mbed-src - mbed w/ spi bug fig

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mbed w/ spi bug fig

targets/cmsis/TARGET_STM/TARGET_DISCO_F407VG/stm32f4xx_hal_can.c@242:7074e42da0b2, 2014-06-27 (annotated)

Committer:: mbed_official
Date:: Fri Jun 27 07:30:09 2014 +0100
Revision:: 242:7074e42da0b2
Parent:: 133:d4dda5c437f0

Synchronized with git revision 124ef5e3add9e74a3221347a3fbeea7c8b3cf353



Full URL: https://github.com/mbedmicro/mbed/commit/124ef5e3add9e74a3221347a3fbeea7c8b3cf353/



[DISCO_F407VG] HAL update.

Who changed what in which revision?

User	Revision	Line number	New contents of line
mbed_official	133:d4dda5c437f0	1	/**
mbed_official	133:d4dda5c437f0	2	******************************************************************************
mbed_official	133:d4dda5c437f0	3	* @file stm32f4xx_hal_can.c
mbed_official	133:d4dda5c437f0	4	* @author MCD Application Team
mbed_official	242:7074e42da0b2	5	* @version V1.1.0RC2
mbed_official	242:7074e42da0b2	6	* @date 14-May-2014
mbed_official	133:d4dda5c437f0	7	* @brief This file provides firmware functions to manage the following
mbed_official	133:d4dda5c437f0	8	* functionalities of the Controller Area Network (CAN) peripheral:
mbed_official	133:d4dda5c437f0	9	* + Initialization and de-initialization functions
mbed_official	133:d4dda5c437f0	10	* + IO operation functions
mbed_official	133:d4dda5c437f0	11	* + Peripheral Control functions
mbed_official	133:d4dda5c437f0	12	* + Peripheral State and Error functions
mbed_official	133:d4dda5c437f0	13	*
mbed_official	133:d4dda5c437f0	14	@verbatim
mbed_official	133:d4dda5c437f0	15	==============================================================================
mbed_official	133:d4dda5c437f0	16	##### How to use this driver #####
mbed_official	133:d4dda5c437f0	17	==============================================================================
mbed_official	133:d4dda5c437f0	18	[..]
mbed_official	133:d4dda5c437f0	19	(#) Enable the CAN controller interface clock using
mbed_official	133:d4dda5c437f0	20	__CAN1_CLK_ENABLE() for CAN1 and __CAN1_CLK_ENABLE() for CAN2
mbed_official	133:d4dda5c437f0	21	-@- In case you are using CAN2 only, you have to enable the CAN1 clock.
mbed_official	133:d4dda5c437f0	22
mbed_official	133:d4dda5c437f0	23	(#) CAN pins configuration
mbed_official	133:d4dda5c437f0	24	(++) Enable the clock for the CAN GPIOs using the following function:
mbed_official	133:d4dda5c437f0	25	__GPIOx_CLK_ENABLE()
mbed_official	133:d4dda5c437f0	26	(++) Connect and configure the involved CAN pins to AF9 using the
mbed_official	133:d4dda5c437f0	27	following function HAL_GPIO_Init()
mbed_official	133:d4dda5c437f0	28
mbed_official	133:d4dda5c437f0	29	(#) Initialise and configure the CAN using CAN_Init() function.
mbed_official	133:d4dda5c437f0	30
mbed_official	133:d4dda5c437f0	31	(#) Transmit the desired CAN frame using HAL_CAN_Transmit() function.
mbed_official	133:d4dda5c437f0	32
mbed_official	133:d4dda5c437f0	33	(#) Receive a CAN frame using HAL_CAN_Recieve() function.
mbed_official	133:d4dda5c437f0	34
mbed_official	133:d4dda5c437f0	35	* Polling mode IO operation *
mbed_official	133:d4dda5c437f0	36	=================================
mbed_official	133:d4dda5c437f0	37	[..]
mbed_official	133:d4dda5c437f0	38	(+) Start the CAN peripheral transmission and wait the end of this operation
mbed_official	133:d4dda5c437f0	39	using HAL_CAN_Transmit(), at this stage user can specify the value of timeout
mbed_official	133:d4dda5c437f0	40	according to his end application
mbed_official	133:d4dda5c437f0	41	(+) Start the CAN peripheral reception and wait the end of this operation
mbed_official	133:d4dda5c437f0	42	using HAL_CAN_Receive(), at this stage user can specify the value of timeout
mbed_official	133:d4dda5c437f0	43	according to his end application
mbed_official	133:d4dda5c437f0	44
mbed_official	133:d4dda5c437f0	45	* Interrupt mode IO operation *
mbed_official	133:d4dda5c437f0	46	===================================
mbed_official	133:d4dda5c437f0	47	[..]
mbed_official	133:d4dda5c437f0	48	(+) Start the CAN peripheral transmission using HAL_CAN_Transmit_IT()
mbed_official	133:d4dda5c437f0	49	(+) Start the CAN peripheral reception using HAL_CAN_Receive_IT()
mbed_official	133:d4dda5c437f0	50	(+) Use HAL_CAN_IRQHandler() called under the used CAN Interrupt subroutine
mbed_official	133:d4dda5c437f0	51	(+) At CAN end of transmission HAL_CAN_TxCpltCallback() function is executed and user can
mbed_official	133:d4dda5c437f0	52	add his own code by customization of function pointer HAL_CAN_TxCpltCallback
mbed_official	133:d4dda5c437f0	53	(+) In case of CAN Error, HAL_CAN_ErrorCallback() function is executed and user can
mbed_official	133:d4dda5c437f0	54	add his own code by customization of function pointer HAL_CAN_ErrorCallback
mbed_official	133:d4dda5c437f0	55
mbed_official	133:d4dda5c437f0	56	* CAN HAL driver macros list *
mbed_official	133:d4dda5c437f0	57	=============================================
mbed_official	133:d4dda5c437f0	58	[..]
mbed_official	133:d4dda5c437f0	59	Below the list of most used macros in CAN HAL driver.
mbed_official	133:d4dda5c437f0	60
mbed_official	133:d4dda5c437f0	61	(+) __HAL_CAN_ENABLE_IT: Enable the specified CAN interrupts
mbed_official	133:d4dda5c437f0	62	(+) __HAL_CAN_DISABLE_IT: Disable the specified CAN interrupts
mbed_official	133:d4dda5c437f0	63	(+) __HAL_CAN_GET_IT_SOURCE: Check if the specified CAN interrupt source is enabled or disabled
mbed_official	133:d4dda5c437f0	64	(+) __HAL_CAN_CLEAR_FLAG: Clear the CAN's pending flags
mbed_official	133:d4dda5c437f0	65	(+) __HAL_CAN_GET_FLAG: Get the selected CAN's flag status
mbed_official	133:d4dda5c437f0	66
mbed_official	133:d4dda5c437f0	67	[..]
mbed_official	133:d4dda5c437f0	68	(@) You can refer to the CAN HAL driver header file for more useful macros
mbed_official	133:d4dda5c437f0	69
mbed_official	133:d4dda5c437f0	70	@endverbatim
mbed_official	133:d4dda5c437f0	71
mbed_official	133:d4dda5c437f0	72	******************************************************************************
mbed_official	133:d4dda5c437f0	73	* @attention
mbed_official	133:d4dda5c437f0	74	*
mbed_official	133:d4dda5c437f0	75	* <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
mbed_official	133:d4dda5c437f0	76	*
mbed_official	133:d4dda5c437f0	77	* Redistribution and use in source and binary forms, with or without modification,
mbed_official	133:d4dda5c437f0	78	* are permitted provided that the following conditions are met:
mbed_official	133:d4dda5c437f0	79	* 1. Redistributions of source code must retain the above copyright notice,
mbed_official	133:d4dda5c437f0	80	* this list of conditions and the following disclaimer.
mbed_official	133:d4dda5c437f0	81	* 2. Redistributions in binary form must reproduce the above copyright notice,
mbed_official	133:d4dda5c437f0	82	* this list of conditions and the following disclaimer in the documentation
mbed_official	133:d4dda5c437f0	83	* and/or other materials provided with the distribution.
mbed_official	133:d4dda5c437f0	84	* 3. Neither the name of STMicroelectronics nor the names of its contributors
mbed_official	133:d4dda5c437f0	85	* may be used to endorse or promote products derived from this software
mbed_official	133:d4dda5c437f0	86	* without specific prior written permission.
mbed_official	133:d4dda5c437f0	87	*
mbed_official	133:d4dda5c437f0	88	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
mbed_official	133:d4dda5c437f0	89	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
mbed_official	133:d4dda5c437f0	90	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
mbed_official	133:d4dda5c437f0	91	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
mbed_official	133:d4dda5c437f0	92	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
mbed_official	133:d4dda5c437f0	93	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
mbed_official	133:d4dda5c437f0	94	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
mbed_official	133:d4dda5c437f0	95	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
mbed_official	133:d4dda5c437f0	96	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
mbed_official	133:d4dda5c437f0	97	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
mbed_official	133:d4dda5c437f0	98	*
mbed_official	133:d4dda5c437f0	99	******************************************************************************
mbed_official	133:d4dda5c437f0	100	*/
mbed_official	133:d4dda5c437f0	101
mbed_official	133:d4dda5c437f0	102	/* Includes ------------------------------------------------------------------*/
mbed_official	133:d4dda5c437f0	103	#include "stm32f4xx_hal.h"
mbed_official	133:d4dda5c437f0	104
mbed_official	133:d4dda5c437f0	105	/** @addtogroup STM32F4xx_HAL_Driver
mbed_official	133:d4dda5c437f0	106	* @{
mbed_official	133:d4dda5c437f0	107	*/
mbed_official	133:d4dda5c437f0	108
mbed_official	133:d4dda5c437f0	109	/** @defgroup CAN
mbed_official	133:d4dda5c437f0	110	* @brief CAN driver modules
mbed_official	133:d4dda5c437f0	111	* @{
mbed_official	133:d4dda5c437f0	112	*/
mbed_official	133:d4dda5c437f0	113
mbed_official	133:d4dda5c437f0	114	#ifdef HAL_CAN_MODULE_ENABLED
mbed_official	133:d4dda5c437f0	115
mbed_official	133:d4dda5c437f0	116	#if defined(STM32F405xx) \|\| defined(STM32F415xx) \|\| defined(STM32F407xx) \|\| defined(STM32F417xx) \|\| defined(STM32F427xx) \|\| defined(STM32F437xx) \|\| defined(STM32F429xx) \|\| defined(STM32F439xx)
mbed_official	133:d4dda5c437f0	117
mbed_official	133:d4dda5c437f0	118	/* Private typedef -----------------------------------------------------------*/
mbed_official	133:d4dda5c437f0	119	/* Private define ------------------------------------------------------------*/
mbed_official	133:d4dda5c437f0	120	/* Private macro -------------------------------------------------------------*/
mbed_official	133:d4dda5c437f0	121	/* Private variables ---------------------------------------------------------*/
mbed_official	133:d4dda5c437f0	122	/* Private function prototypes -----------------------------------------------*/
mbed_official	133:d4dda5c437f0	123	static HAL_StatusTypeDef CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber);
mbed_official	133:d4dda5c437f0	124	static HAL_StatusTypeDef CAN_Transmit_IT(CAN_HandleTypeDef* hcan);
mbed_official	133:d4dda5c437f0	125	/* Private functions ---------------------------------------------------------*/
mbed_official	133:d4dda5c437f0	126
mbed_official	133:d4dda5c437f0	127	/** @defgroup CAN_Private_Functions
mbed_official	133:d4dda5c437f0	128	* @{
mbed_official	133:d4dda5c437f0	129	*/
mbed_official	133:d4dda5c437f0	130
mbed_official	133:d4dda5c437f0	131	/** @defgroup CAN_Group1 Initialization and de-initialization functions
mbed_official	133:d4dda5c437f0	132	* @brief Initialization and Configuration functions
mbed_official	133:d4dda5c437f0	133	*
mbed_official	133:d4dda5c437f0	134	@verbatim
mbed_official	133:d4dda5c437f0	135	==============================================================================
mbed_official	133:d4dda5c437f0	136	##### Initialization and de-initialization functions #####
mbed_official	133:d4dda5c437f0	137	==============================================================================
mbed_official	133:d4dda5c437f0	138	[..] This section provides functions allowing to:
mbed_official	133:d4dda5c437f0	139	(+) Initialize and configure the CAN.
mbed_official	133:d4dda5c437f0	140	(+) De-initialize the CAN.
mbed_official	133:d4dda5c437f0	141
mbed_official	133:d4dda5c437f0	142	@endverbatim
mbed_official	133:d4dda5c437f0	143	* @{
mbed_official	133:d4dda5c437f0	144	*/
mbed_official	133:d4dda5c437f0	145
mbed_official	133:d4dda5c437f0	146	/**
mbed_official	133:d4dda5c437f0	147	* @brief Initializes the CAN peripheral according to the specified
mbed_official	133:d4dda5c437f0	148	* parameters in the CAN_InitStruct.
mbed_official	133:d4dda5c437f0	149	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official	133:d4dda5c437f0	150	* the configuration information for the specified CAN.
mbed_official	133:d4dda5c437f0	151	* @retval HAL status
mbed_official	133:d4dda5c437f0	152	*/
mbed_official	133:d4dda5c437f0	153	HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef* hcan)
mbed_official	133:d4dda5c437f0	154	{
mbed_official	133:d4dda5c437f0	155	uint32_t InitStatus = 3;
mbed_official	133:d4dda5c437f0	156	uint32_t timeout = 0;
mbed_official	133:d4dda5c437f0	157
mbed_official	133:d4dda5c437f0	158	/* Check CAN handle */
mbed_official	133:d4dda5c437f0	159	if(hcan == NULL)
mbed_official	133:d4dda5c437f0	160	{
mbed_official	133:d4dda5c437f0	161	return HAL_ERROR;
mbed_official	133:d4dda5c437f0	162	}
mbed_official	133:d4dda5c437f0	163
mbed_official	133:d4dda5c437f0	164	/* Check the parameters */
mbed_official	133:d4dda5c437f0	165	assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
mbed_official	133:d4dda5c437f0	166	assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TTCM));
mbed_official	133:d4dda5c437f0	167	assert_param(IS_FUNCTIONAL_STATE(hcan->Init.ABOM));
mbed_official	133:d4dda5c437f0	168	assert_param(IS_FUNCTIONAL_STATE(hcan->Init.AWUM));
mbed_official	133:d4dda5c437f0	169	assert_param(IS_FUNCTIONAL_STATE(hcan->Init.NART));
mbed_official	133:d4dda5c437f0	170	assert_param(IS_FUNCTIONAL_STATE(hcan->Init.RFLM));
mbed_official	133:d4dda5c437f0	171	assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TXFP));
mbed_official	133:d4dda5c437f0	172	assert_param(IS_CAN_MODE(hcan->Init.Mode));
mbed_official	133:d4dda5c437f0	173	assert_param(IS_CAN_SJW(hcan->Init.SJW));
mbed_official	133:d4dda5c437f0	174	assert_param(IS_CAN_BS1(hcan->Init.BS1));
mbed_official	133:d4dda5c437f0	175	assert_param(IS_CAN_BS2(hcan->Init.BS2));
mbed_official	133:d4dda5c437f0	176	assert_param(IS_CAN_PRESCALER(hcan->Init.Prescaler));
mbed_official	133:d4dda5c437f0	177
mbed_official	133:d4dda5c437f0	178
mbed_official	133:d4dda5c437f0	179	if(hcan->State == HAL_CAN_STATE_RESET)
mbed_official	133:d4dda5c437f0	180	{
mbed_official	133:d4dda5c437f0	181	/* Init the low level hardware */
mbed_official	133:d4dda5c437f0	182	HAL_CAN_MspInit(hcan);
mbed_official	133:d4dda5c437f0	183	}
mbed_official	133:d4dda5c437f0	184
mbed_official	133:d4dda5c437f0	185	/* Initialize the CAN state*/
mbed_official	133:d4dda5c437f0	186	hcan->State = HAL_CAN_STATE_BUSY;
mbed_official	133:d4dda5c437f0	187
mbed_official	133:d4dda5c437f0	188	/* Exit from sleep mode */
mbed_official	133:d4dda5c437f0	189	hcan->Instance->MCR &= (~(uint32_t)CAN_MCR_SLEEP);
mbed_official	133:d4dda5c437f0	190
mbed_official	133:d4dda5c437f0	191	/* Request initialisation */
mbed_official	133:d4dda5c437f0	192	hcan->Instance->MCR \|= CAN_MCR_INRQ ;
mbed_official	133:d4dda5c437f0	193
mbed_official	133:d4dda5c437f0	194	/* Get timeout */
mbed_official	133:d4dda5c437f0	195	timeout = HAL_GetTick() + 10;
mbed_official	133:d4dda5c437f0	196
mbed_official	133:d4dda5c437f0	197	/* Wait the acknowledge */
mbed_official	133:d4dda5c437f0	198	while((hcan->Instance->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
mbed_official	133:d4dda5c437f0	199	{
mbed_official	133:d4dda5c437f0	200	if(HAL_GetTick() >= timeout)
mbed_official	133:d4dda5c437f0	201	{
mbed_official	133:d4dda5c437f0	202	hcan->State= HAL_CAN_STATE_TIMEOUT;
mbed_official	133:d4dda5c437f0	203	/* Process unlocked */
mbed_official	133:d4dda5c437f0	204	__HAL_UNLOCK(hcan);
mbed_official	133:d4dda5c437f0	205	return HAL_TIMEOUT;
mbed_official	133:d4dda5c437f0	206	}
mbed_official	133:d4dda5c437f0	207	}
mbed_official	133:d4dda5c437f0	208
mbed_official	133:d4dda5c437f0	209	/* Check acknowledge */
mbed_official	133:d4dda5c437f0	210	if ((hcan->Instance->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
mbed_official	133:d4dda5c437f0	211	{
mbed_official	133:d4dda5c437f0	212	InitStatus = CAN_INITSTATUS_FAILED;
mbed_official	133:d4dda5c437f0	213	}
mbed_official	133:d4dda5c437f0	214	else
mbed_official	133:d4dda5c437f0	215	{
mbed_official	133:d4dda5c437f0	216	/* Set the time triggered communication mode */
mbed_official	133:d4dda5c437f0	217	if (hcan->Init.TTCM == ENABLE)
mbed_official	133:d4dda5c437f0	218	{
mbed_official	133:d4dda5c437f0	219	hcan->Instance->MCR \|= CAN_MCR_TTCM;
mbed_official	133:d4dda5c437f0	220	}
mbed_official	133:d4dda5c437f0	221	else
mbed_official	133:d4dda5c437f0	222	{
mbed_official	133:d4dda5c437f0	223	hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_TTCM;
mbed_official	133:d4dda5c437f0	224	}
mbed_official	133:d4dda5c437f0	225
mbed_official	133:d4dda5c437f0	226	/* Set the automatic bus-off management */
mbed_official	133:d4dda5c437f0	227	if (hcan->Init.ABOM == ENABLE)
mbed_official	133:d4dda5c437f0	228	{
mbed_official	133:d4dda5c437f0	229	hcan->Instance->MCR \|= CAN_MCR_ABOM;
mbed_official	133:d4dda5c437f0	230	}
mbed_official	133:d4dda5c437f0	231	else
mbed_official	133:d4dda5c437f0	232	{
mbed_official	133:d4dda5c437f0	233	hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_ABOM;
mbed_official	133:d4dda5c437f0	234	}
mbed_official	133:d4dda5c437f0	235
mbed_official	133:d4dda5c437f0	236	/* Set the automatic wake-up mode */
mbed_official	133:d4dda5c437f0	237	if (hcan->Init.AWUM == ENABLE)
mbed_official	133:d4dda5c437f0	238	{
mbed_official	133:d4dda5c437f0	239	hcan->Instance->MCR \|= CAN_MCR_AWUM;
mbed_official	133:d4dda5c437f0	240	}
mbed_official	133:d4dda5c437f0	241	else
mbed_official	133:d4dda5c437f0	242	{
mbed_official	133:d4dda5c437f0	243	hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_AWUM;
mbed_official	133:d4dda5c437f0	244	}
mbed_official	133:d4dda5c437f0	245
mbed_official	133:d4dda5c437f0	246	/* Set the no automatic retransmission */
mbed_official	133:d4dda5c437f0	247	if (hcan->Init.NART == ENABLE)
mbed_official	133:d4dda5c437f0	248	{
mbed_official	133:d4dda5c437f0	249	hcan->Instance->MCR \|= CAN_MCR_NART;
mbed_official	133:d4dda5c437f0	250	}
mbed_official	133:d4dda5c437f0	251	else
mbed_official	133:d4dda5c437f0	252	{
mbed_official	133:d4dda5c437f0	253	hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_NART;
mbed_official	133:d4dda5c437f0	254	}
mbed_official	133:d4dda5c437f0	255
mbed_official	133:d4dda5c437f0	256	/* Set the receive FIFO locked mode */
mbed_official	133:d4dda5c437f0	257	if (hcan->Init.RFLM == ENABLE)
mbed_official	133:d4dda5c437f0	258	{
mbed_official	133:d4dda5c437f0	259	hcan->Instance->MCR \|= CAN_MCR_RFLM;
mbed_official	133:d4dda5c437f0	260	}
mbed_official	133:d4dda5c437f0	261	else
mbed_official	133:d4dda5c437f0	262	{
mbed_official	133:d4dda5c437f0	263	hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_RFLM;
mbed_official	133:d4dda5c437f0	264	}
mbed_official	133:d4dda5c437f0	265
mbed_official	133:d4dda5c437f0	266	/* Set the transmit FIFO priority */
mbed_official	133:d4dda5c437f0	267	if (hcan->Init.TXFP == ENABLE)
mbed_official	133:d4dda5c437f0	268	{
mbed_official	133:d4dda5c437f0	269	hcan->Instance->MCR \|= CAN_MCR_TXFP;
mbed_official	133:d4dda5c437f0	270	}
mbed_official	133:d4dda5c437f0	271	else
mbed_official	133:d4dda5c437f0	272	{
mbed_official	133:d4dda5c437f0	273	hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_TXFP;
mbed_official	133:d4dda5c437f0	274	}
mbed_official	133:d4dda5c437f0	275
mbed_official	133:d4dda5c437f0	276	/* Set the bit timing register */
mbed_official	133:d4dda5c437f0	277	hcan->Instance->BTR = (uint32_t)((uint32_t)hcan->Init.Mode) \| \
mbed_official	133:d4dda5c437f0	278	((uint32_t)hcan->Init.SJW) \| \
mbed_official	133:d4dda5c437f0	279	((uint32_t)hcan->Init.BS1) \| \
mbed_official	133:d4dda5c437f0	280	((uint32_t)hcan->Init.BS2) \| \
mbed_official	133:d4dda5c437f0	281	((uint32_t)hcan->Init.Prescaler - 1);
mbed_official	133:d4dda5c437f0	282
mbed_official	133:d4dda5c437f0	283	/* Request leave initialisation */
mbed_official	133:d4dda5c437f0	284	hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_INRQ;
mbed_official	133:d4dda5c437f0	285
mbed_official	133:d4dda5c437f0	286	/* Get timeout */
mbed_official	133:d4dda5c437f0	287	timeout = HAL_GetTick() + 10;
mbed_official	133:d4dda5c437f0	288
mbed_official	133:d4dda5c437f0	289	/* Wait the acknowledge */
mbed_official	133:d4dda5c437f0	290	while((hcan->Instance->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)
mbed_official	133:d4dda5c437f0	291	{
mbed_official	133:d4dda5c437f0	292	if(HAL_GetTick() >= timeout)
mbed_official	133:d4dda5c437f0	293	{
mbed_official	133:d4dda5c437f0	294	hcan->State= HAL_CAN_STATE_TIMEOUT;
mbed_official	133:d4dda5c437f0	295	/* Process unlocked */
mbed_official	133:d4dda5c437f0	296	__HAL_UNLOCK(hcan);
mbed_official	133:d4dda5c437f0	297	return HAL_TIMEOUT;
mbed_official	133:d4dda5c437f0	298	}
mbed_official	133:d4dda5c437f0	299	}
mbed_official	133:d4dda5c437f0	300
mbed_official	133:d4dda5c437f0	301	/* Check acknowledged */
mbed_official	133:d4dda5c437f0	302	if ((hcan->Instance->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)
mbed_official	133:d4dda5c437f0	303	{
mbed_official	133:d4dda5c437f0	304	InitStatus = CAN_INITSTATUS_FAILED;
mbed_official	133:d4dda5c437f0	305	}
mbed_official	133:d4dda5c437f0	306	else
mbed_official	133:d4dda5c437f0	307	{
mbed_official	133:d4dda5c437f0	308	InitStatus = CAN_INITSTATUS_SUCCESS;
mbed_official	133:d4dda5c437f0	309	}
mbed_official	133:d4dda5c437f0	310	}
mbed_official	133:d4dda5c437f0	311
mbed_official	133:d4dda5c437f0	312	if(InitStatus == CAN_INITSTATUS_SUCCESS)
mbed_official	133:d4dda5c437f0	313	{
mbed_official	133:d4dda5c437f0	314	/* Set CAN error code to none */
mbed_official	133:d4dda5c437f0	315	hcan->ErrorCode = HAL_CAN_ERROR_NONE;
mbed_official	133:d4dda5c437f0	316
mbed_official	133:d4dda5c437f0	317	/* Initialize the CAN state */
mbed_official	133:d4dda5c437f0	318	hcan->State = HAL_CAN_STATE_READY;
mbed_official	133:d4dda5c437f0	319
mbed_official	133:d4dda5c437f0	320	/* Return function status */
mbed_official	133:d4dda5c437f0	321	return HAL_OK;
mbed_official	133:d4dda5c437f0	322	}
mbed_official	133:d4dda5c437f0	323	else
mbed_official	133:d4dda5c437f0	324	{
mbed_official	133:d4dda5c437f0	325	/* Initialize the CAN state */
mbed_official	133:d4dda5c437f0	326	hcan->State = HAL_CAN_STATE_ERROR;
mbed_official	133:d4dda5c437f0	327
mbed_official	133:d4dda5c437f0	328	/* Return function status */
mbed_official	133:d4dda5c437f0	329	return HAL_ERROR;
mbed_official	133:d4dda5c437f0	330	}
mbed_official	133:d4dda5c437f0	331	}
mbed_official	133:d4dda5c437f0	332
mbed_official	133:d4dda5c437f0	333	/**
mbed_official	133:d4dda5c437f0	334	* @brief Configures the CAN reception filter according to the specified
mbed_official	133:d4dda5c437f0	335	* parameters in the CAN_FilterInitStruct.
mbed_official	133:d4dda5c437f0	336	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official	133:d4dda5c437f0	337	* the configuration information for the specified CAN.
mbed_official	133:d4dda5c437f0	338	* @param sFilterConfig: pointer to a CAN_FilterConfTypeDef structure that
mbed_official	133:d4dda5c437f0	339	* contains the filter configuration information.
mbed_official	133:d4dda5c437f0	340	* @retval None
mbed_official	133:d4dda5c437f0	341	*/
mbed_official	133:d4dda5c437f0	342	HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef* hcan, CAN_FilterConfTypeDef* sFilterConfig)
mbed_official	133:d4dda5c437f0	343	{
mbed_official	133:d4dda5c437f0	344	uint32_t filternbrbitpos = 0;
mbed_official	133:d4dda5c437f0	345
mbed_official	133:d4dda5c437f0	346	/* Check the parameters */
mbed_official	133:d4dda5c437f0	347	assert_param(IS_CAN_FILTER_NUMBER(sFilterConfig->FilterNumber));
mbed_official	133:d4dda5c437f0	348	assert_param(IS_CAN_FILTER_MODE(sFilterConfig->FilterMode));
mbed_official	133:d4dda5c437f0	349	assert_param(IS_CAN_FILTER_SCALE(sFilterConfig->FilterScale));
mbed_official	133:d4dda5c437f0	350	assert_param(IS_CAN_FILTER_FIFO(sFilterConfig->FilterFIFOAssignment));
mbed_official	133:d4dda5c437f0	351	assert_param(IS_FUNCTIONAL_STATE(sFilterConfig->FilterActivation));
mbed_official	133:d4dda5c437f0	352	assert_param(IS_CAN_BANKNUMBER(sFilterConfig->BankNumber));
mbed_official	133:d4dda5c437f0	353
mbed_official	133:d4dda5c437f0	354	filternbrbitpos = ((uint32_t)1) << sFilterConfig->FilterNumber;
mbed_official	133:d4dda5c437f0	355
mbed_official	133:d4dda5c437f0	356	/* Initialisation mode for the filter */
mbed_official	133:d4dda5c437f0	357	CAN1->FMR \|= (uint32_t)CAN_FMR_FINIT;
mbed_official	133:d4dda5c437f0	358
mbed_official	133:d4dda5c437f0	359	/* Select the start slave bank */
mbed_official	133:d4dda5c437f0	360	CAN1->FMR &= ~((uint32_t)CAN_FMR_CAN2SB);
mbed_official	133:d4dda5c437f0	361	CAN1->FMR \|= (uint32_t)(sFilterConfig->BankNumber << 8);
mbed_official	133:d4dda5c437f0	362
mbed_official	133:d4dda5c437f0	363	/* Filter Deactivation */
mbed_official	133:d4dda5c437f0	364	CAN1->FA1R &= ~(uint32_t)filternbrbitpos;
mbed_official	133:d4dda5c437f0	365
mbed_official	133:d4dda5c437f0	366	/* Filter Scale */
mbed_official	133:d4dda5c437f0	367	if (sFilterConfig->FilterScale == CAN_FILTERSCALE_16BIT)
mbed_official	133:d4dda5c437f0	368	{
mbed_official	133:d4dda5c437f0	369	/* 16-bit scale for the filter */
mbed_official	133:d4dda5c437f0	370	CAN1->FS1R &= ~(uint32_t)filternbrbitpos;
mbed_official	133:d4dda5c437f0	371
mbed_official	133:d4dda5c437f0	372	/* First 16-bit identifier and First 16-bit mask */
mbed_official	133:d4dda5c437f0	373	/* Or First 16-bit identifier and Second 16-bit identifier */
mbed_official	133:d4dda5c437f0	374	CAN1->sFilterRegister[sFilterConfig->FilterNumber].FR1 =
mbed_official	133:d4dda5c437f0	375	((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdLow) << 16) \|
mbed_official	133:d4dda5c437f0	376	(0x0000FFFF & (uint32_t)sFilterConfig->FilterIdLow);
mbed_official	133:d4dda5c437f0	377
mbed_official	133:d4dda5c437f0	378	/* Second 16-bit identifier and Second 16-bit mask */
mbed_official	133:d4dda5c437f0	379	/* Or Third 16-bit identifier and Fourth 16-bit identifier */
mbed_official	133:d4dda5c437f0	380	CAN1->sFilterRegister[sFilterConfig->FilterNumber].FR2 =
mbed_official	133:d4dda5c437f0	381	((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16) \|
mbed_official	133:d4dda5c437f0	382	(0x0000FFFF & (uint32_t)sFilterConfig->FilterIdHigh);
mbed_official	133:d4dda5c437f0	383	}
mbed_official	133:d4dda5c437f0	384
mbed_official	133:d4dda5c437f0	385	if (sFilterConfig->FilterScale == CAN_FILTERSCALE_32BIT)
mbed_official	133:d4dda5c437f0	386	{
mbed_official	133:d4dda5c437f0	387	/* 32-bit scale for the filter */
mbed_official	133:d4dda5c437f0	388	CAN1->FS1R \|= filternbrbitpos;
mbed_official	133:d4dda5c437f0	389	/* 32-bit identifier or First 32-bit identifier */
mbed_official	133:d4dda5c437f0	390	CAN1->sFilterRegister[sFilterConfig->FilterNumber].FR1 =
mbed_official	133:d4dda5c437f0	391	((0x0000FFFF & (uint32_t)sFilterConfig->FilterIdHigh) << 16) \|
mbed_official	133:d4dda5c437f0	392	(0x0000FFFF & (uint32_t)sFilterConfig->FilterIdLow);
mbed_official	133:d4dda5c437f0	393	/* 32-bit mask or Second 32-bit identifier */
mbed_official	133:d4dda5c437f0	394	CAN1->sFilterRegister[sFilterConfig->FilterNumber].FR2 =
mbed_official	133:d4dda5c437f0	395	((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16) \|
mbed_official	133:d4dda5c437f0	396	(0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdLow);
mbed_official	133:d4dda5c437f0	397	}
mbed_official	133:d4dda5c437f0	398
mbed_official	133:d4dda5c437f0	399	/* Filter Mode */
mbed_official	133:d4dda5c437f0	400	if (sFilterConfig->FilterMode == CAN_FILTERMODE_IDMASK)
mbed_official	133:d4dda5c437f0	401	{
mbed_official	133:d4dda5c437f0	402	/Id/Mask mode for the filter/
mbed_official	133:d4dda5c437f0	403	CAN1->FM1R &= ~(uint32_t)filternbrbitpos;
mbed_official	133:d4dda5c437f0	404	}
mbed_official	133:d4dda5c437f0	405	else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */
mbed_official	133:d4dda5c437f0	406	{
mbed_official	133:d4dda5c437f0	407	/Identifier list mode for the filter/
mbed_official	133:d4dda5c437f0	408	CAN1->FM1R \|= (uint32_t)filternbrbitpos;
mbed_official	133:d4dda5c437f0	409	}
mbed_official	133:d4dda5c437f0	410
mbed_official	133:d4dda5c437f0	411	/* Filter FIFO assignment */
mbed_official	133:d4dda5c437f0	412	if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO0)
mbed_official	133:d4dda5c437f0	413	{
mbed_official	133:d4dda5c437f0	414	/* FIFO 0 assignation for the filter */
mbed_official	133:d4dda5c437f0	415	CAN1->FFA1R &= ~(uint32_t)filternbrbitpos;
mbed_official	133:d4dda5c437f0	416	}
mbed_official	133:d4dda5c437f0	417
mbed_official	133:d4dda5c437f0	418	if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO1)
mbed_official	133:d4dda5c437f0	419	{
mbed_official	133:d4dda5c437f0	420	/* FIFO 1 assignation for the filter */
mbed_official	133:d4dda5c437f0	421	CAN1->FFA1R \|= (uint32_t)filternbrbitpos;
mbed_official	133:d4dda5c437f0	422	}
mbed_official	133:d4dda5c437f0	423
mbed_official	133:d4dda5c437f0	424	/* Filter activation */
mbed_official	133:d4dda5c437f0	425	if (sFilterConfig->FilterActivation == ENABLE)
mbed_official	133:d4dda5c437f0	426	{
mbed_official	133:d4dda5c437f0	427	CAN1->FA1R \|= filternbrbitpos;
mbed_official	133:d4dda5c437f0	428	}
mbed_official	133:d4dda5c437f0	429
mbed_official	133:d4dda5c437f0	430	/* Leave the initialisation mode for the filter */
mbed_official	133:d4dda5c437f0	431	CAN1->FMR &= ~((uint32_t)CAN_FMR_FINIT);
mbed_official	133:d4dda5c437f0	432
mbed_official	133:d4dda5c437f0	433	/* Return function status */
mbed_official	133:d4dda5c437f0	434	return HAL_OK;
mbed_official	133:d4dda5c437f0	435	}
mbed_official	133:d4dda5c437f0	436
mbed_official	133:d4dda5c437f0	437	/**
mbed_official	133:d4dda5c437f0	438	* @brief Deinitializes the CANx peripheral registers to their default reset values.
mbed_official	133:d4dda5c437f0	439	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official	133:d4dda5c437f0	440	* the configuration information for the specified CAN.
mbed_official	133:d4dda5c437f0	441	* @retval HAL status
mbed_official	133:d4dda5c437f0	442	*/
mbed_official	133:d4dda5c437f0	443	HAL_StatusTypeDef HAL_CAN_DeInit(CAN_HandleTypeDef* hcan)
mbed_official	133:d4dda5c437f0	444	{
mbed_official	133:d4dda5c437f0	445	/* Check CAN handle */
mbed_official	133:d4dda5c437f0	446	if(hcan == NULL)
mbed_official	133:d4dda5c437f0	447	{
mbed_official	133:d4dda5c437f0	448	return HAL_ERROR;
mbed_official	133:d4dda5c437f0	449	}
mbed_official	133:d4dda5c437f0	450
mbed_official	133:d4dda5c437f0	451	/* Check the parameters */
mbed_official	133:d4dda5c437f0	452	assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
mbed_official	133:d4dda5c437f0	453
mbed_official	133:d4dda5c437f0	454	/* Change CAN state */
mbed_official	133:d4dda5c437f0	455	hcan->State = HAL_CAN_STATE_BUSY;
mbed_official	133:d4dda5c437f0	456
mbed_official	133:d4dda5c437f0	457	/* DeInit the low level hardware */
mbed_official	133:d4dda5c437f0	458	HAL_CAN_MspDeInit(hcan);
mbed_official	133:d4dda5c437f0	459
mbed_official	133:d4dda5c437f0	460	/* Change CAN state */
mbed_official	133:d4dda5c437f0	461	hcan->State = HAL_CAN_STATE_RESET;
mbed_official	133:d4dda5c437f0	462
mbed_official	133:d4dda5c437f0	463	/* Release Lock */
mbed_official	133:d4dda5c437f0	464	__HAL_UNLOCK(hcan);
mbed_official	133:d4dda5c437f0	465
mbed_official	133:d4dda5c437f0	466	/* Return function status */
mbed_official	133:d4dda5c437f0	467	return HAL_OK;
mbed_official	133:d4dda5c437f0	468	}
mbed_official	133:d4dda5c437f0	469
mbed_official	133:d4dda5c437f0	470	/**
mbed_official	133:d4dda5c437f0	471	* @brief Initializes the CAN MSP.
mbed_official	133:d4dda5c437f0	472	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official	133:d4dda5c437f0	473	* the configuration information for the specified CAN.
mbed_official	133:d4dda5c437f0	474	* @retval None
mbed_official	133:d4dda5c437f0	475	*/
mbed_official	133:d4dda5c437f0	476	__weak void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
mbed_official	133:d4dda5c437f0	477	{
mbed_official	133:d4dda5c437f0	478	/* NOTE : This function Should not be modified, when the callback is needed,
mbed_official	133:d4dda5c437f0	479	the HAL_CAN_MspInit could be implemented in the user file
mbed_official	133:d4dda5c437f0	480	*/
mbed_official	133:d4dda5c437f0	481	}
mbed_official	133:d4dda5c437f0	482
mbed_official	133:d4dda5c437f0	483	/**
mbed_official	133:d4dda5c437f0	484	* @brief DeInitializes the CAN MSP.
mbed_official	133:d4dda5c437f0	485	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official	133:d4dda5c437f0	486	* the configuration information for the specified CAN.
mbed_official	133:d4dda5c437f0	487	* @retval None
mbed_official	133:d4dda5c437f0	488	*/
mbed_official	133:d4dda5c437f0	489	__weak void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan)
mbed_official	133:d4dda5c437f0	490	{
mbed_official	133:d4dda5c437f0	491	/* NOTE : This function Should not be modified, when the callback is needed,
mbed_official	133:d4dda5c437f0	492	the HAL_CAN_MspDeInit could be implemented in the user file
mbed_official	133:d4dda5c437f0	493	*/
mbed_official	133:d4dda5c437f0	494	}
mbed_official	133:d4dda5c437f0	495
mbed_official	133:d4dda5c437f0	496	/**
mbed_official	133:d4dda5c437f0	497	* @}
mbed_official	133:d4dda5c437f0	498	*/
mbed_official	133:d4dda5c437f0	499
mbed_official	133:d4dda5c437f0	500	/** @defgroup CAN_Group2 IO operation functions
mbed_official	133:d4dda5c437f0	501	* @brief IO operation functions
mbed_official	133:d4dda5c437f0	502	*
mbed_official	133:d4dda5c437f0	503	@verbatim
mbed_official	133:d4dda5c437f0	504	==============================================================================
mbed_official	133:d4dda5c437f0	505	##### IO operation functions #####
mbed_official	133:d4dda5c437f0	506	==============================================================================
mbed_official	133:d4dda5c437f0	507	[..] This section provides functions allowing to:
mbed_official	133:d4dda5c437f0	508	(+) Transmit a CAN frame message.
mbed_official	133:d4dda5c437f0	509	(+) Receive a CAN frame message.
mbed_official	133:d4dda5c437f0	510	(+) Enter CAN peripheral in sleep mode.
mbed_official	133:d4dda5c437f0	511	(+) Wake up the CAN peripheral from sleep mode.
mbed_official	133:d4dda5c437f0	512
mbed_official	133:d4dda5c437f0	513	@endverbatim
mbed_official	133:d4dda5c437f0	514	* @{
mbed_official	133:d4dda5c437f0	515	*/
mbed_official	133:d4dda5c437f0	516
mbed_official	133:d4dda5c437f0	517	/**
mbed_official	133:d4dda5c437f0	518	* @brief Initiates and transmits a CAN frame message.
mbed_official	133:d4dda5c437f0	519	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official	133:d4dda5c437f0	520	* the configuration information for the specified CAN.
mbed_official	133:d4dda5c437f0	521	* @param Timeout: Specify Timeout value
mbed_official	133:d4dda5c437f0	522	* @retval HAL status
mbed_official	133:d4dda5c437f0	523	*/
mbed_official	133:d4dda5c437f0	524	HAL_StatusTypeDef HAL_CAN_Transmit(CAN_HandleTypeDef* hcan, uint32_t Timeout)
mbed_official	133:d4dda5c437f0	525	{
mbed_official	133:d4dda5c437f0	526	uint32_t transmitmailbox = 5;
mbed_official	133:d4dda5c437f0	527
mbed_official	133:d4dda5c437f0	528	uint32_t timeout;
mbed_official	133:d4dda5c437f0	529
mbed_official	133:d4dda5c437f0	530	/* Check the parameters */
mbed_official	133:d4dda5c437f0	531	assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE));
mbed_official	133:d4dda5c437f0	532	assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR));
mbed_official	133:d4dda5c437f0	533	assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC));
mbed_official	133:d4dda5c437f0	534
mbed_official	133:d4dda5c437f0	535	/* Process locked */
mbed_official	133:d4dda5c437f0	536	__HAL_LOCK(hcan);
mbed_official	133:d4dda5c437f0	537
mbed_official	133:d4dda5c437f0	538	if(hcan->State == HAL_CAN_STATE_BUSY_RX)
mbed_official	133:d4dda5c437f0	539	{
mbed_official	133:d4dda5c437f0	540	/* Change CAN state */
mbed_official	133:d4dda5c437f0	541	hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
mbed_official	133:d4dda5c437f0	542	}
mbed_official	133:d4dda5c437f0	543	else
mbed_official	133:d4dda5c437f0	544	{
mbed_official	133:d4dda5c437f0	545	/* Change CAN state */
mbed_official	133:d4dda5c437f0	546	hcan->State = HAL_CAN_STATE_BUSY_TX;
mbed_official	133:d4dda5c437f0	547	}
mbed_official	133:d4dda5c437f0	548
mbed_official	133:d4dda5c437f0	549	/* Select one empty transmit mailbox */
mbed_official	133:d4dda5c437f0	550	if ((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0)
mbed_official	133:d4dda5c437f0	551	{
mbed_official	133:d4dda5c437f0	552	transmitmailbox = 0;
mbed_official	133:d4dda5c437f0	553	}
mbed_official	133:d4dda5c437f0	554	else if ((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1)
mbed_official	133:d4dda5c437f0	555	{
mbed_official	133:d4dda5c437f0	556	transmitmailbox = 1;
mbed_official	133:d4dda5c437f0	557	}
mbed_official	133:d4dda5c437f0	558	else if ((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2)
mbed_official	133:d4dda5c437f0	559	{
mbed_official	133:d4dda5c437f0	560	transmitmailbox = 2;
mbed_official	133:d4dda5c437f0	561	}
mbed_official	133:d4dda5c437f0	562	else
mbed_official	133:d4dda5c437f0	563	{
mbed_official	133:d4dda5c437f0	564	transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
mbed_official	133:d4dda5c437f0	565	}
mbed_official	133:d4dda5c437f0	566
mbed_official	133:d4dda5c437f0	567	if (transmitmailbox != CAN_TXSTATUS_NOMAILBOX)
mbed_official	133:d4dda5c437f0	568	{
mbed_official	133:d4dda5c437f0	569	/* Set up the Id */
mbed_official	133:d4dda5c437f0	570	hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
mbed_official	133:d4dda5c437f0	571	if (hcan->pTxMsg->IDE == CAN_ID_STD)
mbed_official	133:d4dda5c437f0	572	{
mbed_official	133:d4dda5c437f0	573	assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId));
mbed_official	133:d4dda5c437f0	574	hcan->Instance->sTxMailBox[transmitmailbox].TIR \|= ((hcan->pTxMsg->StdId << 21) \| \
mbed_official	133:d4dda5c437f0	575	hcan->pTxMsg->RTR);
mbed_official	133:d4dda5c437f0	576	}
mbed_official	133:d4dda5c437f0	577	else
mbed_official	133:d4dda5c437f0	578	{
mbed_official	133:d4dda5c437f0	579	assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId));
mbed_official	133:d4dda5c437f0	580	hcan->Instance->sTxMailBox[transmitmailbox].TIR \|= ((hcan->pTxMsg->ExtId << 3) \| \
mbed_official	133:d4dda5c437f0	581	hcan->pTxMsg->IDE \| \
mbed_official	133:d4dda5c437f0	582	hcan->pTxMsg->RTR);
mbed_official	133:d4dda5c437f0	583	}
mbed_official	133:d4dda5c437f0	584
mbed_official	133:d4dda5c437f0	585	/* Set up the DLC */
mbed_official	133:d4dda5c437f0	586	hcan->pTxMsg->DLC &= (uint8_t)0x0000000F;
mbed_official	133:d4dda5c437f0	587	hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
mbed_official	133:d4dda5c437f0	588	hcan->Instance->sTxMailBox[transmitmailbox].TDTR \|= hcan->pTxMsg->DLC;
mbed_official	133:d4dda5c437f0	589
mbed_official	133:d4dda5c437f0	590	/* Set up the data field */
mbed_official	133:d4dda5c437f0	591	hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3] << 24) \|
mbed_official	133:d4dda5c437f0	592	((uint32_t)hcan->pTxMsg->Data[2] << 16) \|
mbed_official	133:d4dda5c437f0	593	((uint32_t)hcan->pTxMsg->Data[1] << 8) \|
mbed_official	133:d4dda5c437f0	594	((uint32_t)hcan->pTxMsg->Data[0]));
mbed_official	133:d4dda5c437f0	595	hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7] << 24) \|
mbed_official	133:d4dda5c437f0	596	((uint32_t)hcan->pTxMsg->Data[6] << 16) \|
mbed_official	133:d4dda5c437f0	597	((uint32_t)hcan->pTxMsg->Data[5] << 8) \|
mbed_official	133:d4dda5c437f0	598	((uint32_t)hcan->pTxMsg->Data[4]));
mbed_official	133:d4dda5c437f0	599	/* Request transmission */
mbed_official	133:d4dda5c437f0	600	hcan->Instance->sTxMailBox[transmitmailbox].TIR \|= CAN_TI0R_TXRQ;
mbed_official	133:d4dda5c437f0	601
mbed_official	133:d4dda5c437f0	602	/* Get timeout */
mbed_official	133:d4dda5c437f0	603	timeout = HAL_GetTick() + Timeout;
mbed_official	133:d4dda5c437f0	604
mbed_official	133:d4dda5c437f0	605	/* Check End of transmission flag */
mbed_official	133:d4dda5c437f0	606	while(!(__HAL_CAN_TRANSMIT_STATUS(hcan, transmitmailbox)))
mbed_official	133:d4dda5c437f0	607	{
mbed_official	133:d4dda5c437f0	608	/* Check for the Timeout */
mbed_official	133:d4dda5c437f0	609	if(Timeout != HAL_MAX_DELAY)
mbed_official	133:d4dda5c437f0	610	{
mbed_official	133:d4dda5c437f0	611	if(HAL_GetTick() >= timeout)
mbed_official	133:d4dda5c437f0	612	{
mbed_official	133:d4dda5c437f0	613	hcan->State = HAL_CAN_STATE_TIMEOUT;
mbed_official	133:d4dda5c437f0	614	/* Process unlocked */
mbed_official	133:d4dda5c437f0	615	__HAL_UNLOCK(hcan);
mbed_official	133:d4dda5c437f0	616	return HAL_TIMEOUT;
mbed_official	133:d4dda5c437f0	617	}
mbed_official	133:d4dda5c437f0	618	}
mbed_official	133:d4dda5c437f0	619	}
mbed_official	133:d4dda5c437f0	620	if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
mbed_official	133:d4dda5c437f0	621	{
mbed_official	133:d4dda5c437f0	622	/* Change CAN state */
mbed_official	133:d4dda5c437f0	623	hcan->State = HAL_CAN_STATE_BUSY_RX;
mbed_official	133:d4dda5c437f0	624
mbed_official	133:d4dda5c437f0	625	/* Process unlocked */
mbed_official	133:d4dda5c437f0	626	__HAL_UNLOCK(hcan);
mbed_official	133:d4dda5c437f0	627	}
mbed_official	133:d4dda5c437f0	628	else
mbed_official	133:d4dda5c437f0	629	{
mbed_official	133:d4dda5c437f0	630	/* Change CAN state */
mbed_official	133:d4dda5c437f0	631	hcan->State = HAL_CAN_STATE_READY;
mbed_official	133:d4dda5c437f0	632
mbed_official	133:d4dda5c437f0	633	/* Process unlocked */
mbed_official	133:d4dda5c437f0	634	__HAL_UNLOCK(hcan);
mbed_official	133:d4dda5c437f0	635	}
mbed_official	133:d4dda5c437f0	636
mbed_official	133:d4dda5c437f0	637	/* Return function status */
mbed_official	133:d4dda5c437f0	638	return HAL_OK;
mbed_official	133:d4dda5c437f0	639	}
mbed_official	133:d4dda5c437f0	640	else
mbed_official	133:d4dda5c437f0	641	{
mbed_official	133:d4dda5c437f0	642	/* Change CAN state */
mbed_official	133:d4dda5c437f0	643	hcan->State = HAL_CAN_STATE_ERROR;
mbed_official	133:d4dda5c437f0	644
mbed_official	133:d4dda5c437f0	645	/* Return function status */
mbed_official	133:d4dda5c437f0	646	return HAL_ERROR;
mbed_official	133:d4dda5c437f0	647	}
mbed_official	133:d4dda5c437f0	648	}
mbed_official	133:d4dda5c437f0	649
mbed_official	133:d4dda5c437f0	650	/**
mbed_official	133:d4dda5c437f0	651	* @brief Initiates and transmits a CAN frame message.
mbed_official	133:d4dda5c437f0	652	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official	133:d4dda5c437f0	653	* the configuration information for the specified CAN.
mbed_official	133:d4dda5c437f0	654	* @retval HAL status
mbed_official	133:d4dda5c437f0	655	*/
mbed_official	133:d4dda5c437f0	656	HAL_StatusTypeDef HAL_CAN_Transmit_IT(CAN_HandleTypeDef* hcan)
mbed_official	133:d4dda5c437f0	657	{
mbed_official	133:d4dda5c437f0	658	uint32_t transmitmailbox = 5;
mbed_official	133:d4dda5c437f0	659	uint32_t tmp = 0;
mbed_official	133:d4dda5c437f0	660
mbed_official	133:d4dda5c437f0	661	/* Check the parameters */
mbed_official	133:d4dda5c437f0	662	assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE));
mbed_official	133:d4dda5c437f0	663	assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR));
mbed_official	133:d4dda5c437f0	664	assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC));
mbed_official	133:d4dda5c437f0	665
mbed_official	133:d4dda5c437f0	666	tmp = hcan->State;
mbed_official	133:d4dda5c437f0	667	if((tmp == HAL_CAN_STATE_READY) \|\| (tmp == HAL_CAN_STATE_BUSY_RX))
mbed_official	133:d4dda5c437f0	668	{
mbed_official	133:d4dda5c437f0	669	/* Process Locked */
mbed_official	133:d4dda5c437f0	670	__HAL_LOCK(hcan);
mbed_official	133:d4dda5c437f0	671
mbed_official	133:d4dda5c437f0	672	/* Select one empty transmit mailbox */
mbed_official	133:d4dda5c437f0	673	if((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0)
mbed_official	133:d4dda5c437f0	674	{
mbed_official	133:d4dda5c437f0	675	transmitmailbox = 0;
mbed_official	133:d4dda5c437f0	676	}
mbed_official	133:d4dda5c437f0	677	else if((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1)
mbed_official	133:d4dda5c437f0	678	{
mbed_official	133:d4dda5c437f0	679	transmitmailbox = 1;
mbed_official	133:d4dda5c437f0	680	}
mbed_official	133:d4dda5c437f0	681	else if((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2)
mbed_official	133:d4dda5c437f0	682	{
mbed_official	133:d4dda5c437f0	683	transmitmailbox = 2;
mbed_official	133:d4dda5c437f0	684	}
mbed_official	133:d4dda5c437f0	685	else
mbed_official	133:d4dda5c437f0	686	{
mbed_official	133:d4dda5c437f0	687	transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
mbed_official	133:d4dda5c437f0	688	}
mbed_official	133:d4dda5c437f0	689
mbed_official	133:d4dda5c437f0	690	if(transmitmailbox != CAN_TXSTATUS_NOMAILBOX)
mbed_official	133:d4dda5c437f0	691	{
mbed_official	133:d4dda5c437f0	692	/* Set up the Id */
mbed_official	133:d4dda5c437f0	693	hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
mbed_official	133:d4dda5c437f0	694	if(hcan->pTxMsg->IDE == CAN_ID_STD)
mbed_official	133:d4dda5c437f0	695	{
mbed_official	133:d4dda5c437f0	696	assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId));
mbed_official	133:d4dda5c437f0	697	hcan->Instance->sTxMailBox[transmitmailbox].TIR \|= ((hcan->pTxMsg->StdId << 21) \| \
mbed_official	133:d4dda5c437f0	698	hcan->pTxMsg->RTR);
mbed_official	133:d4dda5c437f0	699	}
mbed_official	133:d4dda5c437f0	700	else
mbed_official	133:d4dda5c437f0	701	{
mbed_official	133:d4dda5c437f0	702	assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId));
mbed_official	133:d4dda5c437f0	703	hcan->Instance->sTxMailBox[transmitmailbox].TIR \|= ((hcan->pTxMsg->ExtId << 3) \| \
mbed_official	133:d4dda5c437f0	704	hcan->pTxMsg->IDE \| \
mbed_official	133:d4dda5c437f0	705	hcan->pTxMsg->RTR);
mbed_official	133:d4dda5c437f0	706	}
mbed_official	133:d4dda5c437f0	707
mbed_official	133:d4dda5c437f0	708	/* Set up the DLC */
mbed_official	133:d4dda5c437f0	709	hcan->pTxMsg->DLC &= (uint8_t)0x0000000F;
mbed_official	133:d4dda5c437f0	710	hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
mbed_official	133:d4dda5c437f0	711	hcan->Instance->sTxMailBox[transmitmailbox].TDTR \|= hcan->pTxMsg->DLC;
mbed_official	133:d4dda5c437f0	712
mbed_official	133:d4dda5c437f0	713	/* Set up the data field */
mbed_official	133:d4dda5c437f0	714	hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3] << 24) \|
mbed_official	133:d4dda5c437f0	715	((uint32_t)hcan->pTxMsg->Data[2] << 16) \|
mbed_official	133:d4dda5c437f0	716	((uint32_t)hcan->pTxMsg->Data[1] << 8) \|
mbed_official	133:d4dda5c437f0	717	((uint32_t)hcan->pTxMsg->Data[0]));
mbed_official	133:d4dda5c437f0	718	hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7] << 24) \|
mbed_official	133:d4dda5c437f0	719	((uint32_t)hcan->pTxMsg->Data[6] << 16) \|
mbed_official	133:d4dda5c437f0	720	((uint32_t)hcan->pTxMsg->Data[5] << 8) \|
mbed_official	133:d4dda5c437f0	721	((uint32_t)hcan->pTxMsg->Data[4]));
mbed_official	133:d4dda5c437f0	722
mbed_official	133:d4dda5c437f0	723	if(hcan->State == HAL_CAN_STATE_BUSY_RX)
mbed_official	133:d4dda5c437f0	724	{
mbed_official	133:d4dda5c437f0	725	/* Change CAN state */
mbed_official	133:d4dda5c437f0	726	hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
mbed_official	133:d4dda5c437f0	727	}
mbed_official	133:d4dda5c437f0	728	else
mbed_official	133:d4dda5c437f0	729	{
mbed_official	133:d4dda5c437f0	730	/* Change CAN state */
mbed_official	133:d4dda5c437f0	731	hcan->State = HAL_CAN_STATE_BUSY_TX;
mbed_official	133:d4dda5c437f0	732	}
mbed_official	133:d4dda5c437f0	733
mbed_official	133:d4dda5c437f0	734	/* Set CAN error code to none */
mbed_official	133:d4dda5c437f0	735	hcan->ErrorCode = HAL_CAN_ERROR_NONE;
mbed_official	133:d4dda5c437f0	736
mbed_official	133:d4dda5c437f0	737	/* Process Unlocked */
mbed_official	133:d4dda5c437f0	738	__HAL_UNLOCK(hcan);
mbed_official	133:d4dda5c437f0	739
mbed_official	133:d4dda5c437f0	740	/* Enable Error warning Interrupt */
mbed_official	133:d4dda5c437f0	741	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG);
mbed_official	133:d4dda5c437f0	742
mbed_official	133:d4dda5c437f0	743	/* Enable Error passive Interrupt */
mbed_official	133:d4dda5c437f0	744	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_EPV);
mbed_official	133:d4dda5c437f0	745
mbed_official	133:d4dda5c437f0	746	/* Enable Bus-off Interrupt */
mbed_official	133:d4dda5c437f0	747	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_BOF);
mbed_official	133:d4dda5c437f0	748
mbed_official	133:d4dda5c437f0	749	/* Enable Last error code Interrupt */
mbed_official	133:d4dda5c437f0	750	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_LEC);
mbed_official	133:d4dda5c437f0	751
mbed_official	133:d4dda5c437f0	752	/* Enable Error Interrupt */
mbed_official	133:d4dda5c437f0	753	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_ERR);
mbed_official	133:d4dda5c437f0	754
mbed_official	133:d4dda5c437f0	755	/* Enable Transmit mailbox empty Interrupt */
mbed_official	133:d4dda5c437f0	756	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_TME);
mbed_official	133:d4dda5c437f0	757
mbed_official	133:d4dda5c437f0	758	/* Request transmission */
mbed_official	133:d4dda5c437f0	759	hcan->Instance->sTxMailBox[transmitmailbox].TIR \|= CAN_TI0R_TXRQ;
mbed_official	133:d4dda5c437f0	760	}
mbed_official	133:d4dda5c437f0	761	}
mbed_official	133:d4dda5c437f0	762	else
mbed_official	133:d4dda5c437f0	763	{
mbed_official	133:d4dda5c437f0	764	return HAL_BUSY;
mbed_official	133:d4dda5c437f0	765	}
mbed_official	133:d4dda5c437f0	766
mbed_official	133:d4dda5c437f0	767	return HAL_OK;
mbed_official	133:d4dda5c437f0	768	}
mbed_official	133:d4dda5c437f0	769
mbed_official	133:d4dda5c437f0	770	/**
mbed_official	133:d4dda5c437f0	771	* @brief Receives a correct CAN frame.
mbed_official	133:d4dda5c437f0	772	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official	133:d4dda5c437f0	773	* the configuration information for the specified CAN.
mbed_official	242:7074e42da0b2	774	* @param FIFONumber: FIFO Number value
mbed_official	242:7074e42da0b2	775	* @param Timeout: Specify Timeout value
mbed_official	133:d4dda5c437f0	776	* @retval HAL status
mbed_official	133:d4dda5c437f0	777	*/
mbed_official	133:d4dda5c437f0	778	HAL_StatusTypeDef HAL_CAN_Receive(CAN_HandleTypeDef* hcan, uint8_t FIFONumber, uint32_t Timeout)
mbed_official	133:d4dda5c437f0	779	{
mbed_official	133:d4dda5c437f0	780	uint32_t timeout;
mbed_official	133:d4dda5c437f0	781
mbed_official	133:d4dda5c437f0	782	/* Check the parameters */
mbed_official	133:d4dda5c437f0	783	assert_param(IS_CAN_FIFO(FIFONumber));
mbed_official	133:d4dda5c437f0	784
mbed_official	133:d4dda5c437f0	785	/* Process locked */
mbed_official	133:d4dda5c437f0	786	__HAL_LOCK(hcan);
mbed_official	133:d4dda5c437f0	787
mbed_official	133:d4dda5c437f0	788	if(hcan->State == HAL_CAN_STATE_BUSY_TX)
mbed_official	133:d4dda5c437f0	789	{
mbed_official	133:d4dda5c437f0	790	/* Change CAN state */
mbed_official	133:d4dda5c437f0	791	hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
mbed_official	133:d4dda5c437f0	792	}
mbed_official	133:d4dda5c437f0	793	else
mbed_official	133:d4dda5c437f0	794	{
mbed_official	133:d4dda5c437f0	795	/* Change CAN state */
mbed_official	133:d4dda5c437f0	796	hcan->State = HAL_CAN_STATE_BUSY_RX;
mbed_official	133:d4dda5c437f0	797	}
mbed_official	133:d4dda5c437f0	798
mbed_official	133:d4dda5c437f0	799	/* Get timeout */
mbed_official	133:d4dda5c437f0	800	timeout = HAL_GetTick() + Timeout;
mbed_official	133:d4dda5c437f0	801
mbed_official	133:d4dda5c437f0	802	/* Check pending message */
mbed_official	133:d4dda5c437f0	803	while(__HAL_CAN_MSG_PENDING(hcan, FIFONumber) == 0)
mbed_official	133:d4dda5c437f0	804	{
mbed_official	133:d4dda5c437f0	805	/* Check for the Timeout */
mbed_official	133:d4dda5c437f0	806	if(Timeout != HAL_MAX_DELAY)
mbed_official	133:d4dda5c437f0	807	{
mbed_official	133:d4dda5c437f0	808	if(HAL_GetTick() >= timeout)
mbed_official	133:d4dda5c437f0	809	{
mbed_official	133:d4dda5c437f0	810	hcan->State = HAL_CAN_STATE_TIMEOUT;
mbed_official	133:d4dda5c437f0	811	/* Process unlocked */
mbed_official	133:d4dda5c437f0	812	__HAL_UNLOCK(hcan);
mbed_official	133:d4dda5c437f0	813	return HAL_TIMEOUT;
mbed_official	133:d4dda5c437f0	814	}
mbed_official	133:d4dda5c437f0	815	}
mbed_official	133:d4dda5c437f0	816	}
mbed_official	133:d4dda5c437f0	817
mbed_official	133:d4dda5c437f0	818	/* Get the Id */
mbed_official	133:d4dda5c437f0	819	hcan->pRxMsg->IDE = (uint8_t)0x04 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
mbed_official	133:d4dda5c437f0	820	if (hcan->pRxMsg->IDE == CAN_ID_STD)
mbed_official	133:d4dda5c437f0	821	{
mbed_official	133:d4dda5c437f0	822	hcan->pRxMsg->StdId = (uint32_t)0x000007FF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 21);
mbed_official	133:d4dda5c437f0	823	}
mbed_official	133:d4dda5c437f0	824	else
mbed_official	133:d4dda5c437f0	825	{
mbed_official	133:d4dda5c437f0	826	hcan->pRxMsg->ExtId = (uint32_t)0x1FFFFFFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 3);
mbed_official	133:d4dda5c437f0	827	}
mbed_official	133:d4dda5c437f0	828
mbed_official	133:d4dda5c437f0	829	hcan->pRxMsg->RTR = (uint8_t)0x02 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
mbed_official	133:d4dda5c437f0	830	/* Get the DLC */
mbed_official	133:d4dda5c437f0	831	hcan->pRxMsg->DLC = (uint8_t)0x0F & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR;
mbed_official	133:d4dda5c437f0	832	/* Get the FMI */
mbed_official	133:d4dda5c437f0	833	hcan->pRxMsg->FMI = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDTR >> 8);
mbed_official	133:d4dda5c437f0	834	/* Get the data field */
mbed_official	133:d4dda5c437f0	835	hcan->pRxMsg->Data[0] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR;
mbed_official	133:d4dda5c437f0	836	hcan->pRxMsg->Data[1] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 8);
mbed_official	133:d4dda5c437f0	837	hcan->pRxMsg->Data[2] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 16);
mbed_official	133:d4dda5c437f0	838	hcan->pRxMsg->Data[3] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 24);
mbed_official	133:d4dda5c437f0	839	hcan->pRxMsg->Data[4] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR;
mbed_official	133:d4dda5c437f0	840	hcan->pRxMsg->Data[5] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 8);
mbed_official	133:d4dda5c437f0	841	hcan->pRxMsg->Data[6] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 16);
mbed_official	133:d4dda5c437f0	842	hcan->pRxMsg->Data[7] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 24);
mbed_official	133:d4dda5c437f0	843
mbed_official	133:d4dda5c437f0	844	/* Release the FIFO */
mbed_official	133:d4dda5c437f0	845	if(FIFONumber == CAN_FIFO0)
mbed_official	133:d4dda5c437f0	846	{
mbed_official	133:d4dda5c437f0	847	/* Release FIFO0 */
mbed_official	133:d4dda5c437f0	848	__HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0);
mbed_official	133:d4dda5c437f0	849	}
mbed_official	133:d4dda5c437f0	850	else /* FIFONumber == CAN_FIFO1 */
mbed_official	133:d4dda5c437f0	851	{
mbed_official	133:d4dda5c437f0	852	/* Release FIFO1 */
mbed_official	133:d4dda5c437f0	853	__HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1);
mbed_official	133:d4dda5c437f0	854	}
mbed_official	133:d4dda5c437f0	855
mbed_official	133:d4dda5c437f0	856	if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
mbed_official	133:d4dda5c437f0	857	{
mbed_official	133:d4dda5c437f0	858	/* Change CAN state */
mbed_official	133:d4dda5c437f0	859	hcan->State = HAL_CAN_STATE_BUSY_TX;
mbed_official	133:d4dda5c437f0	860
mbed_official	133:d4dda5c437f0	861	/* Process unlocked */
mbed_official	133:d4dda5c437f0	862	__HAL_UNLOCK(hcan);
mbed_official	133:d4dda5c437f0	863	}
mbed_official	133:d4dda5c437f0	864	else
mbed_official	133:d4dda5c437f0	865	{
mbed_official	133:d4dda5c437f0	866	/* Change CAN state */
mbed_official	133:d4dda5c437f0	867	hcan->State = HAL_CAN_STATE_READY;
mbed_official	133:d4dda5c437f0	868
mbed_official	133:d4dda5c437f0	869	/* Process unlocked */
mbed_official	133:d4dda5c437f0	870	__HAL_UNLOCK(hcan);
mbed_official	133:d4dda5c437f0	871	}
mbed_official	133:d4dda5c437f0	872
mbed_official	133:d4dda5c437f0	873	/* Return function status */
mbed_official	133:d4dda5c437f0	874	return HAL_OK;
mbed_official	133:d4dda5c437f0	875	}
mbed_official	133:d4dda5c437f0	876
mbed_official	133:d4dda5c437f0	877	/**
mbed_official	133:d4dda5c437f0	878	* @brief Receives a correct CAN frame.
mbed_official	133:d4dda5c437f0	879	* @param hcan: Pointer to a CAN_HandleTypeDef structure that contains
mbed_official	133:d4dda5c437f0	880	* the configuration information for the specified CAN.
mbed_official	133:d4dda5c437f0	881	* @param FIFONumber: Specify the FIFO number
mbed_official	133:d4dda5c437f0	882	* @retval HAL status
mbed_official	133:d4dda5c437f0	883	*/
mbed_official	133:d4dda5c437f0	884	HAL_StatusTypeDef HAL_CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber)
mbed_official	133:d4dda5c437f0	885	{
mbed_official	133:d4dda5c437f0	886	uint32_t tmp = 0;
mbed_official	133:d4dda5c437f0	887
mbed_official	133:d4dda5c437f0	888	/* Check the parameters */
mbed_official	133:d4dda5c437f0	889	assert_param(IS_CAN_FIFO(FIFONumber));
mbed_official	133:d4dda5c437f0	890
mbed_official	133:d4dda5c437f0	891	tmp = hcan->State;
mbed_official	133:d4dda5c437f0	892	if((tmp == HAL_CAN_STATE_READY) \|\| (tmp == HAL_CAN_STATE_BUSY_TX))
mbed_official	133:d4dda5c437f0	893	{
mbed_official	133:d4dda5c437f0	894	/* Process locked */
mbed_official	133:d4dda5c437f0	895	__HAL_LOCK(hcan);
mbed_official	133:d4dda5c437f0	896
mbed_official	133:d4dda5c437f0	897	if(hcan->State == HAL_CAN_STATE_BUSY_TX)
mbed_official	133:d4dda5c437f0	898	{
mbed_official	133:d4dda5c437f0	899	/* Change CAN state */
mbed_official	133:d4dda5c437f0	900	hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
mbed_official	133:d4dda5c437f0	901	}
mbed_official	133:d4dda5c437f0	902	else
mbed_official	133:d4dda5c437f0	903	{
mbed_official	133:d4dda5c437f0	904	/* Change CAN state */
mbed_official	133:d4dda5c437f0	905	hcan->State = HAL_CAN_STATE_BUSY_RX;
mbed_official	133:d4dda5c437f0	906	}
mbed_official	133:d4dda5c437f0	907
mbed_official	133:d4dda5c437f0	908	/* Set CAN error code to none */
mbed_official	133:d4dda5c437f0	909	hcan->ErrorCode = HAL_CAN_ERROR_NONE;
mbed_official	133:d4dda5c437f0	910
mbed_official	133:d4dda5c437f0	911	/* Enable Error warning Interrupt */
mbed_official	133:d4dda5c437f0	912	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG);
mbed_official	133:d4dda5c437f0	913
mbed_official	133:d4dda5c437f0	914	/* Enable Error passive Interrupt */
mbed_official	133:d4dda5c437f0	915	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_EPV);
mbed_official	133:d4dda5c437f0	916
mbed_official	133:d4dda5c437f0	917	/* Enable Bus-off Interrupt */
mbed_official	133:d4dda5c437f0	918	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_BOF);
mbed_official	133:d4dda5c437f0	919
mbed_official	133:d4dda5c437f0	920	/* Enable Last error code Interrupt */
mbed_official	133:d4dda5c437f0	921	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_LEC);
mbed_official	133:d4dda5c437f0	922
mbed_official	133:d4dda5c437f0	923	/* Enable Error Interrupt */
mbed_official	133:d4dda5c437f0	924	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_ERR);
mbed_official	133:d4dda5c437f0	925
mbed_official	133:d4dda5c437f0	926	/* Process unlocked */
mbed_official	133:d4dda5c437f0	927	__HAL_UNLOCK(hcan);
mbed_official	133:d4dda5c437f0	928
mbed_official	133:d4dda5c437f0	929	if(FIFONumber == CAN_FIFO0)
mbed_official	133:d4dda5c437f0	930	{
mbed_official	133:d4dda5c437f0	931	/* Enable FIFO 0 message pending Interrupt */
mbed_official	133:d4dda5c437f0	932	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_FMP0);
mbed_official	133:d4dda5c437f0	933	}
mbed_official	133:d4dda5c437f0	934	else
mbed_official	133:d4dda5c437f0	935	{
mbed_official	133:d4dda5c437f0	936	/* Enable FIFO 1 message pending Interrupt */
mbed_official	133:d4dda5c437f0	937	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_FMP1);
mbed_official	133:d4dda5c437f0	938	}
mbed_official	133:d4dda5c437f0	939
mbed_official	133:d4dda5c437f0	940	}
mbed_official	133:d4dda5c437f0	941	else
mbed_official	133:d4dda5c437f0	942	{
mbed_official	133:d4dda5c437f0	943	return HAL_BUSY;
mbed_official	133:d4dda5c437f0	944	}
mbed_official	133:d4dda5c437f0	945
mbed_official	133:d4dda5c437f0	946	/* Return function status */
mbed_official	133:d4dda5c437f0	947	return HAL_OK;
mbed_official	133:d4dda5c437f0	948	}
mbed_official	133:d4dda5c437f0	949
mbed_official	133:d4dda5c437f0	950	/**
mbed_official	133:d4dda5c437f0	951	* @brief Enters the Sleep (low power) mode.
mbed_official	133:d4dda5c437f0	952	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official	133:d4dda5c437f0	953	* the configuration information for the specified CAN.
mbed_official	133:d4dda5c437f0	954	* @retval HAL status.
mbed_official	133:d4dda5c437f0	955	*/
mbed_official	133:d4dda5c437f0	956	HAL_StatusTypeDef HAL_CAN_Sleep(CAN_HandleTypeDef* hcan)
mbed_official	133:d4dda5c437f0	957	{
mbed_official	133:d4dda5c437f0	958	uint32_t timeout;
mbed_official	133:d4dda5c437f0	959
mbed_official	133:d4dda5c437f0	960	/* Process locked */
mbed_official	133:d4dda5c437f0	961	__HAL_LOCK(hcan);
mbed_official	133:d4dda5c437f0	962
mbed_official	133:d4dda5c437f0	963	/* Change CAN state */
mbed_official	133:d4dda5c437f0	964	hcan->State = HAL_CAN_STATE_BUSY;
mbed_official	133:d4dda5c437f0	965
mbed_official	133:d4dda5c437f0	966	/* Request Sleep mode */
mbed_official	133:d4dda5c437f0	967	hcan->Instance->MCR = (((hcan->Instance->MCR) & (uint32_t)(~(uint32_t)CAN_MCR_INRQ)) \| CAN_MCR_SLEEP);
mbed_official	133:d4dda5c437f0	968
mbed_official	133:d4dda5c437f0	969	/* Sleep mode status */
mbed_official	133:d4dda5c437f0	970	if ((hcan->Instance->MSR & (CAN_MSR_SLAK\|CAN_MSR_INAK)) != CAN_MSR_SLAK)
mbed_official	133:d4dda5c437f0	971	{
mbed_official	133:d4dda5c437f0	972	/* Return function status */
mbed_official	133:d4dda5c437f0	973	return HAL_ERROR;
mbed_official	133:d4dda5c437f0	974	}
mbed_official	133:d4dda5c437f0	975
mbed_official	133:d4dda5c437f0	976	/* Get timeout */
mbed_official	133:d4dda5c437f0	977	timeout = HAL_GetTick() + 10;
mbed_official	133:d4dda5c437f0	978
mbed_official	133:d4dda5c437f0	979	/* Wait the acknowledge */
mbed_official	133:d4dda5c437f0	980	while((hcan->Instance->MSR & (CAN_MSR_SLAK\|CAN_MSR_INAK)) != CAN_MSR_SLAK)
mbed_official	133:d4dda5c437f0	981	{
mbed_official	133:d4dda5c437f0	982	if(HAL_GetTick() >= timeout)
mbed_official	133:d4dda5c437f0	983	{
mbed_official	133:d4dda5c437f0	984	hcan->State = HAL_CAN_STATE_TIMEOUT;
mbed_official	133:d4dda5c437f0	985	/* Process unlocked */
mbed_official	133:d4dda5c437f0	986	__HAL_UNLOCK(hcan);
mbed_official	133:d4dda5c437f0	987	return HAL_TIMEOUT;
mbed_official	133:d4dda5c437f0	988	}
mbed_official	133:d4dda5c437f0	989	}
mbed_official	133:d4dda5c437f0	990
mbed_official	133:d4dda5c437f0	991	/* Change CAN state */
mbed_official	133:d4dda5c437f0	992	hcan->State = HAL_CAN_STATE_READY;
mbed_official	133:d4dda5c437f0	993
mbed_official	133:d4dda5c437f0	994	/* Process unlocked */
mbed_official	133:d4dda5c437f0	995	__HAL_UNLOCK(hcan);
mbed_official	133:d4dda5c437f0	996
mbed_official	133:d4dda5c437f0	997	/* Return function status */
mbed_official	133:d4dda5c437f0	998	return HAL_OK;
mbed_official	133:d4dda5c437f0	999	}
mbed_official	133:d4dda5c437f0	1000
mbed_official	133:d4dda5c437f0	1001	/**
mbed_official	133:d4dda5c437f0	1002	* @brief Wakes up the CAN peripheral from sleep mode, after that the CAN peripheral
mbed_official	133:d4dda5c437f0	1003	* is in the normal mode.
mbed_official	133:d4dda5c437f0	1004	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official	133:d4dda5c437f0	1005	* the configuration information for the specified CAN.
mbed_official	133:d4dda5c437f0	1006	* @retval HAL status.
mbed_official	133:d4dda5c437f0	1007	*/
mbed_official	133:d4dda5c437f0	1008	HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef* hcan)
mbed_official	133:d4dda5c437f0	1009	{
mbed_official	133:d4dda5c437f0	1010	uint32_t timeout;
mbed_official	133:d4dda5c437f0	1011
mbed_official	133:d4dda5c437f0	1012	/* Process locked */
mbed_official	133:d4dda5c437f0	1013	__HAL_LOCK(hcan);
mbed_official	133:d4dda5c437f0	1014
mbed_official	133:d4dda5c437f0	1015	/* Change CAN state */
mbed_official	133:d4dda5c437f0	1016	hcan->State = HAL_CAN_STATE_BUSY;
mbed_official	133:d4dda5c437f0	1017
mbed_official	133:d4dda5c437f0	1018	/* Wake up request */
mbed_official	133:d4dda5c437f0	1019	hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_SLEEP;
mbed_official	133:d4dda5c437f0	1020
mbed_official	133:d4dda5c437f0	1021	/* Get timeout */
mbed_official	133:d4dda5c437f0	1022	timeout = HAL_GetTick() + 10;
mbed_official	133:d4dda5c437f0	1023
mbed_official	133:d4dda5c437f0	1024	/* Sleep mode status */
mbed_official	133:d4dda5c437f0	1025	while((hcan->Instance->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK)
mbed_official	133:d4dda5c437f0	1026	{
mbed_official	133:d4dda5c437f0	1027	if(HAL_GetTick() >= timeout)
mbed_official	133:d4dda5c437f0	1028	{
mbed_official	133:d4dda5c437f0	1029	hcan->State= HAL_CAN_STATE_TIMEOUT;
mbed_official	133:d4dda5c437f0	1030	/* Process unlocked */
mbed_official	133:d4dda5c437f0	1031	__HAL_UNLOCK(hcan);
mbed_official	133:d4dda5c437f0	1032	return HAL_TIMEOUT;
mbed_official	133:d4dda5c437f0	1033	}
mbed_official	133:d4dda5c437f0	1034	}
mbed_official	133:d4dda5c437f0	1035	if((hcan->Instance->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK)
mbed_official	133:d4dda5c437f0	1036	{
mbed_official	133:d4dda5c437f0	1037	/* Return function status */
mbed_official	133:d4dda5c437f0	1038	return HAL_ERROR;
mbed_official	133:d4dda5c437f0	1039	}
mbed_official	133:d4dda5c437f0	1040
mbed_official	133:d4dda5c437f0	1041	/* Change CAN state */
mbed_official	133:d4dda5c437f0	1042	hcan->State = HAL_CAN_STATE_READY;
mbed_official	133:d4dda5c437f0	1043
mbed_official	133:d4dda5c437f0	1044	/* Process unlocked */
mbed_official	133:d4dda5c437f0	1045	__HAL_UNLOCK(hcan);
mbed_official	133:d4dda5c437f0	1046
mbed_official	133:d4dda5c437f0	1047	/* Return function status */
mbed_official	133:d4dda5c437f0	1048	return HAL_OK;
mbed_official	133:d4dda5c437f0	1049	}
mbed_official	133:d4dda5c437f0	1050
mbed_official	133:d4dda5c437f0	1051	/**
mbed_official	133:d4dda5c437f0	1052	* @brief Handles CAN interrupt request
mbed_official	133:d4dda5c437f0	1053	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official	133:d4dda5c437f0	1054	* the configuration information for the specified CAN.
mbed_official	133:d4dda5c437f0	1055	* @retval None
mbed_official	133:d4dda5c437f0	1056	*/
mbed_official	133:d4dda5c437f0	1057	void HAL_CAN_IRQHandler(CAN_HandleTypeDef* hcan)
mbed_official	133:d4dda5c437f0	1058	{
mbed_official	133:d4dda5c437f0	1059	uint32_t tmp1 = 0, tmp2 = 0, tmp3 = 0;
mbed_official	133:d4dda5c437f0	1060
mbed_official	133:d4dda5c437f0	1061	/* Check End of transmission flag */
mbed_official	133:d4dda5c437f0	1062	if(__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_TME))
mbed_official	133:d4dda5c437f0	1063	{
mbed_official	133:d4dda5c437f0	1064	tmp1 = __HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_0);
mbed_official	133:d4dda5c437f0	1065	tmp2 = __HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_1);
mbed_official	133:d4dda5c437f0	1066	tmp3 = __HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_2);
mbed_official	133:d4dda5c437f0	1067	if(tmp1 \|\| tmp2 \|\| tmp3)
mbed_official	133:d4dda5c437f0	1068	{
mbed_official	133:d4dda5c437f0	1069	/* Call transmit function */
mbed_official	133:d4dda5c437f0	1070	CAN_Transmit_IT(hcan);
mbed_official	133:d4dda5c437f0	1071	}
mbed_official	133:d4dda5c437f0	1072	}
mbed_official	133:d4dda5c437f0	1073
mbed_official	133:d4dda5c437f0	1074	tmp1 = __HAL_CAN_MSG_PENDING(hcan, CAN_FIFO0);
mbed_official	133:d4dda5c437f0	1075	tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP0);
mbed_official	133:d4dda5c437f0	1076	/* Check End of reception flag for FIFO0 */
mbed_official	133:d4dda5c437f0	1077	if((tmp1 != 0) && tmp2)
mbed_official	133:d4dda5c437f0	1078	{
mbed_official	133:d4dda5c437f0	1079	/* Call receive function */
mbed_official	133:d4dda5c437f0	1080	CAN_Receive_IT(hcan, CAN_FIFO0);
mbed_official	133:d4dda5c437f0	1081	}
mbed_official	133:d4dda5c437f0	1082
mbed_official	133:d4dda5c437f0	1083	tmp1 = __HAL_CAN_MSG_PENDING(hcan, CAN_FIFO1);
mbed_official	133:d4dda5c437f0	1084	tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP1);
mbed_official	133:d4dda5c437f0	1085	/* Check End of reception flag for FIFO1 */
mbed_official	133:d4dda5c437f0	1086	if((tmp1 != 0) && tmp2)
mbed_official	133:d4dda5c437f0	1087	{
mbed_official	133:d4dda5c437f0	1088	/* Call receive function */
mbed_official	133:d4dda5c437f0	1089	CAN_Receive_IT(hcan, CAN_FIFO1);
mbed_official	133:d4dda5c437f0	1090	}
mbed_official	133:d4dda5c437f0	1091
mbed_official	133:d4dda5c437f0	1092	tmp1 = __HAL_CAN_GET_FLAG(hcan, CAN_FLAG_EWG);
mbed_official	133:d4dda5c437f0	1093	tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_EWG);
mbed_official	133:d4dda5c437f0	1094	tmp3 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR);
mbed_official	133:d4dda5c437f0	1095	/* Check Error Warning Flag */
mbed_official	133:d4dda5c437f0	1096	if(tmp1 && tmp2 && tmp3)
mbed_official	133:d4dda5c437f0	1097	{
mbed_official	133:d4dda5c437f0	1098	/* Set CAN error code to EWG error */
mbed_official	133:d4dda5c437f0	1099	hcan->ErrorCode \|= HAL_CAN_ERROR_EWG;
mbed_official	133:d4dda5c437f0	1100	/* Clear Error Warning Flag */
mbed_official	133:d4dda5c437f0	1101	__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_EWG);
mbed_official	133:d4dda5c437f0	1102	}
mbed_official	133:d4dda5c437f0	1103
mbed_official	133:d4dda5c437f0	1104	tmp1 = __HAL_CAN_GET_FLAG(hcan, CAN_FLAG_EPV);
mbed_official	133:d4dda5c437f0	1105	tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_EPV);
mbed_official	133:d4dda5c437f0	1106	tmp3 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR);
mbed_official	133:d4dda5c437f0	1107	/* Check Error Passive Flag */
mbed_official	133:d4dda5c437f0	1108	if(tmp1 && tmp2 && tmp3)
mbed_official	133:d4dda5c437f0	1109	{
mbed_official	133:d4dda5c437f0	1110	/* Set CAN error code to EPV error */
mbed_official	133:d4dda5c437f0	1111	hcan->ErrorCode \|= HAL_CAN_ERROR_EPV;
mbed_official	133:d4dda5c437f0	1112	/* Clear Error Passive Flag */
mbed_official	133:d4dda5c437f0	1113	__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_EPV);
mbed_official	133:d4dda5c437f0	1114	}
mbed_official	133:d4dda5c437f0	1115
mbed_official	133:d4dda5c437f0	1116	tmp1 = __HAL_CAN_GET_FLAG(hcan, CAN_FLAG_BOF);
mbed_official	133:d4dda5c437f0	1117	tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_BOF);
mbed_official	133:d4dda5c437f0	1118	tmp3 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR);
mbed_official	133:d4dda5c437f0	1119	/* Check Bus-Off Flag */
mbed_official	133:d4dda5c437f0	1120	if(tmp1 && tmp2 && tmp3)
mbed_official	133:d4dda5c437f0	1121	{
mbed_official	133:d4dda5c437f0	1122	/* Set CAN error code to BOF error */
mbed_official	133:d4dda5c437f0	1123	hcan->ErrorCode \|= HAL_CAN_ERROR_BOF;
mbed_official	133:d4dda5c437f0	1124	/* Clear Bus-Off Flag */
mbed_official	133:d4dda5c437f0	1125	__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_BOF);
mbed_official	133:d4dda5c437f0	1126	}
mbed_official	133:d4dda5c437f0	1127
mbed_official	133:d4dda5c437f0	1128	tmp1 = HAL_IS_BIT_CLR(hcan->Instance->ESR, CAN_ESR_LEC);
mbed_official	133:d4dda5c437f0	1129	tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_LEC);
mbed_official	133:d4dda5c437f0	1130	tmp3 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR);
mbed_official	133:d4dda5c437f0	1131	/* Check Last error code Flag */
mbed_official	133:d4dda5c437f0	1132	if((!tmp1) && tmp2 && tmp3)
mbed_official	133:d4dda5c437f0	1133	{
mbed_official	133:d4dda5c437f0	1134	tmp1 = (hcan->Instance->ESR) & CAN_ESR_LEC;
mbed_official	133:d4dda5c437f0	1135	switch(tmp1)
mbed_official	133:d4dda5c437f0	1136	{
mbed_official	133:d4dda5c437f0	1137	case(CAN_ESR_LEC_0):
mbed_official	133:d4dda5c437f0	1138	/* Set CAN error code to STF error */
mbed_official	133:d4dda5c437f0	1139	hcan->ErrorCode \|= HAL_CAN_ERROR_STF;
mbed_official	133:d4dda5c437f0	1140	break;
mbed_official	133:d4dda5c437f0	1141	case(CAN_ESR_LEC_1):
mbed_official	133:d4dda5c437f0	1142	/* Set CAN error code to FOR error */
mbed_official	133:d4dda5c437f0	1143	hcan->ErrorCode \|= HAL_CAN_ERROR_FOR;
mbed_official	133:d4dda5c437f0	1144	break;
mbed_official	133:d4dda5c437f0	1145	case(CAN_ESR_LEC_1 \| CAN_ESR_LEC_0):
mbed_official	133:d4dda5c437f0	1146	/* Set CAN error code to ACK error */
mbed_official	133:d4dda5c437f0	1147	hcan->ErrorCode \|= HAL_CAN_ERROR_ACK;
mbed_official	133:d4dda5c437f0	1148	break;
mbed_official	133:d4dda5c437f0	1149	case(CAN_ESR_LEC_2):
mbed_official	133:d4dda5c437f0	1150	/* Set CAN error code to BR error */
mbed_official	133:d4dda5c437f0	1151	hcan->ErrorCode \|= HAL_CAN_ERROR_BR;
mbed_official	133:d4dda5c437f0	1152	break;
mbed_official	133:d4dda5c437f0	1153	case(CAN_ESR_LEC_2 \| CAN_ESR_LEC_0):
mbed_official	133:d4dda5c437f0	1154	/* Set CAN error code to BD error */
mbed_official	133:d4dda5c437f0	1155	hcan->ErrorCode \|= HAL_CAN_ERROR_BD;
mbed_official	133:d4dda5c437f0	1156	break;
mbed_official	133:d4dda5c437f0	1157	case(CAN_ESR_LEC_2 \| CAN_ESR_LEC_1):
mbed_official	133:d4dda5c437f0	1158	/* Set CAN error code to CRC error */
mbed_official	133:d4dda5c437f0	1159	hcan->ErrorCode \|= HAL_CAN_ERROR_CRC;
mbed_official	133:d4dda5c437f0	1160	break;
mbed_official	133:d4dda5c437f0	1161	default:
mbed_official	133:d4dda5c437f0	1162	break;
mbed_official	133:d4dda5c437f0	1163	}
mbed_official	133:d4dda5c437f0	1164
mbed_official	133:d4dda5c437f0	1165	/* Clear Last error code Flag */
mbed_official	133:d4dda5c437f0	1166	hcan->Instance->ESR &= ~(CAN_ESR_LEC);
mbed_official	133:d4dda5c437f0	1167	}
mbed_official	133:d4dda5c437f0	1168
mbed_official	133:d4dda5c437f0	1169	/* Call the Error call Back in case of Errors */
mbed_official	133:d4dda5c437f0	1170	if(hcan->ErrorCode != HAL_CAN_ERROR_NONE)
mbed_official	133:d4dda5c437f0	1171	{
mbed_official	133:d4dda5c437f0	1172	/* Set the CAN state ready to be able to start again the process */
mbed_official	133:d4dda5c437f0	1173	hcan->State = HAL_CAN_STATE_READY;
mbed_official	133:d4dda5c437f0	1174	/* Call Error callback function */
mbed_official	133:d4dda5c437f0	1175	HAL_CAN_ErrorCallback(hcan);
mbed_official	133:d4dda5c437f0	1176	}
mbed_official	133:d4dda5c437f0	1177	}
mbed_official	133:d4dda5c437f0	1178
mbed_official	133:d4dda5c437f0	1179	/**
mbed_official	133:d4dda5c437f0	1180	* @brief Transmission complete callback in non blocking mode
mbed_official	133:d4dda5c437f0	1181	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official	133:d4dda5c437f0	1182	* the configuration information for the specified CAN.
mbed_official	133:d4dda5c437f0	1183	* @retval None
mbed_official	133:d4dda5c437f0	1184	*/
mbed_official	133:d4dda5c437f0	1185	__weak void HAL_CAN_TxCpltCallback(CAN_HandleTypeDef* hcan)
mbed_official	133:d4dda5c437f0	1186	{
mbed_official	133:d4dda5c437f0	1187	/* NOTE : This function Should not be modified, when the callback is needed,
mbed_official	133:d4dda5c437f0	1188	the HAL_CAN_TxCpltCallback could be implemented in the user file
mbed_official	133:d4dda5c437f0	1189	*/
mbed_official	133:d4dda5c437f0	1190	}
mbed_official	133:d4dda5c437f0	1191
mbed_official	133:d4dda5c437f0	1192	/**
mbed_official	133:d4dda5c437f0	1193	* @brief Transmission complete callback in non blocking mode
mbed_official	133:d4dda5c437f0	1194	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official	133:d4dda5c437f0	1195	* the configuration information for the specified CAN.
mbed_official	133:d4dda5c437f0	1196	* @retval None
mbed_official	133:d4dda5c437f0	1197	*/
mbed_official	133:d4dda5c437f0	1198	__weak void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan)
mbed_official	133:d4dda5c437f0	1199	{
mbed_official	133:d4dda5c437f0	1200	/* NOTE : This function Should not be modified, when the callback is needed,
mbed_official	133:d4dda5c437f0	1201	the HAL_CAN_RxCpltCallback could be implemented in the user file
mbed_official	133:d4dda5c437f0	1202	*/
mbed_official	133:d4dda5c437f0	1203	}
mbed_official	133:d4dda5c437f0	1204
mbed_official	133:d4dda5c437f0	1205	/**
mbed_official	133:d4dda5c437f0	1206	* @brief Error CAN callback.
mbed_official	133:d4dda5c437f0	1207	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official	133:d4dda5c437f0	1208	* the configuration information for the specified CAN.
mbed_official	133:d4dda5c437f0	1209	* @retval None
mbed_official	133:d4dda5c437f0	1210	*/
mbed_official	133:d4dda5c437f0	1211	__weak void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan)
mbed_official	133:d4dda5c437f0	1212	{
mbed_official	133:d4dda5c437f0	1213	/* NOTE : This function Should not be modified, when the callback is needed,
mbed_official	133:d4dda5c437f0	1214	the HAL_CAN_ErrorCallback could be implemented in the user file
mbed_official	133:d4dda5c437f0	1215	*/
mbed_official	133:d4dda5c437f0	1216	}
mbed_official	133:d4dda5c437f0	1217
mbed_official	133:d4dda5c437f0	1218	/**
mbed_official	133:d4dda5c437f0	1219	* @}
mbed_official	133:d4dda5c437f0	1220	*/
mbed_official	133:d4dda5c437f0	1221
mbed_official	133:d4dda5c437f0	1222	/** @defgroup CAN_Group3 Peripheral State and Error functions
mbed_official	133:d4dda5c437f0	1223	* @brief CAN Peripheral State functions
mbed_official	133:d4dda5c437f0	1224	*
mbed_official	133:d4dda5c437f0	1225	@verbatim
mbed_official	133:d4dda5c437f0	1226	==============================================================================
mbed_official	133:d4dda5c437f0	1227	##### Peripheral State and Error functions #####
mbed_official	133:d4dda5c437f0	1228	==============================================================================
mbed_official	133:d4dda5c437f0	1229	[..]
mbed_official	242:7074e42da0b2	1230	This subsection provides functions allowing to :
mbed_official	133:d4dda5c437f0	1231	(+) Check the CAN state.
mbed_official	133:d4dda5c437f0	1232	(+) Check CAN Errors detected during interrupt process
mbed_official	133:d4dda5c437f0	1233
mbed_official	133:d4dda5c437f0	1234	@endverbatim
mbed_official	133:d4dda5c437f0	1235	* @{
mbed_official	133:d4dda5c437f0	1236	*/
mbed_official	133:d4dda5c437f0	1237
mbed_official	133:d4dda5c437f0	1238	/**
mbed_official	133:d4dda5c437f0	1239	* @brief return the CAN state
mbed_official	133:d4dda5c437f0	1240	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official	133:d4dda5c437f0	1241	* the configuration information for the specified CAN.
mbed_official	133:d4dda5c437f0	1242	* @retval HAL state
mbed_official	133:d4dda5c437f0	1243	*/
mbed_official	133:d4dda5c437f0	1244	HAL_CAN_StateTypeDef HAL_CAN_GetState(CAN_HandleTypeDef* hcan)
mbed_official	133:d4dda5c437f0	1245	{
mbed_official	133:d4dda5c437f0	1246	/* Return CAN state */
mbed_official	133:d4dda5c437f0	1247	return hcan->State;
mbed_official	133:d4dda5c437f0	1248	}
mbed_official	133:d4dda5c437f0	1249
mbed_official	133:d4dda5c437f0	1250	/**
mbed_official	133:d4dda5c437f0	1251	* @brief Return the CAN error code
mbed_official	133:d4dda5c437f0	1252	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official	133:d4dda5c437f0	1253	* the configuration information for the specified CAN.
mbed_official	133:d4dda5c437f0	1254	* @retval CAN Error Code
mbed_official	133:d4dda5c437f0	1255	*/
mbed_official	133:d4dda5c437f0	1256	uint32_t HAL_CAN_GetError(CAN_HandleTypeDef *hcan)
mbed_official	133:d4dda5c437f0	1257	{
mbed_official	133:d4dda5c437f0	1258	return hcan->ErrorCode;
mbed_official	133:d4dda5c437f0	1259	}
mbed_official	133:d4dda5c437f0	1260
mbed_official	133:d4dda5c437f0	1261	/**
mbed_official	133:d4dda5c437f0	1262	* @}
mbed_official	133:d4dda5c437f0	1263	*/
mbed_official	133:d4dda5c437f0	1264	/**
mbed_official	133:d4dda5c437f0	1265	* @brief Initiates and transmits a CAN frame message.
mbed_official	133:d4dda5c437f0	1266	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official	133:d4dda5c437f0	1267	* the configuration information for the specified CAN.
mbed_official	133:d4dda5c437f0	1268	* @retval HAL status
mbed_official	133:d4dda5c437f0	1269	*/
mbed_official	133:d4dda5c437f0	1270	static HAL_StatusTypeDef CAN_Transmit_IT(CAN_HandleTypeDef* hcan)
mbed_official	133:d4dda5c437f0	1271	{
mbed_official	133:d4dda5c437f0	1272	/* Disable Transmit mailbox empty Interrupt */
mbed_official	133:d4dda5c437f0	1273	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_TME);
mbed_official	133:d4dda5c437f0	1274
mbed_official	133:d4dda5c437f0	1275	if(hcan->State == HAL_CAN_STATE_BUSY_TX)
mbed_official	133:d4dda5c437f0	1276	{
mbed_official	133:d4dda5c437f0	1277	/* Disable Error warning Interrupt */
mbed_official	133:d4dda5c437f0	1278	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG);
mbed_official	133:d4dda5c437f0	1279
mbed_official	133:d4dda5c437f0	1280	/* Disable Error passive Interrupt */
mbed_official	133:d4dda5c437f0	1281	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_EPV);
mbed_official	133:d4dda5c437f0	1282
mbed_official	133:d4dda5c437f0	1283	/* Disable Bus-off Interrupt */
mbed_official	133:d4dda5c437f0	1284	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_BOF);
mbed_official	133:d4dda5c437f0	1285
mbed_official	133:d4dda5c437f0	1286	/* Disable Last error code Interrupt */
mbed_official	133:d4dda5c437f0	1287	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_LEC);
mbed_official	133:d4dda5c437f0	1288
mbed_official	133:d4dda5c437f0	1289	/* Disable Error Interrupt */
mbed_official	133:d4dda5c437f0	1290	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_ERR);
mbed_official	133:d4dda5c437f0	1291	}
mbed_official	133:d4dda5c437f0	1292
mbed_official	133:d4dda5c437f0	1293	if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
mbed_official	133:d4dda5c437f0	1294	{
mbed_official	133:d4dda5c437f0	1295	/* Change CAN state */
mbed_official	133:d4dda5c437f0	1296	hcan->State = HAL_CAN_STATE_BUSY_RX;
mbed_official	133:d4dda5c437f0	1297	}
mbed_official	133:d4dda5c437f0	1298	else
mbed_official	133:d4dda5c437f0	1299	{
mbed_official	133:d4dda5c437f0	1300	/* Change CAN state */
mbed_official	133:d4dda5c437f0	1301	hcan->State = HAL_CAN_STATE_READY;
mbed_official	133:d4dda5c437f0	1302	}
mbed_official	133:d4dda5c437f0	1303
mbed_official	133:d4dda5c437f0	1304	/* Transmission complete callback */
mbed_official	133:d4dda5c437f0	1305	HAL_CAN_TxCpltCallback(hcan);
mbed_official	133:d4dda5c437f0	1306
mbed_official	133:d4dda5c437f0	1307	return HAL_OK;
mbed_official	133:d4dda5c437f0	1308	}
mbed_official	133:d4dda5c437f0	1309
mbed_official	133:d4dda5c437f0	1310	/**
mbed_official	133:d4dda5c437f0	1311	* @brief Receives a correct CAN frame.
mbed_official	133:d4dda5c437f0	1312	* @param hcan: Pointer to a CAN_HandleTypeDef structure that contains
mbed_official	133:d4dda5c437f0	1313	* the configuration information for the specified CAN.
mbed_official	133:d4dda5c437f0	1314	* @param FIFONumber: Specify the FIFO number
mbed_official	133:d4dda5c437f0	1315	* @retval HAL status
mbed_official	133:d4dda5c437f0	1316	* @retval None
mbed_official	133:d4dda5c437f0	1317	*/
mbed_official	133:d4dda5c437f0	1318	static HAL_StatusTypeDef CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber)
mbed_official	133:d4dda5c437f0	1319	{
mbed_official	133:d4dda5c437f0	1320	/* Get the Id */
mbed_official	133:d4dda5c437f0	1321	hcan->pRxMsg->IDE = (uint8_t)0x04 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
mbed_official	133:d4dda5c437f0	1322	if (hcan->pRxMsg->IDE == CAN_ID_STD)
mbed_official	133:d4dda5c437f0	1323	{
mbed_official	133:d4dda5c437f0	1324	hcan->pRxMsg->StdId = (uint32_t)0x000007FF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 21);
mbed_official	133:d4dda5c437f0	1325	}
mbed_official	133:d4dda5c437f0	1326	else
mbed_official	133:d4dda5c437f0	1327	{
mbed_official	133:d4dda5c437f0	1328	hcan->pRxMsg->ExtId = (uint32_t)0x1FFFFFFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 3);
mbed_official	133:d4dda5c437f0	1329	}
mbed_official	133:d4dda5c437f0	1330
mbed_official	133:d4dda5c437f0	1331	hcan->pRxMsg->RTR = (uint8_t)0x02 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
mbed_official	133:d4dda5c437f0	1332	/* Get the DLC */
mbed_official	133:d4dda5c437f0	1333	hcan->pRxMsg->DLC = (uint8_t)0x0F & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR;
mbed_official	133:d4dda5c437f0	1334	/* Get the FMI */
mbed_official	133:d4dda5c437f0	1335	hcan->pRxMsg->FMI = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDTR >> 8);
mbed_official	133:d4dda5c437f0	1336	/* Get the data field */
mbed_official	133:d4dda5c437f0	1337	hcan->pRxMsg->Data[0] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR;
mbed_official	133:d4dda5c437f0	1338	hcan->pRxMsg->Data[1] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 8);
mbed_official	133:d4dda5c437f0	1339	hcan->pRxMsg->Data[2] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 16);
mbed_official	133:d4dda5c437f0	1340	hcan->pRxMsg->Data[3] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 24);
mbed_official	133:d4dda5c437f0	1341	hcan->pRxMsg->Data[4] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR;
mbed_official	133:d4dda5c437f0	1342	hcan->pRxMsg->Data[5] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 8);
mbed_official	133:d4dda5c437f0	1343	hcan->pRxMsg->Data[6] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 16);
mbed_official	133:d4dda5c437f0	1344	hcan->pRxMsg->Data[7] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 24);
mbed_official	133:d4dda5c437f0	1345	/* Release the FIFO */
mbed_official	133:d4dda5c437f0	1346	/* Release FIFO0 */
mbed_official	133:d4dda5c437f0	1347	if (FIFONumber == CAN_FIFO0)
mbed_official	133:d4dda5c437f0	1348	{
mbed_official	133:d4dda5c437f0	1349	__HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0);
mbed_official	133:d4dda5c437f0	1350
mbed_official	133:d4dda5c437f0	1351	/* Disable FIFO 0 message pending Interrupt */
mbed_official	133:d4dda5c437f0	1352	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_FMP0);
mbed_official	133:d4dda5c437f0	1353	}
mbed_official	133:d4dda5c437f0	1354	/* Release FIFO1 */
mbed_official	133:d4dda5c437f0	1355	else /* FIFONumber == CAN_FIFO1 */
mbed_official	133:d4dda5c437f0	1356	{
mbed_official	133:d4dda5c437f0	1357	__HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1);
mbed_official	133:d4dda5c437f0	1358
mbed_official	133:d4dda5c437f0	1359	/* Disable FIFO 1 message pending Interrupt */
mbed_official	133:d4dda5c437f0	1360	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_FMP1);
mbed_official	133:d4dda5c437f0	1361	}
mbed_official	133:d4dda5c437f0	1362
mbed_official	133:d4dda5c437f0	1363	if(hcan->State == HAL_CAN_STATE_BUSY_RX)
mbed_official	133:d4dda5c437f0	1364	{
mbed_official	133:d4dda5c437f0	1365	/* Disable Error warning Interrupt */
mbed_official	133:d4dda5c437f0	1366	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG);
mbed_official	133:d4dda5c437f0	1367
mbed_official	133:d4dda5c437f0	1368	/* Disable Error passive Interrupt */
mbed_official	133:d4dda5c437f0	1369	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_EPV);
mbed_official	133:d4dda5c437f0	1370
mbed_official	133:d4dda5c437f0	1371	/* Disable Bus-off Interrupt */
mbed_official	133:d4dda5c437f0	1372	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_BOF);
mbed_official	133:d4dda5c437f0	1373
mbed_official	133:d4dda5c437f0	1374	/* Disable Last error code Interrupt */
mbed_official	133:d4dda5c437f0	1375	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_LEC);
mbed_official	133:d4dda5c437f0	1376
mbed_official	133:d4dda5c437f0	1377	/* Disable Error Interrupt */
mbed_official	133:d4dda5c437f0	1378	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_ERR);
mbed_official	133:d4dda5c437f0	1379	}
mbed_official	133:d4dda5c437f0	1380
mbed_official	133:d4dda5c437f0	1381	if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
mbed_official	133:d4dda5c437f0	1382	{
mbed_official	133:d4dda5c437f0	1383	/* Disable CAN state */
mbed_official	133:d4dda5c437f0	1384	hcan->State = HAL_CAN_STATE_BUSY_TX;
mbed_official	133:d4dda5c437f0	1385	}
mbed_official	133:d4dda5c437f0	1386	else
mbed_official	133:d4dda5c437f0	1387	{
mbed_official	133:d4dda5c437f0	1388	/* Change CAN state */
mbed_official	133:d4dda5c437f0	1389	hcan->State = HAL_CAN_STATE_READY;
mbed_official	133:d4dda5c437f0	1390	}
mbed_official	133:d4dda5c437f0	1391
mbed_official	133:d4dda5c437f0	1392	/* Receive complete callback */
mbed_official	133:d4dda5c437f0	1393	HAL_CAN_RxCpltCallback(hcan);
mbed_official	133:d4dda5c437f0	1394
mbed_official	133:d4dda5c437f0	1395	/* Return function status */
mbed_official	133:d4dda5c437f0	1396	return HAL_OK;
mbed_official	133:d4dda5c437f0	1397	}
mbed_official	133:d4dda5c437f0	1398
mbed_official	133:d4dda5c437f0	1399	/**
mbed_official	133:d4dda5c437f0	1400	* @}
mbed_official	133:d4dda5c437f0	1401	*/
mbed_official	133:d4dda5c437f0	1402	#endif /* STM32F405xx \|\| STM32F415xx \|\| STM32F407xx \|\| STM32F417xx \|\| STM32F427xx \|\| STM32F437xx \|\| STM32F429xx \|\| STM32F439xx */
mbed_official	133:d4dda5c437f0	1403
mbed_official	133:d4dda5c437f0	1404	#endif /* HAL_CAN_MODULE_ENABLED */
mbed_official	133:d4dda5c437f0	1405	/**
mbed_official	133:d4dda5c437f0	1406	* @}
mbed_official	133:d4dda5c437f0	1407	*/
mbed_official	133:d4dda5c437f0	1408
mbed_official	133:d4dda5c437f0	1409	/**
mbed_official	133:d4dda5c437f0	1410	* @}
mbed_official	133:d4dda5c437f0	1411	*/
mbed_official	133:d4dda5c437f0	1412
mbed_official	133:d4dda5c437f0	1413	/********************** (C) COPYRIGHT STMicroelectronics *END OF FILE**/

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Type:	Library
Created:	18 Jul 2014
Imports:	22
Forks:	0
Commits:	251
Dependents:	1
Dependencies:	0
Followers:	3

targets/cmsis/TARGET_STM/TARGET_DISCO_F407VG/stm32f4xx_hal_can.c@242:7074e42da0b2, 2014-06-27 (annotated)

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