox0AbortCallback could be implemented in the
user file
*/
}
/**
* @brief Transmission Mailbox 1 Cancellation callback.
* @param hcan pointer to an CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @retval None
*/
__weak void HAL_CAN_TxMailbox1AbortCallback(CAN_HandleTypeDef *hcan)
{
/* Prevent unused argument(s) compilation warning */
UNUSED(hcan);
/* NOTE : This function Should not be modified, when the callback is needed,
the HAL_CAN_TxMailbox1AbortCallback could be implemented in the
user file
*/
}
/**
* @brief Transmission Mailbox 2 Cancellation callback.
* @param hcan pointer to an CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @retval None
*/
__weak void HAL_CAN_TxMailbox2AbortCallback(CAN_HandleTypeDef *hcan)
{
/* Prevent unused argument(s) compilation warning */
UNUSED(hcan);
/* NOTE : This function Should not be modified, when the callback is needed,
the HAL_CAN_TxMailbox2AbortCallback could be implemented in the
user file
*/
}
/**
* @brief Rx FIFO 0 message pending callback.
* @param hcan pointer to a CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @retval None
*/
__weak void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
/* Prevent unused argument(s) compilation warning */
UNUSED(hcan);
/* NOTE : This function Should not be modified, when the callback is needed,
the HAL_CAN_RxFifo0MsgPendingCallback could be implemented in the
user file
*/
}
/**
* @brief Rx FIFO 0 full callback.
* @param hcan pointer to a CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @retval None
*/
__weak void HAL_CAN_RxFifo0FullCallback(CAN_HandleTypeDef *hcan)
{
/* Prevent unused argument(s) compilation warning */
UNUSED(hcan);
/* NOTE : This function Should not be modified, when the callback is needed,
the HAL_CAN_RxFifo0FullCallback could be implemented in the user
file
*/
}
/**
* @brief Rx FIFO 1 message pending callback.
* @param hcan pointer to a CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @retval None
*/
__weak void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
/* Prevent unused argument(s) compilation warning */
UNUSED(hcan);
/* NOTE : This function Should not be modified, when the callback is needed,
the HAL_CAN_RxFifo1MsgPendingCallback could be implemented in the
user file
*/
}
/**
* @brief Rx FIFO 1 full callback.
* @param hcan pointer to a CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @retval None
*/
__weak void HAL_CAN_RxFifo1FullCallback(CAN_HandleTypeDef *hcan)
{
/* Prevent unused argument(s) compilation warning */
UNUSED(hcan);
/* NOTE : This function Should not be modified, when the callback is needed,
the HAL_CAN_RxFifo1FullCallback could be implemented in the user
file
*/
}
/**
* @brief Sleep callback.
* @param hcan pointer to a CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @retval None
*/
__weak void HAL_CAN_SleepCallback(CAN_HandleTypeDef *hcan)
{
/* Prevent unused argument(s) compilation warning */
UNUSED(hcan);
/* NOTE : This function Should not be modified, when the callback is needed,
the HAL_CAN_SleepCallback could be implemented in the user file
*/
}
/**
* @brief WakeUp from Rx message callback.
* @param hcan pointer to a CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @retval None
*/
__weak void HAL_CAN_WakeUpFromRxMsgCallback(CAN_HandleTypeDef *hcan)
{
/* Prevent unused argument(s) compilation warning */
UNUSED(hcan);
/* NOTE : This function Should not be modified, when the callback is needed,
the HAL_CAN_WakeUpFromRxMsgCallback could be implemented in the
user file
*/
}
/**
* @brief Error CAN callback.
* @param hcan pointer to a CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @retval None
*/
__weak void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan)
{
/* Prevent unused argument(s) compilation warning */
UNUSED(hcan);
/* NOTE : This function Should not be modified, when the callback is needed,
the HAL_CAN_ErrorCallback could be implemented in the user file
*/
}
/**
* @}
*/
/** @defgroup CAN_Exported_Functions_Group6 Peripheral State and Error functions
* @brief CAN Peripheral State functions
*
@verbatim
==============================================================================
##### Peripheral State and Error functions #####
==============================================================================
[..]
This subsection provides functions allowing to :
(+) HAL_CAN_GetState() : Return the CAN state.
(+) HAL_CAN_GetError() : Return the CAN error codes if any.
(+) HAL_CAN_ResetError(): Reset the CAN error codes if any.
@endverbatim
* @{
*/
/**
* @brief Return the CAN state.
* @param hcan pointer to a CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @retval HAL state
*/
HAL_CAN_StateTypeDef HAL_CAN_GetState(CAN_HandleTypeDef *hcan)
{
HAL_CAN_StateTypeDef state = hcan->State;
if ((state == HAL_CAN_STATE_READY) ||
(state == HAL_CAN_STATE_LISTENING))
{
/* Check sleep mode acknowledge flag */
if ((hcan->Instance->MSR & CAN_MSR_SLAK) != 0U)
{
/* Sleep mode is active */
state = HAL_CAN_STATE_SLEEP_ACTIVE;
}
/* Check sleep mode request flag */
else if ((hcan->Instance->MCR & CAN_MCR_SLEEP) != 0U)
{
/* Sleep mode request is pending */
state = HAL_CAN_STATE_SLEEP_PENDING;
}
else
{
/* Neither sleep mode request nor sleep mode acknowledge */
}
}
/* Return CAN state */
return state;
}
/**
* @brief Return the CAN error code.
* @param hcan pointer to a CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @retval CAN Error Code
*/
uint32_t HAL_CAN_GetError(CAN_HandleTypeDef *hcan)
{
/* Return CAN error code */
return hcan->ErrorCode;
}
/**
* @brief Reset the CAN error code.
* @param hcan pointer to a CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @retval HAL status
*/
HAL_StatusTypeDef HAL_CAN_ResetError(CAN_HandleTypeDef *hcan)
{
HAL_StatusTypeDef status = HAL_OK;
HAL_CAN_StateTypeDef state = hcan->State;
if ((state == HAL_CAN_STATE_READY) ||
(state == HAL_CAN_STATE_LISTENING))
{
/* Reset CAN error code */
hcan->ErrorCode = 0U;
}
else
{
/* Update error code */
hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
status = HAL_ERROR;
}
/* Return the status */
return status;
}
/**
* @}
*/
/**
* @}
*/
#endif /* HAL_CAN_MODULE_ENABLED */
/**
* @}
*/
#endif /* CAN1 */
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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