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Diffstat (limited to 'c/src/lib/libbsp/arm/stm32f4x/hal/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c')
| -rw-r--r-- | c/src/lib/libbsp/arm/stm32f4x/hal/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c | 1439 |
1 files changed, 0 insertions, 1439 deletions
diff --git a/c/src/lib/libbsp/arm/stm32f4x/hal/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c b/c/src/lib/libbsp/arm/stm32f4x/hal/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c deleted file mode 100644 index c227e28039..0000000000 --- a/c/src/lib/libbsp/arm/stm32f4x/hal/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c +++ /dev/null @@ -1,1439 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_can.c - * @author MCD Application Team - * @version V1.4.0 - * @date 14-August-2015 - * @brief This file provides firmware functions to manage the following - * functionalities of the Controller Area Network (CAN) peripheral: - * + Initialization and de-initialization functions - * + IO operation functions - * + Peripheral Control functions - * + Peripheral State and Error functions - * - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - (#) Enable the CAN controller interface clock using - __HAL_RCC_CAN1_CLK_ENABLE() for CAN1 and __HAL_RCC_CAN2_CLK_ENABLE() for CAN2 - -@- In case you are using CAN2 only, you have to enable the CAN1 clock. - - (#) CAN pins configuration - (++) Enable the clock for the CAN GPIOs using the following function: - __GPIOx_CLK_ENABLE() - (++) Connect and configure the involved CAN pins to AF9 using the - following function HAL_GPIO_Init() - - (#) Initialize and configure the CAN using CAN_Init() function. - - (#) Transmit the desired CAN frame using HAL_CAN_Transmit() function. - - (#) Receive a CAN frame using HAL_CAN_Receive() function. - - *** Polling mode IO operation *** - ================================= - [..] - (+) Start the CAN peripheral transmission and wait the end of this operation - using HAL_CAN_Transmit(), at this stage user can specify the value of timeout - according to his end application - (+) Start the CAN peripheral reception and wait the end of this operation - using HAL_CAN_Receive(), at this stage user can specify the value of timeout - according to his end application - - *** Interrupt mode IO operation *** - =================================== - [..] - (+) Start the CAN peripheral transmission using HAL_CAN_Transmit_IT() - (+) Start the CAN peripheral reception using HAL_CAN_Receive_IT() - (+) Use HAL_CAN_IRQHandler() called under the used CAN Interrupt subroutine - (+) At CAN end of transmission HAL_CAN_TxCpltCallback() function is executed and user can - add his own code by customization of function pointer HAL_CAN_TxCpltCallback - (+) In case of CAN Error, HAL_CAN_ErrorCallback() function is executed and user can - add his own code by customization of function pointer HAL_CAN_ErrorCallback - - *** CAN HAL driver macros list *** - ============================================= - [..] - Below the list of most used macros in CAN HAL driver. - - (+) __HAL_CAN_ENABLE_IT: Enable the specified CAN interrupts - (+) __HAL_CAN_DISABLE_IT: Disable the specified CAN interrupts - (+) __HAL_CAN_GET_IT_SOURCE: Check if the specified CAN interrupt source is enabled or disabled - (+) __HAL_CAN_CLEAR_FLAG: Clear the CAN's pending flags - (+) __HAL_CAN_GET_FLAG: Get the selected CAN's flag status - - [..] - (@) You can refer to the CAN HAL driver header file for more useful macros - - @endverbatim - - ****************************************************************************** - * @attention - * - * <h2><center>© COPYRIGHT(c) 2015 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 "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup CAN CAN - * @brief CAN driver modules - * @{ - */ - -#ifdef HAL_CAN_MODULE_ENABLED - -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) ||\ - defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\ - defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/** @addtogroup CAN_Private_Constants - * @{ - */ -#define CAN_TIMEOUT_VALUE 10 -/** - * @} - */ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/** @addtogroup CAN_Private_Functions - * @{ - */ -static HAL_StatusTypeDef CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber); -static HAL_StatusTypeDef CAN_Transmit_IT(CAN_HandleTypeDef* hcan); -/** - * @} - */ - -/* 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: - (+) Initialize and configure the CAN. - (+) De-initialize the CAN. - -@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 InitStatus = 3; - uint32_t tickstart = 0; - - /* 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.TTCM)); - assert_param(IS_FUNCTIONAL_STATE(hcan->Init.ABOM)); - assert_param(IS_FUNCTIONAL_STATE(hcan->Init.AWUM)); - assert_param(IS_FUNCTIONAL_STATE(hcan->Init.NART)); - assert_param(IS_FUNCTIONAL_STATE(hcan->Init.RFLM)); - assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TXFP)); - assert_param(IS_CAN_MODE(hcan->Init.Mode)); - assert_param(IS_CAN_SJW(hcan->Init.SJW)); - assert_param(IS_CAN_BS1(hcan->Init.BS1)); - assert_param(IS_CAN_BS2(hcan->Init.BS2)); - assert_param(IS_CAN_PRESCALER(hcan->Init.Prescaler)); - - - if(hcan->State == HAL_CAN_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hcan->Lock = HAL_UNLOCKED; - /* Init the low level hardware */ - HAL_CAN_MspInit(hcan); - } - - /* Initialize the CAN state*/ - hcan->State = HAL_CAN_STATE_BUSY; - - /* Exit from sleep mode */ - hcan->Instance->MCR &= (~(uint32_t)CAN_MCR_SLEEP); - - /* Request initialisation */ - hcan->Instance->MCR |= CAN_MCR_INRQ ; - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait the acknowledge */ - while((hcan->Instance->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) - { - if((HAL_GetTick() - tickstart ) > CAN_TIMEOUT_VALUE) - { - hcan->State= HAL_CAN_STATE_TIMEOUT; - /* Process unlocked */ - __HAL_UNLOCK(hcan); - return HAL_TIMEOUT; - } - } - - /* Check acknowledge */ - if ((hcan->Instance->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) - { - InitStatus = CAN_INITSTATUS_FAILED; - } - else - { - /* Set the time triggered communication mode */ - if (hcan->Init.TTCM == ENABLE) - { - hcan->Instance->MCR |= CAN_MCR_TTCM; - } - else - { - hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_TTCM; - } - - /* Set the automatic bus-off management */ - if (hcan->Init.ABOM == ENABLE) - { - hcan->Instance->MCR |= CAN_MCR_ABOM; - } - else - { - hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_ABOM; - } - - /* Set the automatic wake-up mode */ - if (hcan->Init.AWUM == ENABLE) - { - hcan->Instance->MCR |= CAN_MCR_AWUM; - } - else - { - hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_AWUM; - } - - /* Set the no automatic retransmission */ - if (hcan->Init.NART == ENABLE) - { - hcan->Instance->MCR |= CAN_MCR_NART; - } - else - { - hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_NART; - } - - /* Set the receive FIFO locked mode */ - if (hcan->Init.RFLM == ENABLE) - { - hcan->Instance->MCR |= CAN_MCR_RFLM; - } - else - { - hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_RFLM; - } - - /* Set the transmit FIFO priority */ - if (hcan->Init.TXFP == ENABLE) - { - hcan->Instance->MCR |= CAN_MCR_TXFP; - } - else - { - hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_TXFP; - } - - /* Set the bit timing register */ - hcan->Instance->BTR = (uint32_t)((uint32_t)hcan->Init.Mode) | \ - ((uint32_t)hcan->Init.SJW) | \ - ((uint32_t)hcan->Init.BS1) | \ - ((uint32_t)hcan->Init.BS2) | \ - ((uint32_t)hcan->Init.Prescaler - 1); - - /* Request leave initialisation */ - hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_INRQ; - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait the acknowledge */ - while((hcan->Instance->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) - { - if((HAL_GetTick() - tickstart ) > CAN_TIMEOUT_VALUE) - { - hcan->State= HAL_CAN_STATE_TIMEOUT; - /* Process unlocked */ - __HAL_UNLOCK(hcan); - return HAL_TIMEOUT; - } - } - - /* Check acknowledged */ - if ((hcan->Instance->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) - { - InitStatus = CAN_INITSTATUS_FAILED; - } - else - { - InitStatus = CAN_INITSTATUS_SUCCESS; - } - } - - if(InitStatus == CAN_INITSTATUS_SUCCESS) - { - /* Set CAN error code to none */ - hcan->ErrorCode = HAL_CAN_ERROR_NONE; - - /* Initialize the CAN state */ - hcan->State = HAL_CAN_STATE_READY; - - /* Return function status */ - return HAL_OK; - } - else - { - /* Initialize the CAN state */ - hcan->State = HAL_CAN_STATE_ERROR; - - /* Return function status */ - return HAL_ERROR; - } -} - -/** - * @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_FilterConfTypeDef structure that - * contains the filter configuration information. - * @retval None - */ -HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef* hcan, CAN_FilterConfTypeDef* sFilterConfig) -{ - uint32_t filternbrbitpos = 0; - - /* Check the parameters */ - assert_param(IS_CAN_FILTER_NUMBER(sFilterConfig->FilterNumber)); - 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_FUNCTIONAL_STATE(sFilterConfig->FilterActivation)); - assert_param(IS_CAN_BANKNUMBER(sFilterConfig->BankNumber)); - - filternbrbitpos = ((uint32_t)1) << sFilterConfig->FilterNumber; - - /* Initialisation mode for the filter */ - CAN1->FMR |= (uint32_t)CAN_FMR_FINIT; - - /* Select the start slave bank */ - CAN1->FMR &= ~((uint32_t)CAN_FMR_CAN2SB); - CAN1->FMR |= (uint32_t)(sFilterConfig->BankNumber << 8); - - /* Filter Deactivation */ - CAN1->FA1R &= ~(uint32_t)filternbrbitpos; - - /* Filter Scale */ - if (sFilterConfig->FilterScale == CAN_FILTERSCALE_16BIT) - { - /* 16-bit scale for the filter */ - CAN1->FS1R &= ~(uint32_t)filternbrbitpos; - - /* First 16-bit identifier and First 16-bit mask */ - /* Or First 16-bit identifier and Second 16-bit identifier */ - CAN1->sFilterRegister[sFilterConfig->FilterNumber].FR1 = - ((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdLow) << 16) | - (0x0000FFFF & (uint32_t)sFilterConfig->FilterIdLow); - - /* Second 16-bit identifier and Second 16-bit mask */ - /* Or Third 16-bit identifier and Fourth 16-bit identifier */ - CAN1->sFilterRegister[sFilterConfig->FilterNumber].FR2 = - ((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16) | - (0x0000FFFF & (uint32_t)sFilterConfig->FilterIdHigh); - } - - if (sFilterConfig->FilterScale == CAN_FILTERSCALE_32BIT) - { - /* 32-bit scale for the filter */ - CAN1->FS1R |= filternbrbitpos; - /* 32-bit identifier or First 32-bit identifier */ - CAN1->sFilterRegister[sFilterConfig->FilterNumber].FR1 = - ((0x0000FFFF & (uint32_t)sFilterConfig->FilterIdHigh) << 16) | - (0x0000FFFF & (uint32_t)sFilterConfig->FilterIdLow); - /* 32-bit mask or Second 32-bit identifier */ - CAN1->sFilterRegister[sFilterConfig->FilterNumber].FR2 = - ((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16) | - (0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdLow); - } - - /* Filter Mode */ - if (sFilterConfig->FilterMode == CAN_FILTERMODE_IDMASK) - { - /*Id/Mask mode for the filter*/ - CAN1->FM1R &= ~(uint32_t)filternbrbitpos; - } - else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */ - { - /*Identifier list mode for the filter*/ - CAN1->FM1R |= (uint32_t)filternbrbitpos; - } - - /* Filter FIFO assignment */ - if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO0) - { - /* FIFO 0 assignation for the filter */ - CAN1->FFA1R &= ~(uint32_t)filternbrbitpos; - } - - if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO1) - { - /* FIFO 1 assignation for the filter */ - CAN1->FFA1R |= (uint32_t)filternbrbitpos; - } - - /* Filter activation */ - if (sFilterConfig->FilterActivation == ENABLE) - { - CAN1->FA1R |= filternbrbitpos; - } - - /* Leave the initialisation mode for the filter */ - CAN1->FMR &= ~((uint32_t)CAN_FMR_FINIT); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Deinitializes the CANx 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)); - - /* Change CAN state */ - hcan->State = HAL_CAN_STATE_BUSY; - - /* DeInit the low level hardware */ - HAL_CAN_MspDeInit(hcan); - - /* Change CAN state */ - hcan->State = HAL_CAN_STATE_RESET; - - /* Release Lock */ - __HAL_UNLOCK(hcan); - - /* 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) -{ - /* 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) -{ - /* 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 IO operation functions - * @brief IO operation functions - * -@verbatim - ============================================================================== - ##### IO operation functions ##### - ============================================================================== - [..] This section provides functions allowing to: - (+) Transmit a CAN frame message. - (+) Receive a CAN frame message. - (+) Enter CAN peripheral in sleep mode. - (+) Wake up the CAN peripheral from sleep mode. - -@endverbatim - * @{ - */ - -/** - * @brief Initiates and transmits a CAN frame message. - * @param hcan: pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @param Timeout: Specify Timeout value - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CAN_Transmit(CAN_HandleTypeDef* hcan, uint32_t Timeout) -{ - uint32_t transmitmailbox = 5; - uint32_t tickstart = 0; - - /* Check the parameters */ - assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE)); - assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR)); - assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC)); - - /* Process locked */ - __HAL_LOCK(hcan); - - if(hcan->State == HAL_CAN_STATE_BUSY_RX) - { - /* Change CAN state */ - hcan->State = HAL_CAN_STATE_BUSY_TX_RX; - } - else - { - /* Change CAN state */ - hcan->State = HAL_CAN_STATE_BUSY_TX; - } - - /* Select one empty transmit mailbox */ - if ((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0) - { - transmitmailbox = 0; - } - else if ((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1) - { - transmitmailbox = 1; - } - else if ((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2) - { - transmitmailbox = 2; - } - else - { - transmitmailbox = CAN_TXSTATUS_NOMAILBOX; - } - - if (transmitmailbox != CAN_TXSTATUS_NOMAILBOX) - { - /* Set up the Id */ - hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ; - if (hcan->pTxMsg->IDE == CAN_ID_STD) - { - assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId)); - hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->StdId << 21) | \ - hcan->pTxMsg->RTR); - } - else - { - assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId)); - hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->ExtId << 3) | \ - hcan->pTxMsg->IDE | \ - hcan->pTxMsg->RTR); - } - - /* Set up the DLC */ - hcan->pTxMsg->DLC &= (uint8_t)0x0000000F; - hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0; - hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC; - - /* Set up the data field */ - hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3] << 24) | - ((uint32_t)hcan->pTxMsg->Data[2] << 16) | - ((uint32_t)hcan->pTxMsg->Data[1] << 8) | - ((uint32_t)hcan->pTxMsg->Data[0])); - hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7] << 24) | - ((uint32_t)hcan->pTxMsg->Data[6] << 16) | - ((uint32_t)hcan->pTxMsg->Data[5] << 8) | - ((uint32_t)hcan->pTxMsg->Data[4])); - /* Request transmission */ - hcan->Instance->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ; - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Check End of transmission flag */ - while(!(__HAL_CAN_TRANSMIT_STATUS(hcan, transmitmailbox))) - { - /* Check for the Timeout */ - if(Timeout != HAL_MAX_DELAY) - { - if((Timeout == 0)||((HAL_GetTick() - tickstart ) > Timeout)) - { - hcan->State = HAL_CAN_STATE_TIMEOUT; - /* Process unlocked */ - __HAL_UNLOCK(hcan); - return HAL_TIMEOUT; - } - } - } - if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX) - { - /* Change CAN state */ - hcan->State = HAL_CAN_STATE_BUSY_RX; - - /* Process unlocked */ - __HAL_UNLOCK(hcan); - } - else - { - /* Change CAN state */ - hcan->State = HAL_CAN_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcan); - } - - /* Return function status */ - return HAL_OK; - } - else - { - /* Change CAN state */ - hcan->State = HAL_CAN_STATE_ERROR; - - /* Process unlocked */ - __HAL_UNLOCK(hcan); - - /* Return function status */ - return HAL_ERROR; - } -} - -/** - * @brief Initiates and transmits a CAN frame message. - * @param hcan: pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CAN_Transmit_IT(CAN_HandleTypeDef* hcan) -{ - uint32_t transmitmailbox = 5; - uint32_t tmp = 0; - - /* Check the parameters */ - assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE)); - assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR)); - assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC)); - - tmp = hcan->State; - if((tmp == HAL_CAN_STATE_READY) || (tmp == HAL_CAN_STATE_BUSY_RX)) - { - /* Process Locked */ - __HAL_LOCK(hcan); - - /* Select one empty transmit mailbox */ - if((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0) - { - transmitmailbox = 0; - } - else if((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1) - { - transmitmailbox = 1; - } - else if((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2) - { - transmitmailbox = 2; - } - else - { - transmitmailbox = CAN_TXSTATUS_NOMAILBOX; - } - - if(transmitmailbox != CAN_TXSTATUS_NOMAILBOX) - { - /* Set up the Id */ - hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ; - if(hcan->pTxMsg->IDE == CAN_ID_STD) - { - assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId)); - hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->StdId << 21) | \ - hcan->pTxMsg->RTR); - } - else - { - assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId)); - hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->ExtId << 3) | \ - hcan->pTxMsg->IDE | \ - hcan->pTxMsg->RTR); - } - - /* Set up the DLC */ - hcan->pTxMsg->DLC &= (uint8_t)0x0000000F; - hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0; - hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC; - - /* Set up the data field */ - hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3] << 24) | - ((uint32_t)hcan->pTxMsg->Data[2] << 16) | - ((uint32_t)hcan->pTxMsg->Data[1] << 8) | - ((uint32_t)hcan->pTxMsg->Data[0])); - hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7] << 24) | - ((uint32_t)hcan->pTxMsg->Data[6] << 16) | - ((uint32_t)hcan->pTxMsg->Data[5] << 8) | - ((uint32_t)hcan->pTxMsg->Data[4])); - - if(hcan->State == HAL_CAN_STATE_BUSY_RX) - { - /* Change CAN state */ - hcan->State = HAL_CAN_STATE_BUSY_TX_RX; - } - else - { - /* Change CAN state */ - hcan->State = HAL_CAN_STATE_BUSY_TX; - } - - /* Set CAN error code to none */ - hcan->ErrorCode = HAL_CAN_ERROR_NONE; - - /* Process Unlocked */ - __HAL_UNLOCK(hcan); - - /* Enable Error warning Interrupt */ - __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG); - - /* Enable Error passive Interrupt */ - __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EPV); - - /* Enable Bus-off Interrupt */ - __HAL_CAN_ENABLE_IT(hcan, CAN_IT_BOF); - - /* Enable Last error code Interrupt */ - __HAL_CAN_ENABLE_IT(hcan, CAN_IT_LEC); - - /* Enable Error Interrupt */ - __HAL_CAN_ENABLE_IT(hcan, CAN_IT_ERR); - - /* Enable Transmit mailbox empty Interrupt */ - __HAL_CAN_ENABLE_IT(hcan, CAN_IT_TME); - - /* Request transmission */ - hcan->Instance->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ; - } - } - else - { - return HAL_BUSY; - } - - return HAL_OK; -} - -/** - * @brief Receives a correct CAN frame. - * @param hcan: pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @param FIFONumber: FIFO Number value - * @param Timeout: Specify Timeout value - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CAN_Receive(CAN_HandleTypeDef* hcan, uint8_t FIFONumber, uint32_t Timeout) -{ - uint32_t tickstart = 0; - - /* Check the parameters */ - assert_param(IS_CAN_FIFO(FIFONumber)); - - /* Process locked */ - __HAL_LOCK(hcan); - - if(hcan->State == HAL_CAN_STATE_BUSY_TX) - { - /* Change CAN state */ - hcan->State = HAL_CAN_STATE_BUSY_TX_RX; - } - else - { - /* Change CAN state */ - hcan->State = HAL_CAN_STATE_BUSY_RX; - } - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Check pending message */ - while(__HAL_CAN_MSG_PENDING(hcan, FIFONumber) == 0) - { - /* Check for the Timeout */ - if(Timeout != HAL_MAX_DELAY) - { - if((Timeout == 0)||((HAL_GetTick() - tickstart ) > Timeout)) - { - hcan->State = HAL_CAN_STATE_TIMEOUT; - /* Process unlocked */ - __HAL_UNLOCK(hcan); - return HAL_TIMEOUT; - } - } - } - - /* Get the Id */ - hcan->pRxMsg->IDE = (uint8_t)0x04 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR; - if (hcan->pRxMsg->IDE == CAN_ID_STD) - { - hcan->pRxMsg->StdId = (uint32_t)0x000007FF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 21); - } - else - { - hcan->pRxMsg->ExtId = (uint32_t)0x1FFFFFFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 3); - } - - hcan->pRxMsg->RTR = (uint8_t)0x02 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR; - /* Get the DLC */ - hcan->pRxMsg->DLC = (uint8_t)0x0F & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR; - /* Get the FMI */ - hcan->pRxMsg->FMI = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDTR >> 8); - /* Get the data field */ - hcan->pRxMsg->Data[0] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR; - hcan->pRxMsg->Data[1] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 8); - hcan->pRxMsg->Data[2] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 16); - hcan->pRxMsg->Data[3] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 24); - hcan->pRxMsg->Data[4] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR; - hcan->pRxMsg->Data[5] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 8); - hcan->pRxMsg->Data[6] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 16); - hcan->pRxMsg->Data[7] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 24); - - /* Release the FIFO */ - if(FIFONumber == CAN_FIFO0) - { - /* Release FIFO0 */ - __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0); - } - else /* FIFONumber == CAN_FIFO1 */ - { - /* Release FIFO1 */ - __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1); - } - - if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX) - { - /* Change CAN state */ - hcan->State = HAL_CAN_STATE_BUSY_TX; - - /* Process unlocked */ - __HAL_UNLOCK(hcan); - } - else - { - /* Change CAN state */ - hcan->State = HAL_CAN_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcan); - } - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Receives a correct CAN frame. - * @param hcan: Pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @param FIFONumber: Specify the FIFO number - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber) -{ - uint32_t tmp = 0; - - /* Check the parameters */ - assert_param(IS_CAN_FIFO(FIFONumber)); - - tmp = hcan->State; - if((tmp == HAL_CAN_STATE_READY) || (tmp == HAL_CAN_STATE_BUSY_TX)) - { - /* Process locked */ - __HAL_LOCK(hcan); - - if(hcan->State == HAL_CAN_STATE_BUSY_TX) - { - /* Change CAN state */ - hcan->State = HAL_CAN_STATE_BUSY_TX_RX; - } - else - { - /* Change CAN state */ - hcan->State = HAL_CAN_STATE_BUSY_RX; - } - - /* Set CAN error code to none */ - hcan->ErrorCode = HAL_CAN_ERROR_NONE; - - /* Enable Error warning Interrupt */ - __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG); - - /* Enable Error passive Interrupt */ - __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EPV); - - /* Enable Bus-off Interrupt */ - __HAL_CAN_ENABLE_IT(hcan, CAN_IT_BOF); - - /* Enable Last error code Interrupt */ - __HAL_CAN_ENABLE_IT(hcan, CAN_IT_LEC); - - /* Enable Error Interrupt */ - __HAL_CAN_ENABLE_IT(hcan, CAN_IT_ERR); - - /* Process unlocked */ - __HAL_UNLOCK(hcan); - - if(FIFONumber == CAN_FIFO0) - { - /* Enable FIFO 0 message pending Interrupt */ - __HAL_CAN_ENABLE_IT(hcan, CAN_IT_FMP0); - } - else - { - /* Enable FIFO 1 message pending Interrupt */ - __HAL_CAN_ENABLE_IT(hcan, CAN_IT_FMP1); - } - - } - else - { - return HAL_BUSY; - } - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Enters the Sleep (low power) mode. - * @param hcan: pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval HAL status. - */ -HAL_StatusTypeDef HAL_CAN_Sleep(CAN_HandleTypeDef* hcan) -{ - uint32_t tickstart = 0; - - /* Process locked */ - __HAL_LOCK(hcan); - - /* Change CAN state */ - hcan->State = HAL_CAN_STATE_BUSY; - - /* Request Sleep mode */ - hcan->Instance->MCR = (((hcan->Instance->MCR) & (uint32_t)(~(uint32_t)CAN_MCR_INRQ)) | CAN_MCR_SLEEP); - - /* Sleep mode status */ - if ((hcan->Instance->MSR & (CAN_MSR_SLAK|CAN_MSR_INAK)) != CAN_MSR_SLAK) - { - /* Process unlocked */ - __HAL_UNLOCK(hcan); - - /* Return function status */ - return HAL_ERROR; - } - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait the acknowledge */ - while((hcan->Instance->MSR & (CAN_MSR_SLAK|CAN_MSR_INAK)) != CAN_MSR_SLAK) - { - if((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE) - { - hcan->State = HAL_CAN_STATE_TIMEOUT; - /* Process unlocked */ - __HAL_UNLOCK(hcan); - return HAL_TIMEOUT; - } - } - - /* Change CAN state */ - hcan->State = HAL_CAN_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcan); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Wakes up the CAN peripheral from sleep mode, after that the CAN peripheral - * is in the normal mode. - * @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) -{ - uint32_t tickstart = 0; - - /* Process locked */ - __HAL_LOCK(hcan); - - /* Change CAN state */ - hcan->State = HAL_CAN_STATE_BUSY; - - /* Wake up request */ - hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_SLEEP; - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Sleep mode status */ - while((hcan->Instance->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK) - { - if((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE) - { - hcan->State= HAL_CAN_STATE_TIMEOUT; - /* Process unlocked */ - __HAL_UNLOCK(hcan); - return HAL_TIMEOUT; - } - } - if((hcan->Instance->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK) - { - /* Process unlocked */ - __HAL_UNLOCK(hcan); - - /* Return function status */ - return HAL_ERROR; - } - - /* Change CAN state */ - hcan->State = HAL_CAN_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcan); - - /* Return function status */ - return HAL_OK; -} - -/** - * @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 tmp1 = 0, tmp2 = 0, tmp3 = 0; - - /* Check End of transmission flag */ - if(__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_TME)) - { - tmp1 = __HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_0); - tmp2 = __HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_1); - tmp3 = __HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_2); - if(tmp1 || tmp2 || tmp3) - { - /* Call transmit function */ - CAN_Transmit_IT(hcan); - } - } - - tmp1 = __HAL_CAN_MSG_PENDING(hcan, CAN_FIFO0); - tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP0); - /* Check End of reception flag for FIFO0 */ - if((tmp1 != 0) && tmp2) - { - /* Call receive function */ - CAN_Receive_IT(hcan, CAN_FIFO0); - } - - tmp1 = __HAL_CAN_MSG_PENDING(hcan, CAN_FIFO1); - tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP1); - /* Check End of reception flag for FIFO1 */ - if((tmp1 != 0) && tmp2) - { - /* Call receive function */ - CAN_Receive_IT(hcan, CAN_FIFO1); - } - - tmp1 = __HAL_CAN_GET_FLAG(hcan, CAN_FLAG_EWG); - tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_EWG); - tmp3 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR); - /* Check Error Warning Flag */ - if(tmp1 && tmp2 && tmp3) - { - /* Set CAN error code to EWG error */ - hcan->ErrorCode |= HAL_CAN_ERROR_EWG; - /* Clear Error Warning Flag */ - __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_EWG); - } - - tmp1 = __HAL_CAN_GET_FLAG(hcan, CAN_FLAG_EPV); - tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_EPV); - tmp3 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR); - /* Check Error Passive Flag */ - if(tmp1 && tmp2 && tmp3) - { - /* Set CAN error code to EPV error */ - hcan->ErrorCode |= HAL_CAN_ERROR_EPV; - /* Clear Error Passive Flag */ - __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_EPV); - } - - tmp1 = __HAL_CAN_GET_FLAG(hcan, CAN_FLAG_BOF); - tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_BOF); - tmp3 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR); - /* Check Bus-Off Flag */ - if(tmp1 && tmp2 && tmp3) - { - /* Set CAN error code to BOF error */ - hcan->ErrorCode |= HAL_CAN_ERROR_BOF; - /* Clear Bus-Off Flag */ - __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_BOF); - } - - tmp1 = HAL_IS_BIT_CLR(hcan->Instance->ESR, CAN_ESR_LEC); - tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_LEC); - tmp3 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR); - /* Check Last error code Flag */ - if((!tmp1) && tmp2 && tmp3) - { - tmp1 = (hcan->Instance->ESR) & CAN_ESR_LEC; - switch(tmp1) - { - case(CAN_ESR_LEC_0): - /* Set CAN error code to STF error */ - hcan->ErrorCode |= HAL_CAN_ERROR_STF; - break; - case(CAN_ESR_LEC_1): - /* Set CAN error code to FOR error */ - hcan->ErrorCode |= HAL_CAN_ERROR_FOR; - break; - case(CAN_ESR_LEC_1 | CAN_ESR_LEC_0): - /* Set CAN error code to ACK error */ - hcan->ErrorCode |= HAL_CAN_ERROR_ACK; - break; - case(CAN_ESR_LEC_2): - /* Set CAN error code to BR error */ - hcan->ErrorCode |= HAL_CAN_ERROR_BR; - break; - case(CAN_ESR_LEC_2 | CAN_ESR_LEC_0): - /* Set CAN error code to BD error */ - hcan->ErrorCode |= HAL_CAN_ERROR_BD; - break; - case(CAN_ESR_LEC_2 | CAN_ESR_LEC_1): - /* Set CAN error code to CRC error */ - hcan->ErrorCode |= HAL_CAN_ERROR_CRC; - break; - default: - break; - } - - /* Clear Last error code Flag */ - hcan->Instance->ESR &= ~(CAN_ESR_LEC); - } - - /* Call the Error call Back in case of Errors */ - if(hcan->ErrorCode != HAL_CAN_ERROR_NONE) - { - /* Set the CAN state ready to be able to start again the process */ - hcan->State = HAL_CAN_STATE_READY; - /* Call Error callback function */ - HAL_CAN_ErrorCallback(hcan); - } -} - -/** - * @brief Transmission complete callback in non blocking mode - * @param hcan: pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval None - */ -__weak void HAL_CAN_TxCpltCallback(CAN_HandleTypeDef* hcan) -{ - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_CAN_TxCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Transmission complete callback in non blocking mode - * @param hcan: pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval None - */ -__weak void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan) -{ - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_CAN_RxCpltCallback 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) -{ - /* 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_Group3 Peripheral State and Error functions - * @brief CAN Peripheral State functions - * -@verbatim - ============================================================================== - ##### Peripheral State and Error functions ##### - ============================================================================== - [..] - This subsection provides functions allowing to : - (+) Check the CAN state. - (+) Check CAN Errors detected during interrupt process - -@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) -{ - /* Return CAN state */ - return hcan->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 hcan->ErrorCode; -} - -/** - * @} - */ -/** - * @brief Initiates and transmits a CAN frame message. - * @param hcan: pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval HAL status - */ -static HAL_StatusTypeDef CAN_Transmit_IT(CAN_HandleTypeDef* hcan) -{ - /* Disable Transmit mailbox empty Interrupt */ - __HAL_CAN_DISABLE_IT(hcan, CAN_IT_TME); - - if(hcan->State == HAL_CAN_STATE_BUSY_TX) - { - /* Disable Error warning Interrupt */ - __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG); - - /* Disable Error passive Interrupt */ - __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EPV); - - /* Disable Bus-off Interrupt */ - __HAL_CAN_DISABLE_IT(hcan, CAN_IT_BOF); - - /* Disable Last error code Interrupt */ - __HAL_CAN_DISABLE_IT(hcan, CAN_IT_LEC); - - /* Disable Error Interrupt */ - __HAL_CAN_DISABLE_IT(hcan, CAN_IT_ERR); - } - - if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX) - { - /* Change CAN state */ - hcan->State = HAL_CAN_STATE_BUSY_RX; - } - else - { - /* Change CAN state */ - hcan->State = HAL_CAN_STATE_READY; - } - - /* Transmission complete callback */ - HAL_CAN_TxCpltCallback(hcan); - - return HAL_OK; -} - -/** - * @brief Receives a correct CAN frame. - * @param hcan: Pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @param FIFONumber: Specify the FIFO number - * @retval HAL status - * @retval None - */ -static HAL_StatusTypeDef CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber) -{ - /* Get the Id */ - hcan->pRxMsg->IDE = (uint8_t)0x04 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR; - if (hcan->pRxMsg->IDE == CAN_ID_STD) - { - hcan->pRxMsg->StdId = (uint32_t)0x000007FF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 21); - } - else - { - hcan->pRxMsg->ExtId = (uint32_t)0x1FFFFFFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 3); - } - - hcan->pRxMsg->RTR = (uint8_t)0x02 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR; - /* Get the DLC */ - hcan->pRxMsg->DLC = (uint8_t)0x0F & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR; - /* Get the FMI */ - hcan->pRxMsg->FMI = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDTR >> 8); - /* Get the data field */ - hcan->pRxMsg->Data[0] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR; - hcan->pRxMsg->Data[1] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 8); - hcan->pRxMsg->Data[2] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 16); - hcan->pRxMsg->Data[3] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 24); - hcan->pRxMsg->Data[4] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR; - hcan->pRxMsg->Data[5] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 8); - hcan->pRxMsg->Data[6] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 16); - hcan->pRxMsg->Data[7] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 24); - /* Release the FIFO */ - /* Release FIFO0 */ - if (FIFONumber == CAN_FIFO0) - { - __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0); - - /* Disable FIFO 0 message pending Interrupt */ - __HAL_CAN_DISABLE_IT(hcan, CAN_IT_FMP0); - } - /* Release FIFO1 */ - else /* FIFONumber == CAN_FIFO1 */ - { - __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1); - - /* Disable FIFO 1 message pending Interrupt */ - __HAL_CAN_DISABLE_IT(hcan, CAN_IT_FMP1); - } - - if(hcan->State == HAL_CAN_STATE_BUSY_RX) - { - /* Disable Error warning Interrupt */ - __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG); - - /* Disable Error passive Interrupt */ - __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EPV); - - /* Disable Bus-off Interrupt */ - __HAL_CAN_DISABLE_IT(hcan, CAN_IT_BOF); - - /* Disable Last error code Interrupt */ - __HAL_CAN_DISABLE_IT(hcan, CAN_IT_LEC); - - /* Disable Error Interrupt */ - __HAL_CAN_DISABLE_IT(hcan, CAN_IT_ERR); - } - - if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX) - { - /* Disable CAN state */ - hcan->State = HAL_CAN_STATE_BUSY_TX; - } - else - { - /* Change CAN state */ - hcan->State = HAL_CAN_STATE_READY; - } - - /* Receive complete callback */ - HAL_CAN_RxCpltCallback(hcan); - - /* Return function status */ - return HAL_OK; -} - -/** - * @} - */ -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F427xx || STM32F437xx ||\ - STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx || STM3F412xE */ - -#endif /* HAL_CAN_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ |