/** ****************************************************************************** * @file stm32l4xx_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 * *

© COPYRIGHT(c) 2017 STMicroelectronics

* * 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 "stm32l4xx_hal.h" /** @addtogroup STM32L4xx_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 = 0U; /* 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) != RESET) { 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) == RESET) { 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 */ 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 = 0U; CAN_TypeDef *can_ip = hcan->Instance; if ((hcan->State == HAL_CAN_STATE_READY) || (hcan->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_FUNCTIONAL_STATE(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 = (1U) << sFilterConfig->FilterBank; /* 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 == 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 = 0U; 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) != RESET) { /* 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 = 0U; 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) == RESET) { /* 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) { if ((hcan->State == HAL_CAN_STATE_READY) || (hcan->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; if ((hcan->State == HAL_CAN_STATE_READY) || (hcan->State == HAL_CAN_STATE_LISTENING)) { /* Wake up request */ CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP); /* Wait sleep mode is exited */ do { /* 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) != RESET); /* 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; if ((hcan->State == HAL_CAN_STATE_READY) || (hcan->State == HAL_CAN_STATE_LISTENING)) { /* Check Sleep mode */ if ((hcan->Instance->MSR & CAN_MSR_SLAK) != RESET) { 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; /* 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 ((hcan->State == HAL_CAN_STATE_READY) || (hcan->State == HAL_CAN_STATE_LISTENING)) { /* Check that all the Tx mailboxes are not full */ if (((hcan->Instance->TSR & CAN_TSR_TME0) != RESET) || ((hcan->Instance->TSR & CAN_TSR_TME1) != RESET) || ((hcan->Instance->TSR & CAN_TSR_TME2) != RESET)) { /* Select an empty transmit mailbox */ transmitmailbox = (hcan->Instance->TSR & CAN_TSR_CODE) >> CAN_TSR_CODE_Pos; /* Store the Tx mailbox */ *pTxMailbox = 1U << 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) { /* Check function parameters */ assert_param(IS_CAN_TX_MAILBOX_LIST(TxMailboxes)); if ((hcan->State == HAL_CAN_STATE_READY) || (hcan->State == HAL_CAN_STATE_LISTENING)) { /* Check Tx Mailbox 0 */ if ((TxMailboxes & CAN_TX_MAILBOX0) != RESET) { /* Add cancellation request for Tx Mailbox 0 */ SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ0); } /* Check Tx Mailbox 1 */ if ((TxMailboxes & CAN_TX_MAILBOX1) != RESET) { /* Add cancellation request for Tx Mailbox 1 */ SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ1); } /* Check Tx Mailbox 2 */ if ((TxMailboxes & CAN_TX_MAILBOX2) != RESET) { /* 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; if ((hcan->State == HAL_CAN_STATE_READY) || (hcan->State == HAL_CAN_STATE_LISTENING)) { /* Check Tx Mailbox 0 status */ if ((hcan->Instance->TSR & CAN_TSR_TME0) != RESET) { freelevel++; } /* Check Tx Mailbox 1 status */ if ((hcan->Instance->TSR & CAN_TSR_TME1) != RESET) { freelevel++; } /* Check Tx Mailbox 2 status */ if ((hcan->Instance->TSR & CAN_TSR_TME2) != RESET) { 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; /* Check function parameters */ assert_param(IS_CAN_TX_MAILBOX_LIST(TxMailboxes)); if ((hcan->State == HAL_CAN_STATE_READY) || (hcan->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; /* Check function parameters */ assert_param(IS_CAN_TX_MAILBOX(TxMailbox)); if ((hcan->State == HAL_CAN_STATE_READY) || (hcan->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[]) { assert_param(IS_CAN_RX_FIFO(RxFifo)); if ((hcan->State == HAL_CAN_STATE_READY) || (hcan->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) == RESET) { /* Update error code */ hcan->ErrorCode |= HAL_CAN_ERROR_PARAM; return HAL_ERROR; } } else if (RxFifo == CAN_RX_FIFO1) /* Rx element is assigned to Rx FIFO 1 */ { /* Check that the Rx FIFO 1 is not empty */ if ((hcan->Instance->RF1R & CAN_RF1R_FMP1) == RESET) { /* 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] = (CAN_RDL0R_DATA0 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA0_Pos; aData[1] = (CAN_RDL0R_DATA1 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA1_Pos; aData[2] = (CAN_RDL0R_DATA2 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA2_Pos; aData[3] = (CAN_RDL0R_DATA3 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA3_Pos; aData[4] = (CAN_RDH0R_DATA4 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA4_Pos; aData[5] = (CAN_RDH0R_DATA5 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA5_Pos; aData[6] = (CAN_RDH0R_DATA6 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA6_Pos; aData[7] = (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 if (RxFifo == CAN_RX_FIFO1) /* 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; /* Check function parameters */ assert_param(IS_CAN_RX_FIFO(RxFifo)); if ((hcan->State == HAL_CAN_STATE_READY) || (hcan->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) { /* Check function parameters */ assert_param(IS_CAN_IT(ActiveITs)); if ((hcan->State == HAL_CAN_STATE_READY) || (hcan->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) { /* Check function parameters */ assert_param(IS_CAN_IT(InactiveITs)); if ((hcan->State == HAL_CAN_STATE_READY) || (hcan->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) != RESET) { /* Transmit Mailbox 0 management *****************************************/ if ((tsrflags & CAN_TSR_RQCP0) != RESET) { /* Clear the Transmission Complete flag (and TXOK0,ALST0,TERR0 bits) */ __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_RQCP0); if ((tsrflags & CAN_TSR_TXOK0) != RESET) { /* Transmission Mailbox 0 complete callback */ /* Call weak (surcharged) callback */ HAL_CAN_TxMailbox0CompleteCallback(hcan); } else { if ((tsrflags & CAN_TSR_ALST0) != RESET) { /* Update error code */ errorcode |= HAL_CAN_ERROR_TX_ALST0; } else if ((tsrflags & CAN_TSR_TERR0) != RESET) { /* 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) != RESET) { /* Clear the Transmission Complete flag (and TXOK1,ALST1,TERR1 bits) */ __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_RQCP1); if ((tsrflags & CAN_TSR_TXOK1) != RESET) { /* Transmission Mailbox 1 complete callback */ /* Call weak (surcharged) callback */ HAL_CAN_TxMailbox1CompleteCallback(hcan); } else { if ((tsrflags & CAN_TSR_ALST1) != RESET) { /* Update error code */ errorcode |= HAL_CAN_ERROR_TX_ALST1; } else if ((tsrflags & CAN_TSR_TERR1) != RESET) { /* 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) != RESET) { /* Clear the Transmission Complete flag (and TXOK2,ALST2,TERR2 bits) */ __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_RQCP2); if ((tsrflags & CAN_TSR_TXOK2) != RESET) { /* Transmission Mailbox 2 complete callback */ /* Call weak (surcharged) callback */ HAL_CAN_TxMailbox2CompleteCallback(hcan); } else { if ((tsrflags & CAN_TSR_ALST2) != RESET) { /* Update error code */ errorcode |= HAL_CAN_ERROR_TX_ALST2; } else if ((tsrflags & CAN_TSR_TERR2) != RESET) { /* 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) != RESET) { if ((rf0rflags & CAN_RF0R_FOVR0) != RESET) { /* 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) != RESET) { if ((rf0rflags & CAN_RF0R_FULL0) != RESET) { /* 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) != RESET) { /* Check if message is still pending */ if ((hcan->Instance->RF0R & CAN_RF0R_FMP0) != RESET) { /* 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) != RESET) { if ((rf1rflags & CAN_RF1R_FOVR1) != RESET) { /* 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) != RESET) { if ((rf1rflags & CAN_RF1R_FULL1) != RESET) { /* 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) != RESET) { /* Check if message is still pending */ if ((hcan->Instance->RF1R & CAN_RF1R_FMP1) != RESET) { /* Receive FIFO 1 mesage pending Callback */ /* Call weak (surcharged) callback */ HAL_CAN_RxFifo1MsgPendingCallback(hcan); } } /* Sleep interrupt management *********************************************/ if ((interrupts & CAN_IT_SLEEP_ACK) != RESET) { if ((msrflags & CAN_MSR_SLAKI) != RESET) { /* 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) != RESET) { if ((msrflags & CAN_MSR_WKUI) != RESET) { /* 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) != RESET) { if ((msrflags & CAN_MSR_ERRI) != RESET) { /* Check Error Warning Flag */ if (((interrupts & CAN_IT_ERROR_WARNING) != RESET) && ((esrflags & CAN_ESR_EWGF) != RESET)) { /* 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) != RESET) && ((esrflags & CAN_ESR_EPVF) != RESET)) { /* 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) != RESET) && ((esrflags & CAN_ESR_BOFF) != RESET)) { /* 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) != RESET) && ((esrflags & CAN_ESR_LEC) != RESET)) { 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 ((hcan->State == HAL_CAN_STATE_READY) || (hcan->State == HAL_CAN_STATE_LISTENING)) { /* Check sleep mode acknowledge flag */ if ((hcan->Instance->MSR & CAN_MSR_SLAK) != RESET) { /* Sleep mode is active */ state = HAL_CAN_STATE_SLEEP_ACTIVE; } /* Check sleep mode request flag */ else if ((hcan->Instance->MCR & CAN_MCR_SLEEP) != RESET) { /* Sleep mode request is pending */ state = HAL_CAN_STATE_SLEEP_PENDING; } } /* 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; if ((hcan->State == HAL_CAN_STATE_READY) || (hcan->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****/