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targets/cmsis/TARGET_STM/TARGET_NUCLEO_F401RE/stm32f4xx_hal_can.c@87:085cde657901, 2014-02-08 (annotated)

Committer:: mbed_official
Date:: Sat Feb 08 19:45:06 2014 +0000
Revision:: 87:085cde657901
Child:: 106:ced8cbb51063

Synchronized with git revision 9272cdeb45ec7e6077641536509413da8fd2ebc2

Full URL: https://github.com/mbedmicro/mbed/commit/9272cdeb45ec7e6077641536509413da8fd2ebc2/

Add NUCLEO_F401RE, improvements

Who changed what in which revision?

User	Revision	Line number	New contents of line
mbed_official	87:085cde657901	1	/**
mbed_official	87:085cde657901	2	******************************************************************************
mbed_official	87:085cde657901	3	* @file stm32f4xx_hal_can.c
mbed_official	87:085cde657901	4	* @author MCD Application Team
mbed_official	87:085cde657901	5	* @version V1.0.0RC2
mbed_official	87:085cde657901	6	* @date 04-February-2014
mbed_official	87:085cde657901	7	* @brief This file provides firmware functions to manage the following
mbed_official	87:085cde657901	8	* functionalities of the Controller Area Network (CAN) peripheral:
mbed_official	87:085cde657901	9	* + Initialization and de-initialization functions
mbed_official	87:085cde657901	10	* + IO operation functions
mbed_official	87:085cde657901	11	* + Peripheral Control functions
mbed_official	87:085cde657901	12	* + Peripheral State and Error functions
mbed_official	87:085cde657901	13	*
mbed_official	87:085cde657901	14	@verbatim
mbed_official	87:085cde657901	15	==============================================================================
mbed_official	87:085cde657901	16	##### How to use this driver #####
mbed_official	87:085cde657901	17	==============================================================================
mbed_official	87:085cde657901	18	[..]
mbed_official	87:085cde657901	19	(#) Enable the CAN controller interface clock using
mbed_official	87:085cde657901	20	__CAN1_CLK_ENABLE() for CAN1 and __CAN1_CLK_ENABLE() for CAN2
mbed_official	87:085cde657901	21	-@- In case you are using CAN2 only, you have to enable the CAN1 clock.
mbed_official	87:085cde657901	22
mbed_official	87:085cde657901	23	(#) CAN pins configuration
mbed_official	87:085cde657901	24	(++) Enable the clock for the CAN GPIOs using the following function:
mbed_official	87:085cde657901	25	__GPIOx_CLK_ENABLE()
mbed_official	87:085cde657901	26	(++) Connect and configure the involved CAN pins to AF9 using the
mbed_official	87:085cde657901	27	following function HAL_GPIO_Init()
mbed_official	87:085cde657901	28
mbed_official	87:085cde657901	29	(#) Initialise and configure the CAN using CAN_Init() function.
mbed_official	87:085cde657901	30
mbed_official	87:085cde657901	31	(#) Transmit the desired CAN frame using HAL_CAN_Transmit() function.
mbed_official	87:085cde657901	32
mbed_official	87:085cde657901	33	(#) Receive a CAN frame using HAL_CAN_Recieve() function.
mbed_official	87:085cde657901	34
mbed_official	87:085cde657901	35	* Polling mode IO operation *
mbed_official	87:085cde657901	36	=================================
mbed_official	87:085cde657901	37	[..]
mbed_official	87:085cde657901	38	(+) Start the CAN peripheral transmission and wait the end of this operation
mbed_official	87:085cde657901	39	using HAL_CAN_Transmit(), at this stage user can specify the value of timeout
mbed_official	87:085cde657901	40	according to his end application
mbed_official	87:085cde657901	41	(+) Start the CAN peripheral reception and wait the end of this operation
mbed_official	87:085cde657901	42	using HAL_CAN_Receive(), at this stage user can specify the value of timeout
mbed_official	87:085cde657901	43	according to his end application
mbed_official	87:085cde657901	44
mbed_official	87:085cde657901	45	* Interrupt mode IO operation *
mbed_official	87:085cde657901	46	===================================
mbed_official	87:085cde657901	47	[..]
mbed_official	87:085cde657901	48	(+) Start the CAN peripheral transmission using HAL_CAN_Transmit_IT()
mbed_official	87:085cde657901	49	(+) Start the CAN peripheral reception using HAL_CAN_Receive_IT()
mbed_official	87:085cde657901	50	(+) Use HAL_CAN_IRQHandler() called under the used CAN Interrupt subroutine
mbed_official	87:085cde657901	51	(+) At CAN end of transmission HAL_CAN_TxCpltCallback() function is executed and user can
mbed_official	87:085cde657901	52	add his own code by customization of function pointer HAL_CAN_TxCpltCallback
mbed_official	87:085cde657901	53	(+) In case of CAN Error, HAL_CAN_ErrorCallback() function is executed and user can
mbed_official	87:085cde657901	54	add his own code by customization of function pointer HAL_CAN_ErrorCallback
mbed_official	87:085cde657901	55
mbed_official	87:085cde657901	56	* CAN HAL driver macros list *
mbed_official	87:085cde657901	57	=============================================
mbed_official	87:085cde657901	58	[..]
mbed_official	87:085cde657901	59	Below the list of most used macros in CAN HAL driver.
mbed_official	87:085cde657901	60
mbed_official	87:085cde657901	61	(+) __HAL_CAN_ENABLE_IT: Enable the specified CAN interrupts
mbed_official	87:085cde657901	62	(+) __HAL_CAN_DISABLE_IT: Disable the specified CAN interrupts
mbed_official	87:085cde657901	63	(+) __HAL_CAN_GET_IT_SOURCE: Check if the specified CAN interrupt source is enabled or disabled
mbed_official	87:085cde657901	64	(+) __HAL_CAN_CLEAR_FLAG: Clear the CAN's pending flags
mbed_official	87:085cde657901	65	(+) __HAL_CAN_GET_FLAG: Get the selected CAN's flag status
mbed_official	87:085cde657901	66
mbed_official	87:085cde657901	67	[..]
mbed_official	87:085cde657901	68	(@) You can refer to the CAN HAL driver header file for more useful macros
mbed_official	87:085cde657901	69
mbed_official	87:085cde657901	70	@endverbatim
mbed_official	87:085cde657901	71
mbed_official	87:085cde657901	72	******************************************************************************
mbed_official	87:085cde657901	73	* @attention
mbed_official	87:085cde657901	74	*
mbed_official	87:085cde657901	75	* <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
mbed_official	87:085cde657901	76	*
mbed_official	87:085cde657901	77	* Redistribution and use in source and binary forms, with or without modification,
mbed_official	87:085cde657901	78	* are permitted provided that the following conditions are met:
mbed_official	87:085cde657901	79	* 1. Redistributions of source code must retain the above copyright notice,
mbed_official	87:085cde657901	80	* this list of conditions and the following disclaimer.
mbed_official	87:085cde657901	81	* 2. Redistributions in binary form must reproduce the above copyright notice,
mbed_official	87:085cde657901	82	* this list of conditions and the following disclaimer in the documentation
mbed_official	87:085cde657901	83	* and/or other materials provided with the distribution.
mbed_official	87:085cde657901	84	* 3. Neither the name of STMicroelectronics nor the names of its contributors
mbed_official	87:085cde657901	85	* may be used to endorse or promote products derived from this software
mbed_official	87:085cde657901	86	* without specific prior written permission.
mbed_official	87:085cde657901	87	*
mbed_official	87:085cde657901	88	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
mbed_official	87:085cde657901	89	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
mbed_official	87:085cde657901	90	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
mbed_official	87:085cde657901	91	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
mbed_official	87:085cde657901	92	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
mbed_official	87:085cde657901	93	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
mbed_official	87:085cde657901	94	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
mbed_official	87:085cde657901	95	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
mbed_official	87:085cde657901	96	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
mbed_official	87:085cde657901	97	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
mbed_official	87:085cde657901	98	*
mbed_official	87:085cde657901	99	******************************************************************************
mbed_official	87:085cde657901	100	*/
mbed_official	87:085cde657901	101
mbed_official	87:085cde657901	102	/* Includes ------------------------------------------------------------------*/
mbed_official	87:085cde657901	103	#include "stm32f4xx_hal.h"
mbed_official	87:085cde657901	104
mbed_official	87:085cde657901	105	/** @addtogroup STM32F4xx_HAL_Driver
mbed_official	87:085cde657901	106	* @{
mbed_official	87:085cde657901	107	*/
mbed_official	87:085cde657901	108
mbed_official	87:085cde657901	109	/** @defgroup CAN
mbed_official	87:085cde657901	110	* @brief CAN driver modules
mbed_official	87:085cde657901	111	* @{
mbed_official	87:085cde657901	112	*/
mbed_official	87:085cde657901	113
mbed_official	87:085cde657901	114	#ifdef HAL_CAN_MODULE_ENABLED
mbed_official	87:085cde657901	115
mbed_official	87:085cde657901	116	#if defined(STM32F405xx) \|\| defined(STM32F415xx) \|\| defined(STM32F407xx) \|\| defined(STM32F417xx) \|\| defined(STM32F427xx) \|\| defined(STM32F437xx) \|\| defined(STM32F429xx) \|\| defined(STM32F439xx)
mbed_official	87:085cde657901	117
mbed_official	87:085cde657901	118	/* Private typedef -----------------------------------------------------------*/
mbed_official	87:085cde657901	119	/* Private define ------------------------------------------------------------*/
mbed_official	87:085cde657901	120	/* Private macro -------------------------------------------------------------*/
mbed_official	87:085cde657901	121	/* Private variables ---------------------------------------------------------*/
mbed_official	87:085cde657901	122	/* Private function prototypes -----------------------------------------------*/
mbed_official	87:085cde657901	123	static HAL_StatusTypeDef CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber);
mbed_official	87:085cde657901	124	static HAL_StatusTypeDef CAN_Transmit_IT(CAN_HandleTypeDef* hcan);
mbed_official	87:085cde657901	125	/* Private functions ---------------------------------------------------------*/
mbed_official	87:085cde657901	126
mbed_official	87:085cde657901	127	/** @defgroup CAN_Private_Functions
mbed_official	87:085cde657901	128	* @{
mbed_official	87:085cde657901	129	*/
mbed_official	87:085cde657901	130
mbed_official	87:085cde657901	131	/** @defgroup CAN_Group1 Initialization and de-initialization functions
mbed_official	87:085cde657901	132	* @brief Initialization and Configuration functions
mbed_official	87:085cde657901	133	*
mbed_official	87:085cde657901	134	@verbatim
mbed_official	87:085cde657901	135	==============================================================================
mbed_official	87:085cde657901	136	##### Initialization and de-initialization functions #####
mbed_official	87:085cde657901	137	==============================================================================
mbed_official	87:085cde657901	138	[..] This section provides functions allowing to:
mbed_official	87:085cde657901	139	(+) Initialize and configure the CAN.
mbed_official	87:085cde657901	140	(+) De-initialize the CAN.
mbed_official	87:085cde657901	141
mbed_official	87:085cde657901	142	@endverbatim
mbed_official	87:085cde657901	143	* @{
mbed_official	87:085cde657901	144	*/
mbed_official	87:085cde657901	145
mbed_official	87:085cde657901	146	/**
mbed_official	87:085cde657901	147	* @brief Initializes the CAN peripheral according to the specified
mbed_official	87:085cde657901	148	* parameters in the CAN_InitStruct.
mbed_official	87:085cde657901	149	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official	87:085cde657901	150	* the configuration information for the specified CAN.
mbed_official	87:085cde657901	151	* @retval HAL status
mbed_official	87:085cde657901	152	*/
mbed_official	87:085cde657901	153	HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef* hcan)
mbed_official	87:085cde657901	154	{
mbed_official	87:085cde657901	155	uint32_t InitStatus = 3;
mbed_official	87:085cde657901	156	uint32_t timeout = 0;
mbed_official	87:085cde657901	157
mbed_official	87:085cde657901	158	/* Check CAN handle */
mbed_official	87:085cde657901	159	if(hcan == NULL)
mbed_official	87:085cde657901	160	{
mbed_official	87:085cde657901	161	return HAL_ERROR;
mbed_official	87:085cde657901	162	}
mbed_official	87:085cde657901	163
mbed_official	87:085cde657901	164	/* Check the parameters */
mbed_official	87:085cde657901	165	assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
mbed_official	87:085cde657901	166	assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TTCM));
mbed_official	87:085cde657901	167	assert_param(IS_FUNCTIONAL_STATE(hcan->Init.ABOM));
mbed_official	87:085cde657901	168	assert_param(IS_FUNCTIONAL_STATE(hcan->Init.AWUM));
mbed_official	87:085cde657901	169	assert_param(IS_FUNCTIONAL_STATE(hcan->Init.NART));
mbed_official	87:085cde657901	170	assert_param(IS_FUNCTIONAL_STATE(hcan->Init.RFLM));
mbed_official	87:085cde657901	171	assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TXFP));
mbed_official	87:085cde657901	172	assert_param(IS_CAN_MODE(hcan->Init.Mode));
mbed_official	87:085cde657901	173	assert_param(IS_CAN_SJW(hcan->Init.SJW));
mbed_official	87:085cde657901	174	assert_param(IS_CAN_BS1(hcan->Init.BS1));
mbed_official	87:085cde657901	175	assert_param(IS_CAN_BS2(hcan->Init.BS2));
mbed_official	87:085cde657901	176	assert_param(IS_CAN_PRESCALER(hcan->Init.Prescaler));
mbed_official	87:085cde657901	177
mbed_official	87:085cde657901	178
mbed_official	87:085cde657901	179	if(hcan->State == HAL_CAN_STATE_RESET)
mbed_official	87:085cde657901	180	{
mbed_official	87:085cde657901	181	/* Init the low level hardware */
mbed_official	87:085cde657901	182	HAL_CAN_MspInit(hcan);
mbed_official	87:085cde657901	183	}
mbed_official	87:085cde657901	184
mbed_official	87:085cde657901	185	/* Initialize the CAN state*/
mbed_official	87:085cde657901	186	hcan->State = HAL_CAN_STATE_BUSY;
mbed_official	87:085cde657901	187
mbed_official	87:085cde657901	188	/* Exit from sleep mode */
mbed_official	87:085cde657901	189	hcan->Instance->MCR &= (~(uint32_t)CAN_MCR_SLEEP);
mbed_official	87:085cde657901	190
mbed_official	87:085cde657901	191	/* Request initialisation */
mbed_official	87:085cde657901	192	hcan->Instance->MCR \|= CAN_MCR_INRQ ;
mbed_official	87:085cde657901	193
mbed_official	87:085cde657901	194	/* Get timeout */
mbed_official	87:085cde657901	195	timeout = HAL_GetTick() + 10;
mbed_official	87:085cde657901	196
mbed_official	87:085cde657901	197	/* Wait the acknowledge */
mbed_official	87:085cde657901	198	while((hcan->Instance->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
mbed_official	87:085cde657901	199	{
mbed_official	87:085cde657901	200	if(HAL_GetTick() >= timeout)
mbed_official	87:085cde657901	201	{
mbed_official	87:085cde657901	202	hcan->State= HAL_CAN_STATE_TIMEOUT;
mbed_official	87:085cde657901	203	/* Process unlocked */
mbed_official	87:085cde657901	204	__HAL_UNLOCK(hcan);
mbed_official	87:085cde657901	205	return HAL_TIMEOUT;
mbed_official	87:085cde657901	206	}
mbed_official	87:085cde657901	207	}
mbed_official	87:085cde657901	208
mbed_official	87:085cde657901	209	/* Check acknowledge */
mbed_official	87:085cde657901	210	if ((hcan->Instance->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
mbed_official	87:085cde657901	211	{
mbed_official	87:085cde657901	212	InitStatus = CAN_INITSTATUS_FAILED;
mbed_official	87:085cde657901	213	}
mbed_official	87:085cde657901	214	else
mbed_official	87:085cde657901	215	{
mbed_official	87:085cde657901	216	/* Set the time triggered communication mode */
mbed_official	87:085cde657901	217	if (hcan->Init.TTCM == ENABLE)
mbed_official	87:085cde657901	218	{
mbed_official	87:085cde657901	219	hcan->Instance->MCR \|= CAN_MCR_TTCM;
mbed_official	87:085cde657901	220	}
mbed_official	87:085cde657901	221	else
mbed_official	87:085cde657901	222	{
mbed_official	87:085cde657901	223	hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_TTCM;
mbed_official	87:085cde657901	224	}
mbed_official	87:085cde657901	225
mbed_official	87:085cde657901	226	/* Set the automatic bus-off management */
mbed_official	87:085cde657901	227	if (hcan->Init.ABOM == ENABLE)
mbed_official	87:085cde657901	228	{
mbed_official	87:085cde657901	229	hcan->Instance->MCR \|= CAN_MCR_ABOM;
mbed_official	87:085cde657901	230	}
mbed_official	87:085cde657901	231	else
mbed_official	87:085cde657901	232	{
mbed_official	87:085cde657901	233	hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_ABOM;
mbed_official	87:085cde657901	234	}
mbed_official	87:085cde657901	235
mbed_official	87:085cde657901	236	/* Set the automatic wake-up mode */
mbed_official	87:085cde657901	237	if (hcan->Init.AWUM == ENABLE)
mbed_official	87:085cde657901	238	{
mbed_official	87:085cde657901	239	hcan->Instance->MCR \|= CAN_MCR_AWUM;
mbed_official	87:085cde657901	240	}
mbed_official	87:085cde657901	241	else
mbed_official	87:085cde657901	242	{
mbed_official	87:085cde657901	243	hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_AWUM;
mbed_official	87:085cde657901	244	}
mbed_official	87:085cde657901	245
mbed_official	87:085cde657901	246	/* Set the no automatic retransmission */
mbed_official	87:085cde657901	247	if (hcan->Init.NART == ENABLE)
mbed_official	87:085cde657901	248	{
mbed_official	87:085cde657901	249	hcan->Instance->MCR \|= CAN_MCR_NART;
mbed_official	87:085cde657901	250	}
mbed_official	87:085cde657901	251	else
mbed_official	87:085cde657901	252	{
mbed_official	87:085cde657901	253	hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_NART;
mbed_official	87:085cde657901	254	}
mbed_official	87:085cde657901	255
mbed_official	87:085cde657901	256	/* Set the receive FIFO locked mode */
mbed_official	87:085cde657901	257	if (hcan->Init.RFLM == ENABLE)
mbed_official	87:085cde657901	258	{
mbed_official	87:085cde657901	259	hcan->Instance->MCR \|= CAN_MCR_RFLM;
mbed_official	87:085cde657901	260	}
mbed_official	87:085cde657901	261	else
mbed_official	87:085cde657901	262	{
mbed_official	87:085cde657901	263	hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_RFLM;
mbed_official	87:085cde657901	264	}
mbed_official	87:085cde657901	265
mbed_official	87:085cde657901	266	/* Set the transmit FIFO priority */
mbed_official	87:085cde657901	267	if (hcan->Init.TXFP == ENABLE)
mbed_official	87:085cde657901	268	{
mbed_official	87:085cde657901	269	hcan->Instance->MCR \|= CAN_MCR_TXFP;
mbed_official	87:085cde657901	270	}
mbed_official	87:085cde657901	271	else
mbed_official	87:085cde657901	272	{
mbed_official	87:085cde657901	273	hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_TXFP;
mbed_official	87:085cde657901	274	}
mbed_official	87:085cde657901	275
mbed_official	87:085cde657901	276	/* Set the bit timing register */
mbed_official	87:085cde657901	277	hcan->Instance->BTR = (uint32_t)((uint32_t)hcan->Init.Mode) \| \
mbed_official	87:085cde657901	278	((uint32_t)hcan->Init.SJW) \| \
mbed_official	87:085cde657901	279	((uint32_t)hcan->Init.BS1) \| \
mbed_official	87:085cde657901	280	((uint32_t)hcan->Init.BS2) \| \
mbed_official	87:085cde657901	281	((uint32_t)hcan->Init.Prescaler - 1);
mbed_official	87:085cde657901	282
mbed_official	87:085cde657901	283	/* Request leave initialisation */
mbed_official	87:085cde657901	284	hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_INRQ;
mbed_official	87:085cde657901	285
mbed_official	87:085cde657901	286	/* Get timeout */
mbed_official	87:085cde657901	287	timeout = HAL_GetTick() + 10;
mbed_official	87:085cde657901	288
mbed_official	87:085cde657901	289	/* Wait the acknowledge */
mbed_official	87:085cde657901	290	while((hcan->Instance->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)
mbed_official	87:085cde657901	291	{
mbed_official	87:085cde657901	292	if(HAL_GetTick() >= timeout)
mbed_official	87:085cde657901	293	{
mbed_official	87:085cde657901	294	hcan->State= HAL_CAN_STATE_TIMEOUT;
mbed_official	87:085cde657901	295	/* Process unlocked */
mbed_official	87:085cde657901	296	__HAL_UNLOCK(hcan);
mbed_official	87:085cde657901	297	return HAL_TIMEOUT;
mbed_official	87:085cde657901	298	}
mbed_official	87:085cde657901	299	}
mbed_official	87:085cde657901	300
mbed_official	87:085cde657901	301	/* Check acknowledged */
mbed_official	87:085cde657901	302	if ((hcan->Instance->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)
mbed_official	87:085cde657901	303	{
mbed_official	87:085cde657901	304	InitStatus = CAN_INITSTATUS_FAILED;
mbed_official	87:085cde657901	305	}
mbed_official	87:085cde657901	306	else
mbed_official	87:085cde657901	307	{
mbed_official	87:085cde657901	308	InitStatus = CAN_INITSTATUS_SUCCESS;
mbed_official	87:085cde657901	309	}
mbed_official	87:085cde657901	310	}
mbed_official	87:085cde657901	311
mbed_official	87:085cde657901	312	if(InitStatus == CAN_INITSTATUS_SUCCESS)
mbed_official	87:085cde657901	313	{
mbed_official	87:085cde657901	314	/* Set CAN error code to none */
mbed_official	87:085cde657901	315	hcan->ErrorCode = HAL_CAN_ERROR_NONE;
mbed_official	87:085cde657901	316
mbed_official	87:085cde657901	317	/* Initialize the CAN state */
mbed_official	87:085cde657901	318	hcan->State = HAL_CAN_STATE_READY;
mbed_official	87:085cde657901	319
mbed_official	87:085cde657901	320	/* Return function status */
mbed_official	87:085cde657901	321	return HAL_OK;
mbed_official	87:085cde657901	322	}
mbed_official	87:085cde657901	323	else
mbed_official	87:085cde657901	324	{
mbed_official	87:085cde657901	325	/* Initialize the CAN state */
mbed_official	87:085cde657901	326	hcan->State = HAL_CAN_STATE_ERROR;
mbed_official	87:085cde657901	327
mbed_official	87:085cde657901	328	/* Return function status */
mbed_official	87:085cde657901	329	return HAL_ERROR;
mbed_official	87:085cde657901	330	}
mbed_official	87:085cde657901	331	}
mbed_official	87:085cde657901	332
mbed_official	87:085cde657901	333	/**
mbed_official	87:085cde657901	334	* @brief Configures the CAN reception filter according to the specified
mbed_official	87:085cde657901	335	* parameters in the CAN_FilterInitStruct.
mbed_official	87:085cde657901	336	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official	87:085cde657901	337	* the configuration information for the specified CAN.
mbed_official	87:085cde657901	338	* @param sFilterConfig: pointer to a CAN_FilterConfTypeDef structure that
mbed_official	87:085cde657901	339	* contains the filter configuration information.
mbed_official	87:085cde657901	340	* @retval None
mbed_official	87:085cde657901	341	*/
mbed_official	87:085cde657901	342	HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef* hcan, CAN_FilterConfTypeDef* sFilterConfig)
mbed_official	87:085cde657901	343	{
mbed_official	87:085cde657901	344	uint32_t filternbrbitpos = 0;
mbed_official	87:085cde657901	345
mbed_official	87:085cde657901	346	/* Check the parameters */
mbed_official	87:085cde657901	347	assert_param(IS_CAN_FILTER_NUMBER(sFilterConfig->FilterNumber));
mbed_official	87:085cde657901	348	assert_param(IS_CAN_FILTER_MODE(sFilterConfig->FilterMode));
mbed_official	87:085cde657901	349	assert_param(IS_CAN_FILTER_SCALE(sFilterConfig->FilterScale));
mbed_official	87:085cde657901	350	assert_param(IS_CAN_FILTER_FIFO(sFilterConfig->FilterFIFOAssignment));
mbed_official	87:085cde657901	351	assert_param(IS_FUNCTIONAL_STATE(sFilterConfig->FilterActivation));
mbed_official	87:085cde657901	352	assert_param(IS_CAN_BANKNUMBER(sFilterConfig->BankNumber));
mbed_official	87:085cde657901	353
mbed_official	87:085cde657901	354	filternbrbitpos = ((uint32_t)1) << sFilterConfig->FilterNumber;
mbed_official	87:085cde657901	355
mbed_official	87:085cde657901	356	/* Initialisation mode for the filter */
mbed_official	87:085cde657901	357	CAN1->FMR \|= (uint32_t)CAN_FMR_FINIT;
mbed_official	87:085cde657901	358
mbed_official	87:085cde657901	359	/* Select the start slave bank */
mbed_official	87:085cde657901	360	CAN1->FMR &= ~((uint32_t)CAN_FMR_CAN2SB);
mbed_official	87:085cde657901	361	CAN1->FMR \|= (uint32_t)(sFilterConfig->BankNumber << 8);
mbed_official	87:085cde657901	362
mbed_official	87:085cde657901	363	/* Filter Deactivation */
mbed_official	87:085cde657901	364	CAN1->FA1R &= ~(uint32_t)filternbrbitpos;
mbed_official	87:085cde657901	365
mbed_official	87:085cde657901	366	/* Filter Scale */
mbed_official	87:085cde657901	367	if (sFilterConfig->FilterScale == CAN_FILTERSCALE_16BIT)
mbed_official	87:085cde657901	368	{
mbed_official	87:085cde657901	369	/* 16-bit scale for the filter */
mbed_official	87:085cde657901	370	CAN1->FS1R &= ~(uint32_t)filternbrbitpos;
mbed_official	87:085cde657901	371
mbed_official	87:085cde657901	372	/* First 16-bit identifier and First 16-bit mask */
mbed_official	87:085cde657901	373	/* Or First 16-bit identifier and Second 16-bit identifier */
mbed_official	87:085cde657901	374	CAN1->sFilterRegister[sFilterConfig->FilterNumber].FR1 =
mbed_official	87:085cde657901	375	((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdLow) << 16) \|
mbed_official	87:085cde657901	376	(0x0000FFFF & (uint32_t)sFilterConfig->FilterIdLow);
mbed_official	87:085cde657901	377
mbed_official	87:085cde657901	378	/* Second 16-bit identifier and Second 16-bit mask */
mbed_official	87:085cde657901	379	/* Or Third 16-bit identifier and Fourth 16-bit identifier */
mbed_official	87:085cde657901	380	CAN1->sFilterRegister[sFilterConfig->FilterNumber].FR2 =
mbed_official	87:085cde657901	381	((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16) \|
mbed_official	87:085cde657901	382	(0x0000FFFF & (uint32_t)sFilterConfig->FilterIdHigh);
mbed_official	87:085cde657901	383	}
mbed_official	87:085cde657901	384
mbed_official	87:085cde657901	385	if (sFilterConfig->FilterScale == CAN_FILTERSCALE_32BIT)
mbed_official	87:085cde657901	386	{
mbed_official	87:085cde657901	387	/* 32-bit scale for the filter */
mbed_official	87:085cde657901	388	CAN1->FS1R \|= filternbrbitpos;
mbed_official	87:085cde657901	389	/* 32-bit identifier or First 32-bit identifier */
mbed_official	87:085cde657901	390	CAN1->sFilterRegister[sFilterConfig->FilterNumber].FR1 =
mbed_official	87:085cde657901	391	((0x0000FFFF & (uint32_t)sFilterConfig->FilterIdHigh) << 16) \|
mbed_official	87:085cde657901	392	(0x0000FFFF & (uint32_t)sFilterConfig->FilterIdLow);
mbed_official	87:085cde657901	393	/* 32-bit mask or Second 32-bit identifier */
mbed_official	87:085cde657901	394	CAN1->sFilterRegister[sFilterConfig->FilterNumber].FR2 =
mbed_official	87:085cde657901	395	((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16) \|
mbed_official	87:085cde657901	396	(0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdLow);
mbed_official	87:085cde657901	397	}
mbed_official	87:085cde657901	398
mbed_official	87:085cde657901	399	/* Filter Mode */
mbed_official	87:085cde657901	400	if (sFilterConfig->FilterMode == CAN_FILTERMODE_IDMASK)
mbed_official	87:085cde657901	401	{
mbed_official	87:085cde657901	402	/Id/Mask mode for the filter/
mbed_official	87:085cde657901	403	CAN1->FM1R &= ~(uint32_t)filternbrbitpos;
mbed_official	87:085cde657901	404	}
mbed_official	87:085cde657901	405	else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */
mbed_official	87:085cde657901	406	{
mbed_official	87:085cde657901	407	/Identifier list mode for the filter/
mbed_official	87:085cde657901	408	CAN1->FM1R \|= (uint32_t)filternbrbitpos;
mbed_official	87:085cde657901	409	}
mbed_official	87:085cde657901	410
mbed_official	87:085cde657901	411	/* Filter FIFO assignment */
mbed_official	87:085cde657901	412	if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO0)
mbed_official	87:085cde657901	413	{
mbed_official	87:085cde657901	414	/* FIFO 0 assignation for the filter */
mbed_official	87:085cde657901	415	CAN1->FFA1R &= ~(uint32_t)filternbrbitpos;
mbed_official	87:085cde657901	416	}
mbed_official	87:085cde657901	417
mbed_official	87:085cde657901	418	if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO1)
mbed_official	87:085cde657901	419	{
mbed_official	87:085cde657901	420	/* FIFO 1 assignation for the filter */
mbed_official	87:085cde657901	421	CAN1->FFA1R \|= (uint32_t)filternbrbitpos;
mbed_official	87:085cde657901	422	}
mbed_official	87:085cde657901	423
mbed_official	87:085cde657901	424	/* Filter activation */
mbed_official	87:085cde657901	425	if (sFilterConfig->FilterActivation == ENABLE)
mbed_official	87:085cde657901	426	{
mbed_official	87:085cde657901	427	CAN1->FA1R \|= filternbrbitpos;
mbed_official	87:085cde657901	428	}
mbed_official	87:085cde657901	429
mbed_official	87:085cde657901	430	/* Leave the initialisation mode for the filter */
mbed_official	87:085cde657901	431	CAN1->FMR &= ~((uint32_t)CAN_FMR_FINIT);
mbed_official	87:085cde657901	432
mbed_official	87:085cde657901	433	/* Return function status */
mbed_official	87:085cde657901	434	return HAL_OK;
mbed_official	87:085cde657901	435	}
mbed_official	87:085cde657901	436
mbed_official	87:085cde657901	437	/**
mbed_official	87:085cde657901	438	* @brief Deinitializes the CANx peripheral registers to their default reset values.
mbed_official	87:085cde657901	439	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official	87:085cde657901	440	* the configuration information for the specified CAN.
mbed_official	87:085cde657901	441	* @retval HAL status
mbed_official	87:085cde657901	442	*/
mbed_official	87:085cde657901	443	HAL_StatusTypeDef HAL_CAN_DeInit(CAN_HandleTypeDef* hcan)
mbed_official	87:085cde657901	444	{
mbed_official	87:085cde657901	445	/* Check CAN handle */
mbed_official	87:085cde657901	446	if(hcan == NULL)
mbed_official	87:085cde657901	447	{
mbed_official	87:085cde657901	448	return HAL_ERROR;
mbed_official	87:085cde657901	449	}
mbed_official	87:085cde657901	450
mbed_official	87:085cde657901	451	/* Check the parameters */
mbed_official	87:085cde657901	452	assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
mbed_official	87:085cde657901	453
mbed_official	87:085cde657901	454	/* Change CAN state */
mbed_official	87:085cde657901	455	hcan->State = HAL_CAN_STATE_BUSY;
mbed_official	87:085cde657901	456
mbed_official	87:085cde657901	457	/* DeInit the low level hardware */
mbed_official	87:085cde657901	458	HAL_CAN_MspDeInit(hcan);
mbed_official	87:085cde657901	459
mbed_official	87:085cde657901	460	/* Change CAN state */
mbed_official	87:085cde657901	461	hcan->State = HAL_CAN_STATE_RESET;
mbed_official	87:085cde657901	462
mbed_official	87:085cde657901	463	/* Return function status */
mbed_official	87:085cde657901	464	return HAL_OK;
mbed_official	87:085cde657901	465	}
mbed_official	87:085cde657901	466
mbed_official	87:085cde657901	467	/**
mbed_official	87:085cde657901	468	* @brief Initializes the CAN MSP.
mbed_official	87:085cde657901	469	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official	87:085cde657901	470	* the configuration information for the specified CAN.
mbed_official	87:085cde657901	471	* @retval None
mbed_official	87:085cde657901	472	*/
mbed_official	87:085cde657901	473	__weak void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
mbed_official	87:085cde657901	474	{
mbed_official	87:085cde657901	475	/* NOTE : This function Should not be modified, when the callback is needed,
mbed_official	87:085cde657901	476	the HAL_CAN_MspInit could be implemented in the user file
mbed_official	87:085cde657901	477	*/
mbed_official	87:085cde657901	478	}
mbed_official	87:085cde657901	479
mbed_official	87:085cde657901	480	/**
mbed_official	87:085cde657901	481	* @brief DeInitializes the CAN MSP.
mbed_official	87:085cde657901	482	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official	87:085cde657901	483	* the configuration information for the specified CAN.
mbed_official	87:085cde657901	484	* @retval None
mbed_official	87:085cde657901	485	*/
mbed_official	87:085cde657901	486	__weak void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan)
mbed_official	87:085cde657901	487	{
mbed_official	87:085cde657901	488	/* NOTE : This function Should not be modified, when the callback is needed,
mbed_official	87:085cde657901	489	the HAL_CAN_MspDeInit could be implemented in the user file
mbed_official	87:085cde657901	490	*/
mbed_official	87:085cde657901	491	}
mbed_official	87:085cde657901	492
mbed_official	87:085cde657901	493	/**
mbed_official	87:085cde657901	494	* @}
mbed_official	87:085cde657901	495	*/
mbed_official	87:085cde657901	496
mbed_official	87:085cde657901	497	/** @defgroup CAN_Group2 IO operation functions
mbed_official	87:085cde657901	498	* @brief IO operation functions
mbed_official	87:085cde657901	499	*
mbed_official	87:085cde657901	500	@verbatim
mbed_official	87:085cde657901	501	==============================================================================
mbed_official	87:085cde657901	502	##### IO operation functions #####
mbed_official	87:085cde657901	503	==============================================================================
mbed_official	87:085cde657901	504	[..] This section provides functions allowing to:
mbed_official	87:085cde657901	505	(+) Transmit a CAN frame message.
mbed_official	87:085cde657901	506	(+) Receive a CAN frame message.
mbed_official	87:085cde657901	507	(+) Enter CAN peripheral in sleep mode.
mbed_official	87:085cde657901	508	(+) Wake up the CAN peripheral from sleep mode.
mbed_official	87:085cde657901	509
mbed_official	87:085cde657901	510	@endverbatim
mbed_official	87:085cde657901	511	* @{
mbed_official	87:085cde657901	512	*/
mbed_official	87:085cde657901	513
mbed_official	87:085cde657901	514	/**
mbed_official	87:085cde657901	515	* @brief Initiates and transmits a CAN frame message.
mbed_official	87:085cde657901	516	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official	87:085cde657901	517	* the configuration information for the specified CAN.
mbed_official	87:085cde657901	518	* @param Timeout: Specify Timeout value
mbed_official	87:085cde657901	519	* @retval HAL status
mbed_official	87:085cde657901	520	*/
mbed_official	87:085cde657901	521	HAL_StatusTypeDef HAL_CAN_Transmit(CAN_HandleTypeDef* hcan, uint32_t Timeout)
mbed_official	87:085cde657901	522	{
mbed_official	87:085cde657901	523	uint32_t transmitmailbox = 5;
mbed_official	87:085cde657901	524
mbed_official	87:085cde657901	525	uint32_t timeout;
mbed_official	87:085cde657901	526
mbed_official	87:085cde657901	527	/* Check the parameters */
mbed_official	87:085cde657901	528	assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE));
mbed_official	87:085cde657901	529	assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR));
mbed_official	87:085cde657901	530	assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC));
mbed_official	87:085cde657901	531
mbed_official	87:085cde657901	532	/* Process locked */
mbed_official	87:085cde657901	533	__HAL_LOCK(hcan);
mbed_official	87:085cde657901	534
mbed_official	87:085cde657901	535	if(hcan->State == HAL_CAN_STATE_BUSY_RX)
mbed_official	87:085cde657901	536	{
mbed_official	87:085cde657901	537	/* Change CAN state */
mbed_official	87:085cde657901	538	hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
mbed_official	87:085cde657901	539	}
mbed_official	87:085cde657901	540	else
mbed_official	87:085cde657901	541	{
mbed_official	87:085cde657901	542	/* Change CAN state */
mbed_official	87:085cde657901	543	hcan->State = HAL_CAN_STATE_BUSY_TX;
mbed_official	87:085cde657901	544	}
mbed_official	87:085cde657901	545
mbed_official	87:085cde657901	546	/* Select one empty transmit mailbox */
mbed_official	87:085cde657901	547	if ((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0)
mbed_official	87:085cde657901	548	{
mbed_official	87:085cde657901	549	transmitmailbox = 0;
mbed_official	87:085cde657901	550	}
mbed_official	87:085cde657901	551	else if ((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1)
mbed_official	87:085cde657901	552	{
mbed_official	87:085cde657901	553	transmitmailbox = 1;
mbed_official	87:085cde657901	554	}
mbed_official	87:085cde657901	555	else if ((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2)
mbed_official	87:085cde657901	556	{
mbed_official	87:085cde657901	557	transmitmailbox = 2;
mbed_official	87:085cde657901	558	}
mbed_official	87:085cde657901	559	else
mbed_official	87:085cde657901	560	{
mbed_official	87:085cde657901	561	transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
mbed_official	87:085cde657901	562	}
mbed_official	87:085cde657901	563
mbed_official	87:085cde657901	564	if (transmitmailbox != CAN_TXSTATUS_NOMAILBOX)
mbed_official	87:085cde657901	565	{
mbed_official	87:085cde657901	566	/* Set up the Id */
mbed_official	87:085cde657901	567	hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
mbed_official	87:085cde657901	568	if (hcan->pTxMsg->IDE == CAN_ID_STD)
mbed_official	87:085cde657901	569	{
mbed_official	87:085cde657901	570	assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId));
mbed_official	87:085cde657901	571	hcan->Instance->sTxMailBox[transmitmailbox].TIR \|= ((hcan->pTxMsg->StdId << 21) \| \
mbed_official	87:085cde657901	572	hcan->pTxMsg->RTR);
mbed_official	87:085cde657901	573	}
mbed_official	87:085cde657901	574	else
mbed_official	87:085cde657901	575	{
mbed_official	87:085cde657901	576	assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId));
mbed_official	87:085cde657901	577	hcan->Instance->sTxMailBox[transmitmailbox].TIR \|= ((hcan->pTxMsg->ExtId << 3) \| \
mbed_official	87:085cde657901	578	hcan->pTxMsg->IDE \| \
mbed_official	87:085cde657901	579	hcan->pTxMsg->RTR);
mbed_official	87:085cde657901	580	}
mbed_official	87:085cde657901	581
mbed_official	87:085cde657901	582	/* Set up the DLC */
mbed_official	87:085cde657901	583	hcan->pTxMsg->DLC &= (uint8_t)0x0000000F;
mbed_official	87:085cde657901	584	hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
mbed_official	87:085cde657901	585	hcan->Instance->sTxMailBox[transmitmailbox].TDTR \|= hcan->pTxMsg->DLC;
mbed_official	87:085cde657901	586
mbed_official	87:085cde657901	587	/* Set up the data field */
mbed_official	87:085cde657901	588	hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3] << 24) \|
mbed_official	87:085cde657901	589	((uint32_t)hcan->pTxMsg->Data[2] << 16) \|
mbed_official	87:085cde657901	590	((uint32_t)hcan->pTxMsg->Data[1] << 8) \|
mbed_official	87:085cde657901	591	((uint32_t)hcan->pTxMsg->Data[0]));
mbed_official	87:085cde657901	592	hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7] << 24) \|
mbed_official	87:085cde657901	593	((uint32_t)hcan->pTxMsg->Data[6] << 16) \|
mbed_official	87:085cde657901	594	((uint32_t)hcan->pTxMsg->Data[5] << 8) \|
mbed_official	87:085cde657901	595	((uint32_t)hcan->pTxMsg->Data[4]));
mbed_official	87:085cde657901	596	/* Request transmission */
mbed_official	87:085cde657901	597	hcan->Instance->sTxMailBox[transmitmailbox].TIR \|= CAN_TI0R_TXRQ;
mbed_official	87:085cde657901	598
mbed_official	87:085cde657901	599	/* Get timeout */
mbed_official	87:085cde657901	600	timeout = HAL_GetTick() + Timeout;
mbed_official	87:085cde657901	601
mbed_official	87:085cde657901	602	/* Check End of transmission flag */
mbed_official	87:085cde657901	603	while(!(__HAL_CAN_TRANSMIT_STATUS(hcan, transmitmailbox)))
mbed_official	87:085cde657901	604	{
mbed_official	87:085cde657901	605	/* Check for the Timeout */
mbed_official	87:085cde657901	606	if(Timeout != HAL_MAX_DELAY)
mbed_official	87:085cde657901	607	{
mbed_official	87:085cde657901	608	if(HAL_GetTick() >= timeout)
mbed_official	87:085cde657901	609	{
mbed_official	87:085cde657901	610	hcan->State = HAL_CAN_STATE_TIMEOUT;
mbed_official	87:085cde657901	611	/* Process unlocked */
mbed_official	87:085cde657901	612	__HAL_UNLOCK(hcan);
mbed_official	87:085cde657901	613	return HAL_TIMEOUT;
mbed_official	87:085cde657901	614	}
mbed_official	87:085cde657901	615	}
mbed_official	87:085cde657901	616	}
mbed_official	87:085cde657901	617	if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
mbed_official	87:085cde657901	618	{
mbed_official	87:085cde657901	619	/* Change CAN state */
mbed_official	87:085cde657901	620	hcan->State = HAL_CAN_STATE_BUSY_RX;
mbed_official	87:085cde657901	621
mbed_official	87:085cde657901	622	/* Process unlocked */
mbed_official	87:085cde657901	623	__HAL_UNLOCK(hcan);
mbed_official	87:085cde657901	624	}
mbed_official	87:085cde657901	625	else
mbed_official	87:085cde657901	626	{
mbed_official	87:085cde657901	627	/* Change CAN state */
mbed_official	87:085cde657901	628	hcan->State = HAL_CAN_STATE_READY;
mbed_official	87:085cde657901	629
mbed_official	87:085cde657901	630	/* Process unlocked */
mbed_official	87:085cde657901	631	__HAL_UNLOCK(hcan);
mbed_official	87:085cde657901	632	}
mbed_official	87:085cde657901	633
mbed_official	87:085cde657901	634	/* Return function status */
mbed_official	87:085cde657901	635	return HAL_OK;
mbed_official	87:085cde657901	636	}
mbed_official	87:085cde657901	637	else
mbed_official	87:085cde657901	638	{
mbed_official	87:085cde657901	639	/* Change CAN state */
mbed_official	87:085cde657901	640	hcan->State = HAL_CAN_STATE_ERROR;
mbed_official	87:085cde657901	641
mbed_official	87:085cde657901	642	/* Return function status */
mbed_official	87:085cde657901	643	return HAL_ERROR;
mbed_official	87:085cde657901	644	}
mbed_official	87:085cde657901	645	}
mbed_official	87:085cde657901	646
mbed_official	87:085cde657901	647	/**
mbed_official	87:085cde657901	648	* @brief Initiates and transmits a CAN frame message.
mbed_official	87:085cde657901	649	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official	87:085cde657901	650	* the configuration information for the specified CAN.
mbed_official	87:085cde657901	651	* @retval HAL status
mbed_official	87:085cde657901	652	*/
mbed_official	87:085cde657901	653	HAL_StatusTypeDef HAL_CAN_Transmit_IT(CAN_HandleTypeDef* hcan)
mbed_official	87:085cde657901	654	{
mbed_official	87:085cde657901	655	uint32_t transmitmailbox = 5;
mbed_official	87:085cde657901	656	uint32_t tmp = 0;
mbed_official	87:085cde657901	657
mbed_official	87:085cde657901	658	/* Check the parameters */
mbed_official	87:085cde657901	659	assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE));
mbed_official	87:085cde657901	660	assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR));
mbed_official	87:085cde657901	661	assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC));
mbed_official	87:085cde657901	662
mbed_official	87:085cde657901	663	tmp = hcan->State;
mbed_official	87:085cde657901	664	if((tmp == HAL_CAN_STATE_READY) \|\| (tmp == HAL_CAN_STATE_BUSY_RX))
mbed_official	87:085cde657901	665	{
mbed_official	87:085cde657901	666	/* Process Locked */
mbed_official	87:085cde657901	667	__HAL_LOCK(hcan);
mbed_official	87:085cde657901	668
mbed_official	87:085cde657901	669	/* Select one empty transmit mailbox */
mbed_official	87:085cde657901	670	if((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0)
mbed_official	87:085cde657901	671	{
mbed_official	87:085cde657901	672	transmitmailbox = 0;
mbed_official	87:085cde657901	673	}
mbed_official	87:085cde657901	674	else if((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1)
mbed_official	87:085cde657901	675	{
mbed_official	87:085cde657901	676	transmitmailbox = 1;
mbed_official	87:085cde657901	677	}
mbed_official	87:085cde657901	678	else if((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2)
mbed_official	87:085cde657901	679	{
mbed_official	87:085cde657901	680	transmitmailbox = 2;
mbed_official	87:085cde657901	681	}
mbed_official	87:085cde657901	682	else
mbed_official	87:085cde657901	683	{
mbed_official	87:085cde657901	684	transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
mbed_official	87:085cde657901	685	}
mbed_official	87:085cde657901	686
mbed_official	87:085cde657901	687	if(transmitmailbox != CAN_TXSTATUS_NOMAILBOX)
mbed_official	87:085cde657901	688	{
mbed_official	87:085cde657901	689	/* Set up the Id */
mbed_official	87:085cde657901	690	hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
mbed_official	87:085cde657901	691	if(hcan->pTxMsg->IDE == CAN_ID_STD)
mbed_official	87:085cde657901	692	{
mbed_official	87:085cde657901	693	assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId));
mbed_official	87:085cde657901	694	hcan->Instance->sTxMailBox[transmitmailbox].TIR \|= ((hcan->pTxMsg->StdId << 21) \| \
mbed_official	87:085cde657901	695	hcan->pTxMsg->RTR);
mbed_official	87:085cde657901	696	}
mbed_official	87:085cde657901	697	else
mbed_official	87:085cde657901	698	{
mbed_official	87:085cde657901	699	assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId));
mbed_official	87:085cde657901	700	hcan->Instance->sTxMailBox[transmitmailbox].TIR \|= ((hcan->pTxMsg->ExtId << 3) \| \
mbed_official	87:085cde657901	701	hcan->pTxMsg->IDE \| \
mbed_official	87:085cde657901	702	hcan->pTxMsg->RTR);
mbed_official	87:085cde657901	703	}
mbed_official	87:085cde657901	704
mbed_official	87:085cde657901	705	/* Set up the DLC */
mbed_official	87:085cde657901	706	hcan->pTxMsg->DLC &= (uint8_t)0x0000000F;
mbed_official	87:085cde657901	707	hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
mbed_official	87:085cde657901	708	hcan->Instance->sTxMailBox[transmitmailbox].TDTR \|= hcan->pTxMsg->DLC;
mbed_official	87:085cde657901	709
mbed_official	87:085cde657901	710	/* Set up the data field */
mbed_official	87:085cde657901	711	hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3] << 24) \|
mbed_official	87:085cde657901	712	((uint32_t)hcan->pTxMsg->Data[2] << 16) \|
mbed_official	87:085cde657901	713	((uint32_t)hcan->pTxMsg->Data[1] << 8) \|
mbed_official	87:085cde657901	714	((uint32_t)hcan->pTxMsg->Data[0]));
mbed_official	87:085cde657901	715	hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7] << 24) \|
mbed_official	87:085cde657901	716	((uint32_t)hcan->pTxMsg->Data[6] << 16) \|
mbed_official	87:085cde657901	717	((uint32_t)hcan->pTxMsg->Data[5] << 8) \|
mbed_official	87:085cde657901	718	((uint32_t)hcan->pTxMsg->Data[4]));
mbed_official	87:085cde657901	719
mbed_official	87:085cde657901	720	if(hcan->State == HAL_CAN_STATE_BUSY_RX)
mbed_official	87:085cde657901	721	{
mbed_official	87:085cde657901	722	/* Change CAN state */
mbed_official	87:085cde657901	723	hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
mbed_official	87:085cde657901	724	}
mbed_official	87:085cde657901	725	else
mbed_official	87:085cde657901	726	{
mbed_official	87:085cde657901	727	/* Change CAN state */
mbed_official	87:085cde657901	728	hcan->State = HAL_CAN_STATE_BUSY_TX;
mbed_official	87:085cde657901	729	}
mbed_official	87:085cde657901	730
mbed_official	87:085cde657901	731	/* Set CAN error code to none */
mbed_official	87:085cde657901	732	hcan->ErrorCode = HAL_CAN_ERROR_NONE;
mbed_official	87:085cde657901	733
mbed_official	87:085cde657901	734	/* Process Unlocked */
mbed_official	87:085cde657901	735	__HAL_UNLOCK(hcan);
mbed_official	87:085cde657901	736
mbed_official	87:085cde657901	737	/* Enable Error warning Interrupt */
mbed_official	87:085cde657901	738	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG);
mbed_official	87:085cde657901	739
mbed_official	87:085cde657901	740	/* Enable Error passive Interrupt */
mbed_official	87:085cde657901	741	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_EPV);
mbed_official	87:085cde657901	742
mbed_official	87:085cde657901	743	/* Enable Bus-off Interrupt */
mbed_official	87:085cde657901	744	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_BOF);
mbed_official	87:085cde657901	745
mbed_official	87:085cde657901	746	/* Enable Last error code Interrupt */
mbed_official	87:085cde657901	747	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_LEC);
mbed_official	87:085cde657901	748
mbed_official	87:085cde657901	749	/* Enable Error Interrupt */
mbed_official	87:085cde657901	750	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_ERR);
mbed_official	87:085cde657901	751
mbed_official	87:085cde657901	752	/* Enable Transmit mailbox empty Interrupt */
mbed_official	87:085cde657901	753	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_TME);
mbed_official	87:085cde657901	754
mbed_official	87:085cde657901	755	/* Request transmission */
mbed_official	87:085cde657901	756	hcan->Instance->sTxMailBox[transmitmailbox].TIR \|= CAN_TI0R_TXRQ;
mbed_official	87:085cde657901	757	}
mbed_official	87:085cde657901	758	}
mbed_official	87:085cde657901	759	else
mbed_official	87:085cde657901	760	{
mbed_official	87:085cde657901	761	return HAL_BUSY;
mbed_official	87:085cde657901	762	}
mbed_official	87:085cde657901	763
mbed_official	87:085cde657901	764	return HAL_OK;
mbed_official	87:085cde657901	765	}
mbed_official	87:085cde657901	766
mbed_official	87:085cde657901	767	/**
mbed_official	87:085cde657901	768	* @brief Receives a correct CAN frame.
mbed_official	87:085cde657901	769	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official	87:085cde657901	770	* the configuration information for the specified CAN.
mbed_official	87:085cde657901	771	* @param FIFONumber: FIFO Number value
mbed_official	87:085cde657901	772	* @param Timeout: Specify Timeout value
mbed_official	87:085cde657901	773	* @retval HAL status
mbed_official	87:085cde657901	774	* @retval None
mbed_official	87:085cde657901	775	*/
mbed_official	87:085cde657901	776	HAL_StatusTypeDef HAL_CAN_Receive(CAN_HandleTypeDef* hcan, uint8_t FIFONumber, uint32_t Timeout)
mbed_official	87:085cde657901	777	{
mbed_official	87:085cde657901	778	uint32_t timeout;
mbed_official	87:085cde657901	779
mbed_official	87:085cde657901	780	/* Check the parameters */
mbed_official	87:085cde657901	781	assert_param(IS_CAN_FIFO(FIFONumber));
mbed_official	87:085cde657901	782
mbed_official	87:085cde657901	783	/* Process locked */
mbed_official	87:085cde657901	784	__HAL_LOCK(hcan);
mbed_official	87:085cde657901	785
mbed_official	87:085cde657901	786	if(hcan->State == HAL_CAN_STATE_BUSY_TX)
mbed_official	87:085cde657901	787	{
mbed_official	87:085cde657901	788	/* Change CAN state */
mbed_official	87:085cde657901	789	hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
mbed_official	87:085cde657901	790	}
mbed_official	87:085cde657901	791	else
mbed_official	87:085cde657901	792	{
mbed_official	87:085cde657901	793	/* Change CAN state */
mbed_official	87:085cde657901	794	hcan->State = HAL_CAN_STATE_BUSY_RX;
mbed_official	87:085cde657901	795	}
mbed_official	87:085cde657901	796
mbed_official	87:085cde657901	797	/* Get timeout */
mbed_official	87:085cde657901	798	timeout = HAL_GetTick() + Timeout;
mbed_official	87:085cde657901	799
mbed_official	87:085cde657901	800	/* Check pending message */
mbed_official	87:085cde657901	801	while(__HAL_CAN_MSG_PENDING(hcan, FIFONumber) == 0)
mbed_official	87:085cde657901	802	{
mbed_official	87:085cde657901	803	/* Check for the Timeout */
mbed_official	87:085cde657901	804	if(Timeout != HAL_MAX_DELAY)
mbed_official	87:085cde657901	805	{
mbed_official	87:085cde657901	806	if(HAL_GetTick() >= timeout)
mbed_official	87:085cde657901	807	{
mbed_official	87:085cde657901	808	hcan->State = HAL_CAN_STATE_TIMEOUT;
mbed_official	87:085cde657901	809	/* Process unlocked */
mbed_official	87:085cde657901	810	__HAL_UNLOCK(hcan);
mbed_official	87:085cde657901	811	return HAL_TIMEOUT;
mbed_official	87:085cde657901	812	}
mbed_official	87:085cde657901	813	}
mbed_official	87:085cde657901	814	}
mbed_official	87:085cde657901	815
mbed_official	87:085cde657901	816	/* Get the Id */
mbed_official	87:085cde657901	817	hcan->pRxMsg->IDE = (uint8_t)0x04 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
mbed_official	87:085cde657901	818	if (hcan->pRxMsg->IDE == CAN_ID_STD)
mbed_official	87:085cde657901	819	{
mbed_official	87:085cde657901	820	hcan->pRxMsg->StdId = (uint32_t)0x000007FF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 21);
mbed_official	87:085cde657901	821	}
mbed_official	87:085cde657901	822	else
mbed_official	87:085cde657901	823	{
mbed_official	87:085cde657901	824	hcan->pRxMsg->ExtId = (uint32_t)0x1FFFFFFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 3);
mbed_official	87:085cde657901	825	}
mbed_official	87:085cde657901	826
mbed_official	87:085cde657901	827	hcan->pRxMsg->RTR = (uint8_t)0x02 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
mbed_official	87:085cde657901	828	/* Get the DLC */
mbed_official	87:085cde657901	829	hcan->pRxMsg->DLC = (uint8_t)0x0F & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR;
mbed_official	87:085cde657901	830	/* Get the FMI */
mbed_official	87:085cde657901	831	hcan->pRxMsg->FMI = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDTR >> 8);
mbed_official	87:085cde657901	832	/* Get the data field */
mbed_official	87:085cde657901	833	hcan->pRxMsg->Data[0] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR;
mbed_official	87:085cde657901	834	hcan->pRxMsg->Data[1] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 8);
mbed_official	87:085cde657901	835	hcan->pRxMsg->Data[2] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 16);
mbed_official	87:085cde657901	836	hcan->pRxMsg->Data[3] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 24);
mbed_official	87:085cde657901	837	hcan->pRxMsg->Data[4] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR;
mbed_official	87:085cde657901	838	hcan->pRxMsg->Data[5] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 8);
mbed_official	87:085cde657901	839	hcan->pRxMsg->Data[6] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 16);
mbed_official	87:085cde657901	840	hcan->pRxMsg->Data[7] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 24);
mbed_official	87:085cde657901	841
mbed_official	87:085cde657901	842	/* Release the FIFO */
mbed_official	87:085cde657901	843	if(FIFONumber == CAN_FIFO0)
mbed_official	87:085cde657901	844	{
mbed_official	87:085cde657901	845	/* Release FIFO0 */
mbed_official	87:085cde657901	846	__HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0);
mbed_official	87:085cde657901	847	}
mbed_official	87:085cde657901	848	else /* FIFONumber == CAN_FIFO1 */
mbed_official	87:085cde657901	849	{
mbed_official	87:085cde657901	850	/* Release FIFO1 */
mbed_official	87:085cde657901	851	__HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1);
mbed_official	87:085cde657901	852	}
mbed_official	87:085cde657901	853
mbed_official	87:085cde657901	854	if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
mbed_official	87:085cde657901	855	{
mbed_official	87:085cde657901	856	/* Change CAN state */
mbed_official	87:085cde657901	857	hcan->State = HAL_CAN_STATE_BUSY_TX;
mbed_official	87:085cde657901	858
mbed_official	87:085cde657901	859	/* Process unlocked */
mbed_official	87:085cde657901	860	__HAL_UNLOCK(hcan);
mbed_official	87:085cde657901	861	}
mbed_official	87:085cde657901	862	else
mbed_official	87:085cde657901	863	{
mbed_official	87:085cde657901	864	/* Change CAN state */
mbed_official	87:085cde657901	865	hcan->State = HAL_CAN_STATE_READY;
mbed_official	87:085cde657901	866
mbed_official	87:085cde657901	867	/* Process unlocked */
mbed_official	87:085cde657901	868	__HAL_UNLOCK(hcan);
mbed_official	87:085cde657901	869	}
mbed_official	87:085cde657901	870
mbed_official	87:085cde657901	871	/* Return function status */
mbed_official	87:085cde657901	872	return HAL_OK;
mbed_official	87:085cde657901	873	}
mbed_official	87:085cde657901	874
mbed_official	87:085cde657901	875	/**
mbed_official	87:085cde657901	876	* @brief Receives a correct CAN frame.
mbed_official	87:085cde657901	877	* @param hcan: Pointer to a CAN_HandleTypeDef structure that contains
mbed_official	87:085cde657901	878	* the configuration information for the specified CAN.
mbed_official	87:085cde657901	879	* @param FIFONumber: Specify the FIFO number
mbed_official	87:085cde657901	880	* @retval HAL status
mbed_official	87:085cde657901	881	* @retval None
mbed_official	87:085cde657901	882	*/
mbed_official	87:085cde657901	883	HAL_StatusTypeDef HAL_CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber)
mbed_official	87:085cde657901	884	{
mbed_official	87:085cde657901	885	uint32_t tmp = 0;
mbed_official	87:085cde657901	886
mbed_official	87:085cde657901	887	/* Check the parameters */
mbed_official	87:085cde657901	888	assert_param(IS_CAN_FIFO(FIFONumber));
mbed_official	87:085cde657901	889
mbed_official	87:085cde657901	890	tmp = hcan->State;
mbed_official	87:085cde657901	891	if((tmp == HAL_CAN_STATE_READY) \|\| (tmp == HAL_CAN_STATE_BUSY_TX))
mbed_official	87:085cde657901	892	{
mbed_official	87:085cde657901	893	/* Process locked */
mbed_official	87:085cde657901	894	__HAL_LOCK(hcan);
mbed_official	87:085cde657901	895
mbed_official	87:085cde657901	896	if(hcan->State == HAL_CAN_STATE_BUSY_TX)
mbed_official	87:085cde657901	897	{
mbed_official	87:085cde657901	898	/* Change CAN state */
mbed_official	87:085cde657901	899	hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
mbed_official	87:085cde657901	900	}
mbed_official	87:085cde657901	901	else
mbed_official	87:085cde657901	902	{
mbed_official	87:085cde657901	903	/* Change CAN state */
mbed_official	87:085cde657901	904	hcan->State = HAL_CAN_STATE_BUSY_RX;
mbed_official	87:085cde657901	905	}
mbed_official	87:085cde657901	906
mbed_official	87:085cde657901	907	/* Set CAN error code to none */
mbed_official	87:085cde657901	908	hcan->ErrorCode = HAL_CAN_ERROR_NONE;
mbed_official	87:085cde657901	909
mbed_official	87:085cde657901	910	/* Enable Error warning Interrupt */
mbed_official	87:085cde657901	911	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG);
mbed_official	87:085cde657901	912
mbed_official	87:085cde657901	913	/* Enable Error passive Interrupt */
mbed_official	87:085cde657901	914	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_EPV);
mbed_official	87:085cde657901	915
mbed_official	87:085cde657901	916	/* Enable Bus-off Interrupt */
mbed_official	87:085cde657901	917	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_BOF);
mbed_official	87:085cde657901	918
mbed_official	87:085cde657901	919	/* Enable Last error code Interrupt */
mbed_official	87:085cde657901	920	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_LEC);
mbed_official	87:085cde657901	921
mbed_official	87:085cde657901	922	/* Enable Error Interrupt */
mbed_official	87:085cde657901	923	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_ERR);
mbed_official	87:085cde657901	924
mbed_official	87:085cde657901	925	/* Process unlocked */
mbed_official	87:085cde657901	926	__HAL_UNLOCK(hcan);
mbed_official	87:085cde657901	927
mbed_official	87:085cde657901	928	if(FIFONumber == CAN_FIFO0)
mbed_official	87:085cde657901	929	{
mbed_official	87:085cde657901	930	/* Enable FIFO 0 message pending Interrupt */
mbed_official	87:085cde657901	931	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_FMP0);
mbed_official	87:085cde657901	932	}
mbed_official	87:085cde657901	933	else
mbed_official	87:085cde657901	934	{
mbed_official	87:085cde657901	935	/* Enable FIFO 1 message pending Interrupt */
mbed_official	87:085cde657901	936	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_FMP1);
mbed_official	87:085cde657901	937	}
mbed_official	87:085cde657901	938
mbed_official	87:085cde657901	939	}
mbed_official	87:085cde657901	940	else
mbed_official	87:085cde657901	941	{
mbed_official	87:085cde657901	942	return HAL_BUSY;
mbed_official	87:085cde657901	943	}
mbed_official	87:085cde657901	944
mbed_official	87:085cde657901	945	/* Return function status */
mbed_official	87:085cde657901	946	return HAL_OK;
mbed_official	87:085cde657901	947	}
mbed_official	87:085cde657901	948
mbed_official	87:085cde657901	949	/**
mbed_official	87:085cde657901	950	* @brief Enters the Sleep (low power) mode.
mbed_official	87:085cde657901	951	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official	87:085cde657901	952	* the configuration information for the specified CAN.
mbed_official	87:085cde657901	953	* @retval HAL status.
mbed_official	87:085cde657901	954	*/
mbed_official	87:085cde657901	955	HAL_StatusTypeDef HAL_CAN_Sleep(CAN_HandleTypeDef* hcan)
mbed_official	87:085cde657901	956	{
mbed_official	87:085cde657901	957	uint32_t timeout;
mbed_official	87:085cde657901	958
mbed_official	87:085cde657901	959	/* Process locked */
mbed_official	87:085cde657901	960	__HAL_LOCK(hcan);
mbed_official	87:085cde657901	961
mbed_official	87:085cde657901	962	/* Change CAN state */
mbed_official	87:085cde657901	963	hcan->State = HAL_CAN_STATE_BUSY;
mbed_official	87:085cde657901	964
mbed_official	87:085cde657901	965	/* Request Sleep mode */
mbed_official	87:085cde657901	966	hcan->Instance->MCR = (((hcan->Instance->MCR) & (uint32_t)(~(uint32_t)CAN_MCR_INRQ)) \| CAN_MCR_SLEEP);
mbed_official	87:085cde657901	967
mbed_official	87:085cde657901	968	/* Sleep mode status */
mbed_official	87:085cde657901	969	if ((hcan->Instance->MSR & (CAN_MSR_SLAK\|CAN_MSR_INAK)) != CAN_MSR_SLAK)
mbed_official	87:085cde657901	970	{
mbed_official	87:085cde657901	971	/* Return function status */
mbed_official	87:085cde657901	972	return HAL_ERROR;
mbed_official	87:085cde657901	973	}
mbed_official	87:085cde657901	974
mbed_official	87:085cde657901	975	/* Get timeout */
mbed_official	87:085cde657901	976	timeout = HAL_GetTick() + 10;
mbed_official	87:085cde657901	977
mbed_official	87:085cde657901	978	/* Wait the acknowledge */
mbed_official	87:085cde657901	979	while((hcan->Instance->MSR & (CAN_MSR_SLAK\|CAN_MSR_INAK)) != CAN_MSR_SLAK)
mbed_official	87:085cde657901	980	{
mbed_official	87:085cde657901	981	if(HAL_GetTick() >= timeout)
mbed_official	87:085cde657901	982	{
mbed_official	87:085cde657901	983	hcan->State = HAL_CAN_STATE_TIMEOUT;
mbed_official	87:085cde657901	984	/* Process unlocked */
mbed_official	87:085cde657901	985	__HAL_UNLOCK(hcan);
mbed_official	87:085cde657901	986	return HAL_TIMEOUT;
mbed_official	87:085cde657901	987	}
mbed_official	87:085cde657901	988	}
mbed_official	87:085cde657901	989
mbed_official	87:085cde657901	990	/* Change CAN state */
mbed_official	87:085cde657901	991	hcan->State = HAL_CAN_STATE_READY;
mbed_official	87:085cde657901	992
mbed_official	87:085cde657901	993	/* Process unlocked */
mbed_official	87:085cde657901	994	__HAL_UNLOCK(hcan);
mbed_official	87:085cde657901	995
mbed_official	87:085cde657901	996	/* Return function status */
mbed_official	87:085cde657901	997	return HAL_OK;
mbed_official	87:085cde657901	998	}
mbed_official	87:085cde657901	999
mbed_official	87:085cde657901	1000	/**
mbed_official	87:085cde657901	1001	* @brief Wakes up the CAN peripheral from sleep mode, after that the CAN peripheral
mbed_official	87:085cde657901	1002	* is in the normal mode.
mbed_official	87:085cde657901	1003	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official	87:085cde657901	1004	* the configuration information for the specified CAN.
mbed_official	87:085cde657901	1005	* @retval HAL status.
mbed_official	87:085cde657901	1006	*/
mbed_official	87:085cde657901	1007	HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef* hcan)
mbed_official	87:085cde657901	1008	{
mbed_official	87:085cde657901	1009	uint32_t timeout;
mbed_official	87:085cde657901	1010
mbed_official	87:085cde657901	1011	/* Process locked */
mbed_official	87:085cde657901	1012	__HAL_LOCK(hcan);
mbed_official	87:085cde657901	1013
mbed_official	87:085cde657901	1014	/* Change CAN state */
mbed_official	87:085cde657901	1015	hcan->State = HAL_CAN_STATE_BUSY;
mbed_official	87:085cde657901	1016
mbed_official	87:085cde657901	1017	/* Wake up request */
mbed_official	87:085cde657901	1018	hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_SLEEP;
mbed_official	87:085cde657901	1019
mbed_official	87:085cde657901	1020	/* Get timeout */
mbed_official	87:085cde657901	1021	timeout = HAL_GetTick() + 10;
mbed_official	87:085cde657901	1022
mbed_official	87:085cde657901	1023	/* Sleep mode status */
mbed_official	87:085cde657901	1024	while((hcan->Instance->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK)
mbed_official	87:085cde657901	1025	{
mbed_official	87:085cde657901	1026	if(HAL_GetTick() >= timeout)
mbed_official	87:085cde657901	1027	{
mbed_official	87:085cde657901	1028	hcan->State= HAL_CAN_STATE_TIMEOUT;
mbed_official	87:085cde657901	1029	/* Process unlocked */
mbed_official	87:085cde657901	1030	__HAL_UNLOCK(hcan);
mbed_official	87:085cde657901	1031	return HAL_TIMEOUT;
mbed_official	87:085cde657901	1032	}
mbed_official	87:085cde657901	1033	}
mbed_official	87:085cde657901	1034	if((hcan->Instance->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK)
mbed_official	87:085cde657901	1035	{
mbed_official	87:085cde657901	1036	/* Return function status */
mbed_official	87:085cde657901	1037	return HAL_ERROR;
mbed_official	87:085cde657901	1038	}
mbed_official	87:085cde657901	1039
mbed_official	87:085cde657901	1040	/* Change CAN state */
mbed_official	87:085cde657901	1041	hcan->State = HAL_CAN_STATE_READY;
mbed_official	87:085cde657901	1042
mbed_official	87:085cde657901	1043	/* Process unlocked */
mbed_official	87:085cde657901	1044	__HAL_UNLOCK(hcan);
mbed_official	87:085cde657901	1045
mbed_official	87:085cde657901	1046	/* Return function status */
mbed_official	87:085cde657901	1047	return HAL_OK;
mbed_official	87:085cde657901	1048	}
mbed_official	87:085cde657901	1049
mbed_official	87:085cde657901	1050	/**
mbed_official	87:085cde657901	1051	* @brief Handles CAN interrupt request
mbed_official	87:085cde657901	1052	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official	87:085cde657901	1053	* the configuration information for the specified CAN.
mbed_official	87:085cde657901	1054	* @retval None
mbed_official	87:085cde657901	1055	*/
mbed_official	87:085cde657901	1056	void HAL_CAN_IRQHandler(CAN_HandleTypeDef* hcan)
mbed_official	87:085cde657901	1057	{
mbed_official	87:085cde657901	1058	uint32_t tmp1 = 0, tmp2 = 0, tmp3 = 0;
mbed_official	87:085cde657901	1059
mbed_official	87:085cde657901	1060	/* Check End of transmission flag */
mbed_official	87:085cde657901	1061	if(__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_TME))
mbed_official	87:085cde657901	1062	{
mbed_official	87:085cde657901	1063	tmp1 = __HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_0);
mbed_official	87:085cde657901	1064	tmp2 = __HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_1);
mbed_official	87:085cde657901	1065	tmp3 = __HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_2);
mbed_official	87:085cde657901	1066	if(tmp1 \|\| tmp2 \|\| tmp3)
mbed_official	87:085cde657901	1067	{
mbed_official	87:085cde657901	1068	/* Call transmit function */
mbed_official	87:085cde657901	1069	CAN_Transmit_IT(hcan);
mbed_official	87:085cde657901	1070	}
mbed_official	87:085cde657901	1071	}
mbed_official	87:085cde657901	1072
mbed_official	87:085cde657901	1073	tmp1 = __HAL_CAN_MSG_PENDING(hcan, CAN_FIFO0);
mbed_official	87:085cde657901	1074	tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP0);
mbed_official	87:085cde657901	1075	/* Check End of reception flag for FIFO0 */
mbed_official	87:085cde657901	1076	if((tmp1 != 0) && tmp2)
mbed_official	87:085cde657901	1077	{
mbed_official	87:085cde657901	1078	/* Call receive function */
mbed_official	87:085cde657901	1079	CAN_Receive_IT(hcan, CAN_FIFO0);
mbed_official	87:085cde657901	1080	}
mbed_official	87:085cde657901	1081
mbed_official	87:085cde657901	1082	tmp1 = __HAL_CAN_MSG_PENDING(hcan, CAN_FIFO1);
mbed_official	87:085cde657901	1083	tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP1);
mbed_official	87:085cde657901	1084	/* Check End of reception flag for FIFO1 */
mbed_official	87:085cde657901	1085	if((tmp1 != 0) && tmp2)
mbed_official	87:085cde657901	1086	{
mbed_official	87:085cde657901	1087	/* Call receive function */
mbed_official	87:085cde657901	1088	CAN_Receive_IT(hcan, CAN_FIFO1);
mbed_official	87:085cde657901	1089	}
mbed_official	87:085cde657901	1090
mbed_official	87:085cde657901	1091	tmp1 = __HAL_CAN_GET_FLAG(hcan, CAN_FLAG_EWG);
mbed_official	87:085cde657901	1092	tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_EWG);
mbed_official	87:085cde657901	1093	tmp3 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR);
mbed_official	87:085cde657901	1094	/* Check Error Warning Flag */
mbed_official	87:085cde657901	1095	if(tmp1 && tmp2 && tmp3)
mbed_official	87:085cde657901	1096	{
mbed_official	87:085cde657901	1097	/* Set CAN error code to EWG error */
mbed_official	87:085cde657901	1098	hcan->ErrorCode \|= HAL_CAN_ERROR_EWG;
mbed_official	87:085cde657901	1099	/* Clear Error Warning Flag */
mbed_official	87:085cde657901	1100	__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_EWG);
mbed_official	87:085cde657901	1101	}
mbed_official	87:085cde657901	1102
mbed_official	87:085cde657901	1103	tmp1 = __HAL_CAN_GET_FLAG(hcan, CAN_FLAG_EPV);
mbed_official	87:085cde657901	1104	tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_EPV);
mbed_official	87:085cde657901	1105	tmp3 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR);
mbed_official	87:085cde657901	1106	/* Check Error Passive Flag */
mbed_official	87:085cde657901	1107	if(tmp1 && tmp2 && tmp3)
mbed_official	87:085cde657901	1108	{
mbed_official	87:085cde657901	1109	/* Set CAN error code to EPV error */
mbed_official	87:085cde657901	1110	hcan->ErrorCode \|= HAL_CAN_ERROR_EPV;
mbed_official	87:085cde657901	1111	/* Clear Error Passive Flag */
mbed_official	87:085cde657901	1112	__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_EPV);
mbed_official	87:085cde657901	1113	}
mbed_official	87:085cde657901	1114
mbed_official	87:085cde657901	1115	tmp1 = __HAL_CAN_GET_FLAG(hcan, CAN_FLAG_BOF);
mbed_official	87:085cde657901	1116	tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_BOF);
mbed_official	87:085cde657901	1117	tmp3 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR);
mbed_official	87:085cde657901	1118	/* Check Bus-Off Flag */
mbed_official	87:085cde657901	1119	if(tmp1 && tmp2 && tmp3)
mbed_official	87:085cde657901	1120	{
mbed_official	87:085cde657901	1121	/* Set CAN error code to BOF error */
mbed_official	87:085cde657901	1122	hcan->ErrorCode \|= HAL_CAN_ERROR_BOF;
mbed_official	87:085cde657901	1123	/* Clear Bus-Off Flag */
mbed_official	87:085cde657901	1124	__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_BOF);
mbed_official	87:085cde657901	1125	}
mbed_official	87:085cde657901	1126
mbed_official	87:085cde657901	1127	tmp1 = HAL_IS_BIT_CLR(hcan->Instance->ESR, CAN_ESR_LEC);
mbed_official	87:085cde657901	1128	tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_LEC);
mbed_official	87:085cde657901	1129	tmp3 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR);
mbed_official	87:085cde657901	1130	/* Check Last error code Flag */
mbed_official	87:085cde657901	1131	if((!tmp1) && tmp2 && tmp3)
mbed_official	87:085cde657901	1132	{
mbed_official	87:085cde657901	1133	tmp1 = (hcan->Instance->ESR) & CAN_ESR_LEC;
mbed_official	87:085cde657901	1134	switch(tmp1)
mbed_official	87:085cde657901	1135	{
mbed_official	87:085cde657901	1136	case(CAN_ESR_LEC_0):
mbed_official	87:085cde657901	1137	/* Set CAN error code to STF error */
mbed_official	87:085cde657901	1138	hcan->ErrorCode \|= HAL_CAN_ERROR_STF;
mbed_official	87:085cde657901	1139	break;
mbed_official	87:085cde657901	1140	case(CAN_ESR_LEC_1):
mbed_official	87:085cde657901	1141	/* Set CAN error code to FOR error */
mbed_official	87:085cde657901	1142	hcan->ErrorCode \|= HAL_CAN_ERROR_FOR;
mbed_official	87:085cde657901	1143	break;
mbed_official	87:085cde657901	1144	case(CAN_ESR_LEC_1 \| CAN_ESR_LEC_0):
mbed_official	87:085cde657901	1145	/* Set CAN error code to ACK error */
mbed_official	87:085cde657901	1146	hcan->ErrorCode \|= HAL_CAN_ERROR_ACK;
mbed_official	87:085cde657901	1147	break;
mbed_official	87:085cde657901	1148	case(CAN_ESR_LEC_2):
mbed_official	87:085cde657901	1149	/* Set CAN error code to BR error */
mbed_official	87:085cde657901	1150	hcan->ErrorCode \|= HAL_CAN_ERROR_BR;
mbed_official	87:085cde657901	1151	break;
mbed_official	87:085cde657901	1152	case(CAN_ESR_LEC_2 \| CAN_ESR_LEC_0):
mbed_official	87:085cde657901	1153	/* Set CAN error code to BD error */
mbed_official	87:085cde657901	1154	hcan->ErrorCode \|= HAL_CAN_ERROR_BD;
mbed_official	87:085cde657901	1155	break;
mbed_official	87:085cde657901	1156	case(CAN_ESR_LEC_2 \| CAN_ESR_LEC_1):
mbed_official	87:085cde657901	1157	/* Set CAN error code to CRC error */
mbed_official	87:085cde657901	1158	hcan->ErrorCode \|= HAL_CAN_ERROR_CRC;
mbed_official	87:085cde657901	1159	break;
mbed_official	87:085cde657901	1160	default:
mbed_official	87:085cde657901	1161	break;
mbed_official	87:085cde657901	1162	}
mbed_official	87:085cde657901	1163
mbed_official	87:085cde657901	1164	/* Clear Last error code Flag */
mbed_official	87:085cde657901	1165	hcan->Instance->ESR &= ~(CAN_ESR_LEC);
mbed_official	87:085cde657901	1166	}
mbed_official	87:085cde657901	1167
mbed_official	87:085cde657901	1168	/* Call the Error call Back in case of Errors */
mbed_official	87:085cde657901	1169	if(hcan->ErrorCode != HAL_IRDA_ERROR_NONE)
mbed_official	87:085cde657901	1170	{
mbed_official	87:085cde657901	1171	/* Set the CAN state ready to be able to start again the process */
mbed_official	87:085cde657901	1172	hcan->State = HAL_CAN_STATE_READY;
mbed_official	87:085cde657901	1173	/* Call Error callback function */
mbed_official	87:085cde657901	1174	HAL_CAN_ErrorCallback(hcan);
mbed_official	87:085cde657901	1175	}
mbed_official	87:085cde657901	1176	}
mbed_official	87:085cde657901	1177
mbed_official	87:085cde657901	1178	/**
mbed_official	87:085cde657901	1179	* @brief Transmission complete callback in non blocking mode
mbed_official	87:085cde657901	1180	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official	87:085cde657901	1181	* the configuration information for the specified CAN.
mbed_official	87:085cde657901	1182	* @retval None
mbed_official	87:085cde657901	1183	*/
mbed_official	87:085cde657901	1184	__weak void HAL_CAN_TxCpltCallback(CAN_HandleTypeDef* hcan)
mbed_official	87:085cde657901	1185	{
mbed_official	87:085cde657901	1186	/* NOTE : This function Should not be modified, when the callback is needed,
mbed_official	87:085cde657901	1187	the HAL_CAN_TxCpltCallback could be implemented in the user file
mbed_official	87:085cde657901	1188	*/
mbed_official	87:085cde657901	1189	}
mbed_official	87:085cde657901	1190
mbed_official	87:085cde657901	1191	/**
mbed_official	87:085cde657901	1192	* @brief Transmission complete callback in non blocking mode
mbed_official	87:085cde657901	1193	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official	87:085cde657901	1194	* the configuration information for the specified CAN.
mbed_official	87:085cde657901	1195	* @retval None
mbed_official	87:085cde657901	1196	*/
mbed_official	87:085cde657901	1197	__weak void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan)
mbed_official	87:085cde657901	1198	{
mbed_official	87:085cde657901	1199	/* NOTE : This function Should not be modified, when the callback is needed,
mbed_official	87:085cde657901	1200	the HAL_CAN_RxCpltCallback could be implemented in the user file
mbed_official	87:085cde657901	1201	*/
mbed_official	87:085cde657901	1202	}
mbed_official	87:085cde657901	1203
mbed_official	87:085cde657901	1204	/**
mbed_official	87:085cde657901	1205	* @brief Error CAN callback.
mbed_official	87:085cde657901	1206	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official	87:085cde657901	1207	* the configuration information for the specified CAN.
mbed_official	87:085cde657901	1208	* @retval None
mbed_official	87:085cde657901	1209	*/
mbed_official	87:085cde657901	1210	__weak void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan)
mbed_official	87:085cde657901	1211	{
mbed_official	87:085cde657901	1212	/* NOTE : This function Should not be modified, when the callback is needed,
mbed_official	87:085cde657901	1213	the HAL_CAN_ErrorCallback could be implemented in the user file
mbed_official	87:085cde657901	1214	*/
mbed_official	87:085cde657901	1215	}
mbed_official	87:085cde657901	1216
mbed_official	87:085cde657901	1217	/**
mbed_official	87:085cde657901	1218	* @}
mbed_official	87:085cde657901	1219	*/
mbed_official	87:085cde657901	1220
mbed_official	87:085cde657901	1221	/** @defgroup CAN_Group3 Peripheral State and Error functions
mbed_official	87:085cde657901	1222	* @brief CAN Peripheral State functions
mbed_official	87:085cde657901	1223	*
mbed_official	87:085cde657901	1224	@verbatim
mbed_official	87:085cde657901	1225	==============================================================================
mbed_official	87:085cde657901	1226	##### Peripheral State and Error functions #####
mbed_official	87:085cde657901	1227	==============================================================================
mbed_official	87:085cde657901	1228	[..]
mbed_official	87:085cde657901	1229	This subsection provides functions allowing to
mbed_official	87:085cde657901	1230	(+) Check the CAN state.
mbed_official	87:085cde657901	1231	(+) Check CAN Errors detected during interrupt process
mbed_official	87:085cde657901	1232
mbed_official	87:085cde657901	1233	@endverbatim
mbed_official	87:085cde657901	1234	* @{
mbed_official	87:085cde657901	1235	*/
mbed_official	87:085cde657901	1236
mbed_official	87:085cde657901	1237	/**
mbed_official	87:085cde657901	1238	* @brief return the CAN state
mbed_official	87:085cde657901	1239	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official	87:085cde657901	1240	* the configuration information for the specified CAN.
mbed_official	87:085cde657901	1241	* @retval HAL state
mbed_official	87:085cde657901	1242	*/
mbed_official	87:085cde657901	1243	HAL_CAN_StateTypeDef HAL_CAN_GetState(CAN_HandleTypeDef* hcan)
mbed_official	87:085cde657901	1244	{
mbed_official	87:085cde657901	1245	/* Return CAN state */
mbed_official	87:085cde657901	1246	return hcan->State;
mbed_official	87:085cde657901	1247	}
mbed_official	87:085cde657901	1248
mbed_official	87:085cde657901	1249	/**
mbed_official	87:085cde657901	1250	* @brief Return the CAN error code
mbed_official	87:085cde657901	1251	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official	87:085cde657901	1252	* the configuration information for the specified CAN.
mbed_official	87:085cde657901	1253	* @retval CAN Error Code
mbed_official	87:085cde657901	1254	*/
mbed_official	87:085cde657901	1255	uint32_t HAL_CAN_GetError(CAN_HandleTypeDef *hcan)
mbed_official	87:085cde657901	1256	{
mbed_official	87:085cde657901	1257	return hcan->ErrorCode;
mbed_official	87:085cde657901	1258	}
mbed_official	87:085cde657901	1259
mbed_official	87:085cde657901	1260	/**
mbed_official	87:085cde657901	1261	* @}
mbed_official	87:085cde657901	1262	*/
mbed_official	87:085cde657901	1263	/**
mbed_official	87:085cde657901	1264	* @brief Initiates and transmits a CAN frame message.
mbed_official	87:085cde657901	1265	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official	87:085cde657901	1266	* the configuration information for the specified CAN.
mbed_official	87:085cde657901	1267	* @retval HAL status
mbed_official	87:085cde657901	1268	*/
mbed_official	87:085cde657901	1269	static HAL_StatusTypeDef CAN_Transmit_IT(CAN_HandleTypeDef* hcan)
mbed_official	87:085cde657901	1270	{
mbed_official	87:085cde657901	1271	/* Disable Transmit mailbox empty Interrupt */
mbed_official	87:085cde657901	1272	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_TME);
mbed_official	87:085cde657901	1273
mbed_official	87:085cde657901	1274	if(hcan->State == HAL_CAN_STATE_BUSY_TX)
mbed_official	87:085cde657901	1275	{
mbed_official	87:085cde657901	1276	/* Disable Error warning Interrupt */
mbed_official	87:085cde657901	1277	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG);
mbed_official	87:085cde657901	1278
mbed_official	87:085cde657901	1279	/* Disable Error passive Interrupt */
mbed_official	87:085cde657901	1280	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_EPV);
mbed_official	87:085cde657901	1281
mbed_official	87:085cde657901	1282	/* Disable Bus-off Interrupt */
mbed_official	87:085cde657901	1283	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_BOF);
mbed_official	87:085cde657901	1284
mbed_official	87:085cde657901	1285	/* Disable Last error code Interrupt */
mbed_official	87:085cde657901	1286	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_LEC);
mbed_official	87:085cde657901	1287
mbed_official	87:085cde657901	1288	/* Disable Error Interrupt */
mbed_official	87:085cde657901	1289	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_ERR);
mbed_official	87:085cde657901	1290	}
mbed_official	87:085cde657901	1291
mbed_official	87:085cde657901	1292	if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
mbed_official	87:085cde657901	1293	{
mbed_official	87:085cde657901	1294	/* Change CAN state */
mbed_official	87:085cde657901	1295	hcan->State = HAL_CAN_STATE_BUSY_RX;
mbed_official	87:085cde657901	1296	}
mbed_official	87:085cde657901	1297	else
mbed_official	87:085cde657901	1298	{
mbed_official	87:085cde657901	1299	/* Change CAN state */
mbed_official	87:085cde657901	1300	hcan->State = HAL_CAN_STATE_READY;
mbed_official	87:085cde657901	1301	}
mbed_official	87:085cde657901	1302
mbed_official	87:085cde657901	1303	/* Transmission complete callback */
mbed_official	87:085cde657901	1304	HAL_CAN_TxCpltCallback(hcan);
mbed_official	87:085cde657901	1305
mbed_official	87:085cde657901	1306	return HAL_OK;
mbed_official	87:085cde657901	1307	}
mbed_official	87:085cde657901	1308
mbed_official	87:085cde657901	1309	/**
mbed_official	87:085cde657901	1310	* @brief Receives a correct CAN frame.
mbed_official	87:085cde657901	1311	* @param hcan: Pointer to a CAN_HandleTypeDef structure that contains
mbed_official	87:085cde657901	1312	* the configuration information for the specified CAN.
mbed_official	87:085cde657901	1313	* @param FIFONumber: Specify the FIFO number
mbed_official	87:085cde657901	1314	* @retval HAL status
mbed_official	87:085cde657901	1315	* @retval None
mbed_official	87:085cde657901	1316	*/
mbed_official	87:085cde657901	1317	static HAL_StatusTypeDef CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber)
mbed_official	87:085cde657901	1318	{
mbed_official	87:085cde657901	1319	/* Get the Id */
mbed_official	87:085cde657901	1320	hcan->pRxMsg->IDE = (uint8_t)0x04 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
mbed_official	87:085cde657901	1321	if (hcan->pRxMsg->IDE == CAN_ID_STD)
mbed_official	87:085cde657901	1322	{
mbed_official	87:085cde657901	1323	hcan->pRxMsg->StdId = (uint32_t)0x000007FF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 21);
mbed_official	87:085cde657901	1324	}
mbed_official	87:085cde657901	1325	else
mbed_official	87:085cde657901	1326	{
mbed_official	87:085cde657901	1327	hcan->pRxMsg->ExtId = (uint32_t)0x1FFFFFFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 3);
mbed_official	87:085cde657901	1328	}
mbed_official	87:085cde657901	1329
mbed_official	87:085cde657901	1330	hcan->pRxMsg->RTR = (uint8_t)0x02 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
mbed_official	87:085cde657901	1331	/* Get the DLC */
mbed_official	87:085cde657901	1332	hcan->pRxMsg->DLC = (uint8_t)0x0F & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR;
mbed_official	87:085cde657901	1333	/* Get the FMI */
mbed_official	87:085cde657901	1334	hcan->pRxMsg->FMI = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDTR >> 8);
mbed_official	87:085cde657901	1335	/* Get the data field */
mbed_official	87:085cde657901	1336	hcan->pRxMsg->Data[0] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR;
mbed_official	87:085cde657901	1337	hcan->pRxMsg->Data[1] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 8);
mbed_official	87:085cde657901	1338	hcan->pRxMsg->Data[2] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 16);
mbed_official	87:085cde657901	1339	hcan->pRxMsg->Data[3] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 24);
mbed_official	87:085cde657901	1340	hcan->pRxMsg->Data[4] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR;
mbed_official	87:085cde657901	1341	hcan->pRxMsg->Data[5] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 8);
mbed_official	87:085cde657901	1342	hcan->pRxMsg->Data[6] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 16);
mbed_official	87:085cde657901	1343	hcan->pRxMsg->Data[7] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 24);
mbed_official	87:085cde657901	1344	/* Release the FIFO */
mbed_official	87:085cde657901	1345	/* Release FIFO0 */
mbed_official	87:085cde657901	1346	if (FIFONumber == CAN_FIFO0)
mbed_official	87:085cde657901	1347	{
mbed_official	87:085cde657901	1348	__HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0);
mbed_official	87:085cde657901	1349
mbed_official	87:085cde657901	1350	/* Disable FIFO 0 message pending Interrupt */
mbed_official	87:085cde657901	1351	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_FMP0);
mbed_official	87:085cde657901	1352	}
mbed_official	87:085cde657901	1353	/* Release FIFO1 */
mbed_official	87:085cde657901	1354	else /* FIFONumber == CAN_FIFO1 */
mbed_official	87:085cde657901	1355	{
mbed_official	87:085cde657901	1356	__HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1);
mbed_official	87:085cde657901	1357
mbed_official	87:085cde657901	1358	/* Disable FIFO 1 message pending Interrupt */
mbed_official	87:085cde657901	1359	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_FMP1);
mbed_official	87:085cde657901	1360	}
mbed_official	87:085cde657901	1361
mbed_official	87:085cde657901	1362	if(hcan->State == HAL_CAN_STATE_BUSY_RX)
mbed_official	87:085cde657901	1363	{
mbed_official	87:085cde657901	1364	/* Disable Error warning Interrupt */
mbed_official	87:085cde657901	1365	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG);
mbed_official	87:085cde657901	1366
mbed_official	87:085cde657901	1367	/* Disable Error passive Interrupt */
mbed_official	87:085cde657901	1368	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_EPV);
mbed_official	87:085cde657901	1369
mbed_official	87:085cde657901	1370	/* Disable Bus-off Interrupt */
mbed_official	87:085cde657901	1371	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_BOF);
mbed_official	87:085cde657901	1372
mbed_official	87:085cde657901	1373	/* Disable Last error code Interrupt */
mbed_official	87:085cde657901	1374	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_LEC);
mbed_official	87:085cde657901	1375
mbed_official	87:085cde657901	1376	/* Disable Error Interrupt */
mbed_official	87:085cde657901	1377	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_ERR);
mbed_official	87:085cde657901	1378	}
mbed_official	87:085cde657901	1379
mbed_official	87:085cde657901	1380	if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
mbed_official	87:085cde657901	1381	{
mbed_official	87:085cde657901	1382	/* Disable CAN state */
mbed_official	87:085cde657901	1383	hcan->State = HAL_CAN_STATE_BUSY_TX;
mbed_official	87:085cde657901	1384	}
mbed_official	87:085cde657901	1385	else
mbed_official	87:085cde657901	1386	{
mbed_official	87:085cde657901	1387	/* Change CAN state */
mbed_official	87:085cde657901	1388	hcan->State = HAL_CAN_STATE_READY;
mbed_official	87:085cde657901	1389	}
mbed_official	87:085cde657901	1390
mbed_official	87:085cde657901	1391	/* Receive complete callback */
mbed_official	87:085cde657901	1392	HAL_CAN_RxCpltCallback(hcan);
mbed_official	87:085cde657901	1393
mbed_official	87:085cde657901	1394	/* Return function status */
mbed_official	87:085cde657901	1395	return HAL_OK;
mbed_official	87:085cde657901	1396	}
mbed_official	87:085cde657901	1397
mbed_official	87:085cde657901	1398	/**
mbed_official	87:085cde657901	1399	* @}
mbed_official	87:085cde657901	1400	*/
mbed_official	87:085cde657901	1401	#endif /* STM32F405xx \|\| STM32F415xx \|\| STM32F407xx \|\| STM32F417xx \|\| STM32F427xx \|\| STM32F437xx \|\| STM32F429xx \|\| STM32F439xx */
mbed_official	87:085cde657901	1402
mbed_official	87:085cde657901	1403	#endif /* HAL_CAN_MODULE_ENABLED */
mbed_official	87:085cde657901	1404	/**
mbed_official	87:085cde657901	1405	* @}
mbed_official	87:085cde657901	1406	*/
mbed_official	87:085cde657901	1407
mbed_official	87:085cde657901	1408	/**
mbed_official	87:085cde657901	1409	* @}
mbed_official	87:085cde657901	1410	*/
mbed_official	87:085cde657901	1411
mbed_official	87:085cde657901	1412	/********************** (C) COPYRIGHT STMicroelectronics *END OF FILE**/

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Type:	Library
Created:	29 Jun 2014
Imports:	3
Forks:	0
Commits:	135
Dependents:	1
Dependencies:	0
Followers:	3

targets/cmsis/TARGET_STM/TARGET_NUCLEO_F401RE/stm32f4xx_hal_can.c@87:085cde657901, 2014-02-08 (annotated)

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