1 /**
2 ******************************************************************************
3 * @file stm32f0xx_hal_can.c
4 * @author MCD Application Team
5 * @brief CAN HAL module driver.
6 * This file provides firmware functions to manage the following
7 * functionalities of the Controller Area Network (CAN) peripheral:
8 * + Initialization and de-initialization functions
9 * + Configuration functions
10 * + Control functions
11 * + Interrupts management
12 * + Callbacks functions
13 * + Peripheral State and Error functions
14 *
15 @verbatim
16 ==============================================================================
17 ##### How to use this driver #####
18 ==============================================================================
19 [..]
20 (#) Initialize the CAN low level resources by implementing the
21 HAL_CAN_MspInit():
22 (++) Enable the CAN interface clock using __HAL_RCC_CANx_CLK_ENABLE()
23 (++) Configure CAN pins
24 (+++) Enable the clock for the CAN GPIOs
25 (+++) Configure CAN pins as alternate function open-drain
26 (++) In case of using interrupts (e.g. HAL_CAN_ActivateNotification())
27 (+++) Configure the CAN interrupt priority using
28 HAL_NVIC_SetPriority()
29 (+++) Enable the CAN IRQ handler using HAL_NVIC_EnableIRQ()
30 (+++) In CAN IRQ handler, call HAL_CAN_IRQHandler()
31
32 (#) Initialize the CAN peripheral using HAL_CAN_Init() function. This
33 function resorts to HAL_CAN_MspInit() for low-level initialization.
34
35 (#) Configure the reception filters using the following configuration
36 functions:
37 (++) HAL_CAN_ConfigFilter()
38
39 (#) Start the CAN module using HAL_CAN_Start() function. At this level
40 the node is active on the bus: it receive messages, and can send
41 messages.
42
43 (#) To manage messages transmission, the following Tx control functions
44 can be used:
45 (++) HAL_CAN_AddTxMessage() to request transmission of a new
46 message.
47 (++) HAL_CAN_AbortTxRequest() to abort transmission of a pending
48 message.
49 (++) HAL_CAN_GetTxMailboxesFreeLevel() to get the number of free Tx
50 mailboxes.
51 (++) HAL_CAN_IsTxMessagePending() to check if a message is pending
52 in a Tx mailbox.
53 (++) HAL_CAN_GetTxTimestamp() to get the timestamp of Tx message
54 sent, if time triggered communication mode is enabled.
55
56 (#) When a message is received into the CAN Rx FIFOs, it can be retrieved
57 using the HAL_CAN_GetRxMessage() function. The function
58 HAL_CAN_GetRxFifoFillLevel() allows to know how many Rx message are
59 stored in the Rx Fifo.
60
61 (#) Calling the HAL_CAN_Stop() function stops the CAN module.
62
63 (#) The deinitialization is achieved with HAL_CAN_DeInit() function.
64
65
66 *** Polling mode operation ***
67 ==============================
68 [..]
69 (#) Reception:
70 (++) Monitor reception of message using HAL_CAN_GetRxFifoFillLevel()
71 until at least one message is received.
72 (++) Then get the message using HAL_CAN_GetRxMessage().
73
74 (#) Transmission:
75 (++) Monitor the Tx mailboxes availability until at least one Tx
76 mailbox is free, using HAL_CAN_GetTxMailboxesFreeLevel().
77 (++) Then request transmission of a message using
78 HAL_CAN_AddTxMessage().
79
80
81 *** Interrupt mode operation ***
82 ================================
83 [..]
84 (#) Notifications are activated using HAL_CAN_ActivateNotification()
85 function. Then, the process can be controlled through the
86 available user callbacks: HAL_CAN_xxxCallback(), using same APIs
87 HAL_CAN_GetRxMessage() and HAL_CAN_AddTxMessage().
88
89 (#) Notifications can be deactivated using
90 HAL_CAN_DeactivateNotification() function.
91
92 (#) Special care should be taken for CAN_IT_RX_FIFO0_MSG_PENDING and
93 CAN_IT_RX_FIFO1_MSG_PENDING notifications. These notifications trig
94 the callbacks HAL_CAN_RxFIFO0MsgPendingCallback() and
95 HAL_CAN_RxFIFO1MsgPendingCallback(). User has two possible options
96 here.
97 (++) Directly get the Rx message in the callback, using
98 HAL_CAN_GetRxMessage().
99 (++) Or deactivate the notification in the callback without
100 getting the Rx message. The Rx message can then be got later
101 using HAL_CAN_GetRxMessage(). Once the Rx message have been
102 read, the notification can be activated again.
103
104
105 *** Sleep mode ***
106 ==================
107 [..]
108 (#) The CAN peripheral can be put in sleep mode (low power), using
109 HAL_CAN_RequestSleep(). The sleep mode will be entered as soon as the
110 current CAN activity (transmission or reception of a CAN frame) will
111 be completed.
112
113 (#) A notification can be activated to be informed when the sleep mode
114 will be entered.
115
116 (#) It can be checked if the sleep mode is entered using
117 HAL_CAN_IsSleepActive().
118 Note that the CAN state (accessible from the API HAL_CAN_GetState())
119 is HAL_CAN_STATE_SLEEP_PENDING as soon as the sleep mode request is
120 submitted (the sleep mode is not yet entered), and become
121 HAL_CAN_STATE_SLEEP_ACTIVE when the sleep mode is effective.
122
123 (#) The wake-up from sleep mode can be triggered by two ways:
124 (++) Using HAL_CAN_WakeUp(). When returning from this function,
125 the sleep mode is exited (if return status is HAL_OK).
126 (++) When a start of Rx CAN frame is detected by the CAN peripheral,
127 if automatic wake up mode is enabled.
128
129 *** Callback registration ***
130 =============================================
131
132 The compilation define USE_HAL_CAN_REGISTER_CALLBACKS when set to 1
133 allows the user to configure dynamically the driver callbacks.
134 Use Function HAL_CAN_RegisterCallback() to register an interrupt callback.
135
136 Function HAL_CAN_RegisterCallback() allows to register following callbacks:
137 (+) TxMailbox0CompleteCallback : Tx Mailbox 0 Complete Callback.
138 (+) TxMailbox1CompleteCallback : Tx Mailbox 1 Complete Callback.
139 (+) TxMailbox2CompleteCallback : Tx Mailbox 2 Complete Callback.
140 (+) TxMailbox0AbortCallback : Tx Mailbox 0 Abort Callback.
141 (+) TxMailbox1AbortCallback : Tx Mailbox 1 Abort Callback.
142 (+) TxMailbox2AbortCallback : Tx Mailbox 2 Abort Callback.
143 (+) RxFifo0MsgPendingCallback : Rx Fifo 0 Message Pending Callback.
144 (+) RxFifo0FullCallback : Rx Fifo 0 Full Callback.
145 (+) RxFifo1MsgPendingCallback : Rx Fifo 1 Message Pending Callback.
146 (+) RxFifo1FullCallback : Rx Fifo 1 Full Callback.
147 (+) SleepCallback : Sleep Callback.
148 (+) WakeUpFromRxMsgCallback : Wake Up From Rx Message Callback.
149 (+) ErrorCallback : Error Callback.
150 (+) MspInitCallback : CAN MspInit.
151 (+) MspDeInitCallback : CAN MspDeInit.
152 This function takes as parameters the HAL peripheral handle, the Callback ID
153 and a pointer to the user callback function.
154
155 Use function HAL_CAN_UnRegisterCallback() to reset a callback to the default
156 weak function.
157 HAL_CAN_UnRegisterCallback takes as parameters the HAL peripheral handle,
158 and the Callback ID.
159 This function allows to reset following callbacks:
160 (+) TxMailbox0CompleteCallback : Tx Mailbox 0 Complete Callback.
161 (+) TxMailbox1CompleteCallback : Tx Mailbox 1 Complete Callback.
162 (+) TxMailbox2CompleteCallback : Tx Mailbox 2 Complete Callback.
163 (+) TxMailbox0AbortCallback : Tx Mailbox 0 Abort Callback.
164 (+) TxMailbox1AbortCallback : Tx Mailbox 1 Abort Callback.
165 (+) TxMailbox2AbortCallback : Tx Mailbox 2 Abort Callback.
166 (+) RxFifo0MsgPendingCallback : Rx Fifo 0 Message Pending Callback.
167 (+) RxFifo0FullCallback : Rx Fifo 0 Full Callback.
168 (+) RxFifo1MsgPendingCallback : Rx Fifo 1 Message Pending Callback.
169 (+) RxFifo1FullCallback : Rx Fifo 1 Full Callback.
170 (+) SleepCallback : Sleep Callback.
171 (+) WakeUpFromRxMsgCallback : Wake Up From Rx Message Callback.
172 (+) ErrorCallback : Error Callback.
173 (+) MspInitCallback : CAN MspInit.
174 (+) MspDeInitCallback : CAN MspDeInit.
175
176 By default, after the HAL_CAN_Init() and when the state is HAL_CAN_STATE_RESET,
177 all callbacks are set to the corresponding weak functions:
178 example HAL_CAN_ErrorCallback().
179 Exception done for MspInit and MspDeInit functions that are
180 reset to the legacy weak function in the HAL_CAN_Init()/ HAL_CAN_DeInit() only when
181 these callbacks are null (not registered beforehand).
182 if not, MspInit or MspDeInit are not null, the HAL_CAN_Init()/ HAL_CAN_DeInit()
183 keep and use the user MspInit/MspDeInit callbacks (registered beforehand)
184
185 Callbacks can be registered/unregistered in HAL_CAN_STATE_READY state only.
186 Exception done MspInit/MspDeInit that can be registered/unregistered
187 in HAL_CAN_STATE_READY or HAL_CAN_STATE_RESET state,
188 thus registered (user) MspInit/DeInit callbacks can be used during the Init/DeInit.
189 In that case first register the MspInit/MspDeInit user callbacks
190 using HAL_CAN_RegisterCallback() before calling HAL_CAN_DeInit()
191 or HAL_CAN_Init() function.
192
193 When The compilation define USE_HAL_CAN_REGISTER_CALLBACKS is set to 0 or
194 not defined, the callback registration feature is not available and all callbacks
195 are set to the corresponding weak functions.
196
197 @endverbatim
198 ******************************************************************************
199 * @attention
200 *
201 * <h2><center>© Copyright (c) 2016 STMicroelectronics.
202 * All rights reserved.</center></h2>
203 *
204 * This software component is licensed by ST under BSD 3-Clause license,
205 * the "License"; You may not use this file except in compliance with the
206 * License. You may obtain a copy of the License at:
207 * opensource.org/licenses/BSD-3-Clause
208 *
209 ******************************************************************************
210 */
211
212 /* Includes ------------------------------------------------------------------*/
213 #include "stm32f0xx_hal.h"
214
215 /** @addtogroup STM32F0xx_HAL_Driver
216 * @{
217 */
218
219 #if defined(CAN)
220
221 /** @defgroup CAN CAN
222 * @brief CAN driver modules
223 * @{
224 */
225
226 #ifdef HAL_CAN_MODULE_ENABLED
227
228 #ifdef HAL_CAN_LEGACY_MODULE_ENABLED
229 #error "The CAN driver cannot be used with its legacy, Please enable only one CAN module at once"
230 #endif
231
232 /* Private typedef -----------------------------------------------------------*/
233 /* Private define ------------------------------------------------------------*/
234 /** @defgroup CAN_Private_Constants CAN Private Constants
235 * @{
236 */
237 #define CAN_TIMEOUT_VALUE 10U
238 /**
239 * @}
240 */
241 /* Private macro -------------------------------------------------------------*/
242 /* Private variables ---------------------------------------------------------*/
243 /* Private function prototypes -----------------------------------------------*/
244 /* Exported functions --------------------------------------------------------*/
245
246 /** @defgroup CAN_Exported_Functions CAN Exported Functions
247 * @{
248 */
249
250 /** @defgroup CAN_Exported_Functions_Group1 Initialization and de-initialization functions
251 * @brief Initialization and Configuration functions
252 *
253 @verbatim
254 ==============================================================================
255 ##### Initialization and de-initialization functions #####
256 ==============================================================================
257 [..] This section provides functions allowing to:
258 (+) HAL_CAN_Init : Initialize and configure the CAN.
259 (+) HAL_CAN_DeInit : De-initialize the CAN.
260 (+) HAL_CAN_MspInit : Initialize the CAN MSP.
261 (+) HAL_CAN_MspDeInit : DeInitialize the CAN MSP.
262
263 @endverbatim
264 * @{
265 */
266
267 /**
268 * @brief Initializes the CAN peripheral according to the specified
269 * parameters in the CAN_InitStruct.
270 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
271 * the configuration information for the specified CAN.
272 * @retval HAL status
273 */
HAL_CAN_Init(CAN_HandleTypeDef * hcan)274 HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef *hcan)
275 {
276 uint32_t tickstart;
277
278 /* Check CAN handle */
279 if (hcan == NULL)
280 {
281 return HAL_ERROR;
282 }
283
284 /* Check the parameters */
285 assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
286 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TimeTriggeredMode));
287 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.AutoBusOff));
288 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.AutoWakeUp));
289 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.AutoRetransmission));
290 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.ReceiveFifoLocked));
291 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TransmitFifoPriority));
292 assert_param(IS_CAN_MODE(hcan->Init.Mode));
293 assert_param(IS_CAN_SJW(hcan->Init.SyncJumpWidth));
294 assert_param(IS_CAN_BS1(hcan->Init.TimeSeg1));
295 assert_param(IS_CAN_BS2(hcan->Init.TimeSeg2));
296 assert_param(IS_CAN_PRESCALER(hcan->Init.Prescaler));
297
298 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
299 if (hcan->State == HAL_CAN_STATE_RESET)
300 {
301 /* Reset callbacks to legacy functions */
302 hcan->RxFifo0MsgPendingCallback = HAL_CAN_RxFifo0MsgPendingCallback; /* Legacy weak RxFifo0MsgPendingCallback */
303 hcan->RxFifo0FullCallback = HAL_CAN_RxFifo0FullCallback; /* Legacy weak RxFifo0FullCallback */
304 hcan->RxFifo1MsgPendingCallback = HAL_CAN_RxFifo1MsgPendingCallback; /* Legacy weak RxFifo1MsgPendingCallback */
305 hcan->RxFifo1FullCallback = HAL_CAN_RxFifo1FullCallback; /* Legacy weak RxFifo1FullCallback */
306 hcan->TxMailbox0CompleteCallback = HAL_CAN_TxMailbox0CompleteCallback; /* Legacy weak TxMailbox0CompleteCallback */
307 hcan->TxMailbox1CompleteCallback = HAL_CAN_TxMailbox1CompleteCallback; /* Legacy weak TxMailbox1CompleteCallback */
308 hcan->TxMailbox2CompleteCallback = HAL_CAN_TxMailbox2CompleteCallback; /* Legacy weak TxMailbox2CompleteCallback */
309 hcan->TxMailbox0AbortCallback = HAL_CAN_TxMailbox0AbortCallback; /* Legacy weak TxMailbox0AbortCallback */
310 hcan->TxMailbox1AbortCallback = HAL_CAN_TxMailbox1AbortCallback; /* Legacy weak TxMailbox1AbortCallback */
311 hcan->TxMailbox2AbortCallback = HAL_CAN_TxMailbox2AbortCallback; /* Legacy weak TxMailbox2AbortCallback */
312 hcan->SleepCallback = HAL_CAN_SleepCallback; /* Legacy weak SleepCallback */
313 hcan->WakeUpFromRxMsgCallback = HAL_CAN_WakeUpFromRxMsgCallback; /* Legacy weak WakeUpFromRxMsgCallback */
314 hcan->ErrorCallback = HAL_CAN_ErrorCallback; /* Legacy weak ErrorCallback */
315
316 if (hcan->MspInitCallback == NULL)
317 {
318 hcan->MspInitCallback = HAL_CAN_MspInit; /* Legacy weak MspInit */
319 }
320
321 /* Init the low level hardware: CLOCK, NVIC */
322 hcan->MspInitCallback(hcan);
323 }
324
325 #else
326 if (hcan->State == HAL_CAN_STATE_RESET)
327 {
328 /* Init the low level hardware: CLOCK, NVIC */
329 HAL_CAN_MspInit(hcan);
330 }
331 #endif /* (USE_HAL_CAN_REGISTER_CALLBACKS) */
332
333 /* Request initialisation */
334 SET_BIT(hcan->Instance->MCR, CAN_MCR_INRQ);
335
336 /* Get tick */
337 tickstart = HAL_GetTick();
338
339 /* Wait initialisation acknowledge */
340 while ((hcan->Instance->MSR & CAN_MSR_INAK) == 0U)
341 {
342 if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
343 {
344 /* Update error code */
345 hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;
346
347 /* Change CAN state */
348 hcan->State = HAL_CAN_STATE_ERROR;
349
350 return HAL_ERROR;
351 }
352 }
353
354 /* Exit from sleep mode */
355 CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
356
357 /* Get tick */
358 tickstart = HAL_GetTick();
359
360 /* Check Sleep mode leave acknowledge */
361 while ((hcan->Instance->MSR & CAN_MSR_SLAK) != 0U)
362 {
363 if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
364 {
365 /* Update error code */
366 hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;
367
368 /* Change CAN state */
369 hcan->State = HAL_CAN_STATE_ERROR;
370
371 return HAL_ERROR;
372 }
373 }
374
375 /* Set the time triggered communication mode */
376 if (hcan->Init.TimeTriggeredMode == ENABLE)
377 {
378 SET_BIT(hcan->Instance->MCR, CAN_MCR_TTCM);
379 }
380 else
381 {
382 CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_TTCM);
383 }
384
385 /* Set the automatic bus-off management */
386 if (hcan->Init.AutoBusOff == ENABLE)
387 {
388 SET_BIT(hcan->Instance->MCR, CAN_MCR_ABOM);
389 }
390 else
391 {
392 CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_ABOM);
393 }
394
395 /* Set the automatic wake-up mode */
396 if (hcan->Init.AutoWakeUp == ENABLE)
397 {
398 SET_BIT(hcan->Instance->MCR, CAN_MCR_AWUM);
399 }
400 else
401 {
402 CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_AWUM);
403 }
404
405 /* Set the automatic retransmission */
406 if (hcan->Init.AutoRetransmission == ENABLE)
407 {
408 CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_NART);
409 }
410 else
411 {
412 SET_BIT(hcan->Instance->MCR, CAN_MCR_NART);
413 }
414
415 /* Set the receive FIFO locked mode */
416 if (hcan->Init.ReceiveFifoLocked == ENABLE)
417 {
418 SET_BIT(hcan->Instance->MCR, CAN_MCR_RFLM);
419 }
420 else
421 {
422 CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_RFLM);
423 }
424
425 /* Set the transmit FIFO priority */
426 if (hcan->Init.TransmitFifoPriority == ENABLE)
427 {
428 SET_BIT(hcan->Instance->MCR, CAN_MCR_TXFP);
429 }
430 else
431 {
432 CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_TXFP);
433 }
434
435 /* Set the bit timing register */
436 WRITE_REG(hcan->Instance->BTR, (uint32_t)(hcan->Init.Mode |
437 hcan->Init.SyncJumpWidth |
438 hcan->Init.TimeSeg1 |
439 hcan->Init.TimeSeg2 |
440 (hcan->Init.Prescaler - 1U)));
441
442 /* Initialize the error code */
443 hcan->ErrorCode = HAL_CAN_ERROR_NONE;
444
445 /* Initialize the CAN state */
446 hcan->State = HAL_CAN_STATE_READY;
447
448 /* Return function status */
449 return HAL_OK;
450 }
451
452 /**
453 * @brief Deinitializes the CAN peripheral registers to their default
454 * reset values.
455 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
456 * the configuration information for the specified CAN.
457 * @retval HAL status
458 */
HAL_CAN_DeInit(CAN_HandleTypeDef * hcan)459 HAL_StatusTypeDef HAL_CAN_DeInit(CAN_HandleTypeDef *hcan)
460 {
461 /* Check CAN handle */
462 if (hcan == NULL)
463 {
464 return HAL_ERROR;
465 }
466
467 /* Check the parameters */
468 assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
469
470 /* Stop the CAN module */
471 (void)HAL_CAN_Stop(hcan);
472
473 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
474 if (hcan->MspDeInitCallback == NULL)
475 {
476 hcan->MspDeInitCallback = HAL_CAN_MspDeInit; /* Legacy weak MspDeInit */
477 }
478
479 /* DeInit the low level hardware: CLOCK, NVIC */
480 hcan->MspDeInitCallback(hcan);
481
482 #else
483 /* DeInit the low level hardware: CLOCK, NVIC */
484 HAL_CAN_MspDeInit(hcan);
485 #endif /* (USE_HAL_CAN_REGISTER_CALLBACKS) */
486
487 /* Reset the CAN peripheral */
488 SET_BIT(hcan->Instance->MCR, CAN_MCR_RESET);
489
490 /* Reset the CAN ErrorCode */
491 hcan->ErrorCode = HAL_CAN_ERROR_NONE;
492
493 /* Change CAN state */
494 hcan->State = HAL_CAN_STATE_RESET;
495
496 /* Return function status */
497 return HAL_OK;
498 }
499
500 /**
501 * @brief Initializes the CAN MSP.
502 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
503 * the configuration information for the specified CAN.
504 * @retval None
505 */
HAL_CAN_MspInit(CAN_HandleTypeDef * hcan)506 __weak void HAL_CAN_MspInit(CAN_HandleTypeDef *hcan)
507 {
508 /* Prevent unused argument(s) compilation warning */
509 UNUSED(hcan);
510
511 /* NOTE : This function Should not be modified, when the callback is needed,
512 the HAL_CAN_MspInit could be implemented in the user file
513 */
514 }
515
516 /**
517 * @brief DeInitializes the CAN MSP.
518 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
519 * the configuration information for the specified CAN.
520 * @retval None
521 */
HAL_CAN_MspDeInit(CAN_HandleTypeDef * hcan)522 __weak void HAL_CAN_MspDeInit(CAN_HandleTypeDef *hcan)
523 {
524 /* Prevent unused argument(s) compilation warning */
525 UNUSED(hcan);
526
527 /* NOTE : This function Should not be modified, when the callback is needed,
528 the HAL_CAN_MspDeInit could be implemented in the user file
529 */
530 }
531
532 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
533 /**
534 * @brief Register a CAN CallBack.
535 * To be used instead of the weak predefined callback
536 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
537 * the configuration information for CAN module
538 * @param CallbackID ID of the callback to be registered
539 * This parameter can be one of the following values:
540 * @arg @ref HAL_CAN_TX_MAILBOX0_COMPLETE_CB_ID Tx Mailbox 0 Complete callback ID
541 * @arg @ref HAL_CAN_TX_MAILBOX1_COMPLETE_CB_ID Tx Mailbox 1 Complete callback ID
542 * @arg @ref HAL_CAN_TX_MAILBOX2_COMPLETE_CB_ID Tx Mailbox 2 Complete callback ID
543 * @arg @ref HAL_CAN_TX_MAILBOX0_ABORT_CB_ID Tx Mailbox 0 Abort callback ID
544 * @arg @ref HAL_CAN_TX_MAILBOX1_ABORT_CB_ID Tx Mailbox 1 Abort callback ID
545 * @arg @ref HAL_CAN_TX_MAILBOX2_ABORT_CB_ID Tx Mailbox 2 Abort callback ID
546 * @arg @ref HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID Rx Fifo 0 message pending callback ID
547 * @arg @ref HAL_CAN_RX_FIFO0_FULL_CB_ID Rx Fifo 0 full callback ID
548 * @arg @ref HAL_CAN_RX_FIFO1_MSG_PENDING_CB_ID Rx Fifo 1 message pending callback ID
549 * @arg @ref HAL_CAN_RX_FIFO1_FULL_CB_ID Rx Fifo 1 full callback ID
550 * @arg @ref HAL_CAN_SLEEP_CB_ID Sleep callback ID
551 * @arg @ref HAL_CAN_WAKEUP_FROM_RX_MSG_CB_ID Wake Up from Rx message callback ID
552 * @arg @ref HAL_CAN_ERROR_CB_ID Error callback ID
553 * @arg @ref HAL_CAN_MSPINIT_CB_ID MspInit callback ID
554 * @arg @ref HAL_CAN_MSPDEINIT_CB_ID MspDeInit callback ID
555 * @param pCallback pointer to the Callback function
556 * @retval HAL status
557 */
HAL_CAN_RegisterCallback(CAN_HandleTypeDef * hcan,HAL_CAN_CallbackIDTypeDef CallbackID,void (* pCallback)(CAN_HandleTypeDef * _hcan))558 HAL_StatusTypeDef HAL_CAN_RegisterCallback(CAN_HandleTypeDef *hcan, HAL_CAN_CallbackIDTypeDef CallbackID, void (* pCallback)(CAN_HandleTypeDef *_hcan))
559 {
560 HAL_StatusTypeDef status = HAL_OK;
561
562 if (pCallback == NULL)
563 {
564 /* Update the error code */
565 hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
566
567 return HAL_ERROR;
568 }
569
570 if (hcan->State == HAL_CAN_STATE_READY)
571 {
572 switch (CallbackID)
573 {
574 case HAL_CAN_TX_MAILBOX0_COMPLETE_CB_ID :
575 hcan->TxMailbox0CompleteCallback = pCallback;
576 break;
577
578 case HAL_CAN_TX_MAILBOX1_COMPLETE_CB_ID :
579 hcan->TxMailbox1CompleteCallback = pCallback;
580 break;
581
582 case HAL_CAN_TX_MAILBOX2_COMPLETE_CB_ID :
583 hcan->TxMailbox2CompleteCallback = pCallback;
584 break;
585
586 case HAL_CAN_TX_MAILBOX0_ABORT_CB_ID :
587 hcan->TxMailbox0AbortCallback = pCallback;
588 break;
589
590 case HAL_CAN_TX_MAILBOX1_ABORT_CB_ID :
591 hcan->TxMailbox1AbortCallback = pCallback;
592 break;
593
594 case HAL_CAN_TX_MAILBOX2_ABORT_CB_ID :
595 hcan->TxMailbox2AbortCallback = pCallback;
596 break;
597
598 case HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID :
599 hcan->RxFifo0MsgPendingCallback = pCallback;
600 break;
601
602 case HAL_CAN_RX_FIFO0_FULL_CB_ID :
603 hcan->RxFifo0FullCallback = pCallback;
604 break;
605
606 case HAL_CAN_RX_FIFO1_MSG_PENDING_CB_ID :
607 hcan->RxFifo1MsgPendingCallback = pCallback;
608 break;
609
610 case HAL_CAN_RX_FIFO1_FULL_CB_ID :
611 hcan->RxFifo1FullCallback = pCallback;
612 break;
613
614 case HAL_CAN_SLEEP_CB_ID :
615 hcan->SleepCallback = pCallback;
616 break;
617
618 case HAL_CAN_WAKEUP_FROM_RX_MSG_CB_ID :
619 hcan->WakeUpFromRxMsgCallback = pCallback;
620 break;
621
622 case HAL_CAN_ERROR_CB_ID :
623 hcan->ErrorCallback = pCallback;
624 break;
625
626 case HAL_CAN_MSPINIT_CB_ID :
627 hcan->MspInitCallback = pCallback;
628 break;
629
630 case HAL_CAN_MSPDEINIT_CB_ID :
631 hcan->MspDeInitCallback = pCallback;
632 break;
633
634 default :
635 /* Update the error code */
636 hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
637
638 /* Return error status */
639 status = HAL_ERROR;
640 break;
641 }
642 }
643 else if (hcan->State == HAL_CAN_STATE_RESET)
644 {
645 switch (CallbackID)
646 {
647 case HAL_CAN_MSPINIT_CB_ID :
648 hcan->MspInitCallback = pCallback;
649 break;
650
651 case HAL_CAN_MSPDEINIT_CB_ID :
652 hcan->MspDeInitCallback = pCallback;
653 break;
654
655 default :
656 /* Update the error code */
657 hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
658
659 /* Return error status */
660 status = HAL_ERROR;
661 break;
662 }
663 }
664 else
665 {
666 /* Update the error code */
667 hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
668
669 /* Return error status */
670 status = HAL_ERROR;
671 }
672
673 return status;
674 }
675
676 /**
677 * @brief Unregister a CAN CallBack.
678 * CAN callabck is redirected to the weak predefined callback
679 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
680 * the configuration information for CAN module
681 * @param CallbackID ID of the callback to be unregistered
682 * This parameter can be one of the following values:
683 * @arg @ref HAL_CAN_TX_MAILBOX0_COMPLETE_CB_ID Tx Mailbox 0 Complete callback ID
684 * @arg @ref HAL_CAN_TX_MAILBOX1_COMPLETE_CB_ID Tx Mailbox 1 Complete callback ID
685 * @arg @ref HAL_CAN_TX_MAILBOX2_COMPLETE_CB_ID Tx Mailbox 2 Complete callback ID
686 * @arg @ref HAL_CAN_TX_MAILBOX0_ABORT_CB_ID Tx Mailbox 0 Abort callback ID
687 * @arg @ref HAL_CAN_TX_MAILBOX1_ABORT_CB_ID Tx Mailbox 1 Abort callback ID
688 * @arg @ref HAL_CAN_TX_MAILBOX2_ABORT_CB_ID Tx Mailbox 2 Abort callback ID
689 * @arg @ref HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID Rx Fifo 0 message pending callback ID
690 * @arg @ref HAL_CAN_RX_FIFO0_FULL_CB_ID Rx Fifo 0 full callback ID
691 * @arg @ref HAL_CAN_RX_FIFO1_MSG_PENDING_CB_ID Rx Fifo 1 message pending callback ID
692 * @arg @ref HAL_CAN_RX_FIFO1_FULL_CB_ID Rx Fifo 1 full callback ID
693 * @arg @ref HAL_CAN_SLEEP_CB_ID Sleep callback ID
694 * @arg @ref HAL_CAN_WAKEUP_FROM_RX_MSG_CB_ID Wake Up from Rx message callback ID
695 * @arg @ref HAL_CAN_ERROR_CB_ID Error callback ID
696 * @arg @ref HAL_CAN_MSPINIT_CB_ID MspInit callback ID
697 * @arg @ref HAL_CAN_MSPDEINIT_CB_ID MspDeInit callback ID
698 * @retval HAL status
699 */
HAL_CAN_UnRegisterCallback(CAN_HandleTypeDef * hcan,HAL_CAN_CallbackIDTypeDef CallbackID)700 HAL_StatusTypeDef HAL_CAN_UnRegisterCallback(CAN_HandleTypeDef *hcan, HAL_CAN_CallbackIDTypeDef CallbackID)
701 {
702 HAL_StatusTypeDef status = HAL_OK;
703
704 if (hcan->State == HAL_CAN_STATE_READY)
705 {
706 switch (CallbackID)
707 {
708 case HAL_CAN_TX_MAILBOX0_COMPLETE_CB_ID :
709 hcan->TxMailbox0CompleteCallback = HAL_CAN_TxMailbox0CompleteCallback;
710 break;
711
712 case HAL_CAN_TX_MAILBOX1_COMPLETE_CB_ID :
713 hcan->TxMailbox1CompleteCallback = HAL_CAN_TxMailbox1CompleteCallback;
714 break;
715
716 case HAL_CAN_TX_MAILBOX2_COMPLETE_CB_ID :
717 hcan->TxMailbox2CompleteCallback = HAL_CAN_TxMailbox2CompleteCallback;
718 break;
719
720 case HAL_CAN_TX_MAILBOX0_ABORT_CB_ID :
721 hcan->TxMailbox0AbortCallback = HAL_CAN_TxMailbox0AbortCallback;
722 break;
723
724 case HAL_CAN_TX_MAILBOX1_ABORT_CB_ID :
725 hcan->TxMailbox1AbortCallback = HAL_CAN_TxMailbox1AbortCallback;
726 break;
727
728 case HAL_CAN_TX_MAILBOX2_ABORT_CB_ID :
729 hcan->TxMailbox2AbortCallback = HAL_CAN_TxMailbox2AbortCallback;
730 break;
731
732 case HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID :
733 hcan->RxFifo0MsgPendingCallback = HAL_CAN_RxFifo0MsgPendingCallback;
734 break;
735
736 case HAL_CAN_RX_FIFO0_FULL_CB_ID :
737 hcan->RxFifo0FullCallback = HAL_CAN_RxFifo0FullCallback;
738 break;
739
740 case HAL_CAN_RX_FIFO1_MSG_PENDING_CB_ID :
741 hcan->RxFifo1MsgPendingCallback = HAL_CAN_RxFifo1MsgPendingCallback;
742 break;
743
744 case HAL_CAN_RX_FIFO1_FULL_CB_ID :
745 hcan->RxFifo1FullCallback = HAL_CAN_RxFifo1FullCallback;
746 break;
747
748 case HAL_CAN_SLEEP_CB_ID :
749 hcan->SleepCallback = HAL_CAN_SleepCallback;
750 break;
751
752 case HAL_CAN_WAKEUP_FROM_RX_MSG_CB_ID :
753 hcan->WakeUpFromRxMsgCallback = HAL_CAN_WakeUpFromRxMsgCallback;
754 break;
755
756 case HAL_CAN_ERROR_CB_ID :
757 hcan->ErrorCallback = HAL_CAN_ErrorCallback;
758 break;
759
760 case HAL_CAN_MSPINIT_CB_ID :
761 hcan->MspInitCallback = HAL_CAN_MspInit;
762 break;
763
764 case HAL_CAN_MSPDEINIT_CB_ID :
765 hcan->MspDeInitCallback = HAL_CAN_MspDeInit;
766 break;
767
768 default :
769 /* Update the error code */
770 hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
771
772 /* Return error status */
773 status = HAL_ERROR;
774 break;
775 }
776 }
777 else if (hcan->State == HAL_CAN_STATE_RESET)
778 {
779 switch (CallbackID)
780 {
781 case HAL_CAN_MSPINIT_CB_ID :
782 hcan->MspInitCallback = HAL_CAN_MspInit;
783 break;
784
785 case HAL_CAN_MSPDEINIT_CB_ID :
786 hcan->MspDeInitCallback = HAL_CAN_MspDeInit;
787 break;
788
789 default :
790 /* Update the error code */
791 hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
792
793 /* Return error status */
794 status = HAL_ERROR;
795 break;
796 }
797 }
798 else
799 {
800 /* Update the error code */
801 hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
802
803 /* Return error status */
804 status = HAL_ERROR;
805 }
806
807 return status;
808 }
809 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
810
811 /**
812 * @}
813 */
814
815 /** @defgroup CAN_Exported_Functions_Group2 Configuration functions
816 * @brief Configuration functions.
817 *
818 @verbatim
819 ==============================================================================
820 ##### Configuration functions #####
821 ==============================================================================
822 [..] This section provides functions allowing to:
823 (+) HAL_CAN_ConfigFilter : Configure the CAN reception filters
824
825 @endverbatim
826 * @{
827 */
828
829 /**
830 * @brief Configures the CAN reception filter according to the specified
831 * parameters in the CAN_FilterInitStruct.
832 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
833 * the configuration information for the specified CAN.
834 * @param sFilterConfig pointer to a CAN_FilterTypeDef structure that
835 * contains the filter configuration information.
836 * @retval None
837 */
HAL_CAN_ConfigFilter(CAN_HandleTypeDef * hcan,CAN_FilterTypeDef * sFilterConfig)838 HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef *hcan, CAN_FilterTypeDef *sFilterConfig)
839 {
840 uint32_t filternbrbitpos;
841 CAN_TypeDef *can_ip = hcan->Instance;
842 HAL_CAN_StateTypeDef state = hcan->State;
843
844 if ((state == HAL_CAN_STATE_READY) ||
845 (state == HAL_CAN_STATE_LISTENING))
846 {
847 /* Check the parameters */
848 assert_param(IS_CAN_FILTER_ID_HALFWORD(sFilterConfig->FilterIdHigh));
849 assert_param(IS_CAN_FILTER_ID_HALFWORD(sFilterConfig->FilterIdLow));
850 assert_param(IS_CAN_FILTER_ID_HALFWORD(sFilterConfig->FilterMaskIdHigh));
851 assert_param(IS_CAN_FILTER_ID_HALFWORD(sFilterConfig->FilterMaskIdLow));
852 assert_param(IS_CAN_FILTER_MODE(sFilterConfig->FilterMode));
853 assert_param(IS_CAN_FILTER_SCALE(sFilterConfig->FilterScale));
854 assert_param(IS_CAN_FILTER_FIFO(sFilterConfig->FilterFIFOAssignment));
855 assert_param(IS_CAN_FILTER_ACTIVATION(sFilterConfig->FilterActivation));
856
857 /* CAN is single instance with 14 dedicated filters banks */
858
859 /* Check the parameters */
860 assert_param(IS_CAN_FILTER_BANK_SINGLE(sFilterConfig->FilterBank));
861
862 /* Initialisation mode for the filter */
863 SET_BIT(can_ip->FMR, CAN_FMR_FINIT);
864
865 /* Convert filter number into bit position */
866 filternbrbitpos = (uint32_t)1 << (sFilterConfig->FilterBank & 0x1FU);
867
868 /* Filter Deactivation */
869 CLEAR_BIT(can_ip->FA1R, filternbrbitpos);
870
871 /* Filter Scale */
872 if (sFilterConfig->FilterScale == CAN_FILTERSCALE_16BIT)
873 {
874 /* 16-bit scale for the filter */
875 CLEAR_BIT(can_ip->FS1R, filternbrbitpos);
876
877 /* First 16-bit identifier and First 16-bit mask */
878 /* Or First 16-bit identifier and Second 16-bit identifier */
879 can_ip->sFilterRegister[sFilterConfig->FilterBank].FR1 =
880 ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdLow) << 16U) |
881 (0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdLow);
882
883 /* Second 16-bit identifier and Second 16-bit mask */
884 /* Or Third 16-bit identifier and Fourth 16-bit identifier */
885 can_ip->sFilterRegister[sFilterConfig->FilterBank].FR2 =
886 ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16U) |
887 (0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdHigh);
888 }
889
890 if (sFilterConfig->FilterScale == CAN_FILTERSCALE_32BIT)
891 {
892 /* 32-bit scale for the filter */
893 SET_BIT(can_ip->FS1R, filternbrbitpos);
894
895 /* 32-bit identifier or First 32-bit identifier */
896 can_ip->sFilterRegister[sFilterConfig->FilterBank].FR1 =
897 ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdHigh) << 16U) |
898 (0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdLow);
899
900 /* 32-bit mask or Second 32-bit identifier */
901 can_ip->sFilterRegister[sFilterConfig->FilterBank].FR2 =
902 ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16U) |
903 (0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdLow);
904 }
905
906 /* Filter Mode */
907 if (sFilterConfig->FilterMode == CAN_FILTERMODE_IDMASK)
908 {
909 /* Id/Mask mode for the filter*/
910 CLEAR_BIT(can_ip->FM1R, filternbrbitpos);
911 }
912 else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */
913 {
914 /* Identifier list mode for the filter*/
915 SET_BIT(can_ip->FM1R, filternbrbitpos);
916 }
917
918 /* Filter FIFO assignment */
919 if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO0)
920 {
921 /* FIFO 0 assignation for the filter */
922 CLEAR_BIT(can_ip->FFA1R, filternbrbitpos);
923 }
924 else
925 {
926 /* FIFO 1 assignation for the filter */
927 SET_BIT(can_ip->FFA1R, filternbrbitpos);
928 }
929
930 /* Filter activation */
931 if (sFilterConfig->FilterActivation == CAN_FILTER_ENABLE)
932 {
933 SET_BIT(can_ip->FA1R, filternbrbitpos);
934 }
935
936 /* Leave the initialisation mode for the filter */
937 CLEAR_BIT(can_ip->FMR, CAN_FMR_FINIT);
938
939 /* Return function status */
940 return HAL_OK;
941 }
942 else
943 {
944 /* Update error code */
945 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
946
947 return HAL_ERROR;
948 }
949 }
950
951 /**
952 * @}
953 */
954
955 /** @defgroup CAN_Exported_Functions_Group3 Control functions
956 * @brief Control functions
957 *
958 @verbatim
959 ==============================================================================
960 ##### Control functions #####
961 ==============================================================================
962 [..] This section provides functions allowing to:
963 (+) HAL_CAN_Start : Start the CAN module
964 (+) HAL_CAN_Stop : Stop the CAN module
965 (+) HAL_CAN_RequestSleep : Request sleep mode entry.
966 (+) HAL_CAN_WakeUp : Wake up from sleep mode.
967 (+) HAL_CAN_IsSleepActive : Check is sleep mode is active.
968 (+) HAL_CAN_AddTxMessage : Add a message to the Tx mailboxes
969 and activate the corresponding
970 transmission request
971 (+) HAL_CAN_AbortTxRequest : Abort transmission request
972 (+) HAL_CAN_GetTxMailboxesFreeLevel : Return Tx mailboxes free level
973 (+) HAL_CAN_IsTxMessagePending : Check if a transmission request is
974 pending on the selected Tx mailbox
975 (+) HAL_CAN_GetRxMessage : Get a CAN frame from the Rx FIFO
976 (+) HAL_CAN_GetRxFifoFillLevel : Return Rx FIFO fill level
977
978 @endverbatim
979 * @{
980 */
981
982 /**
983 * @brief Start the CAN module.
984 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
985 * the configuration information for the specified CAN.
986 * @retval HAL status
987 */
HAL_CAN_Start(CAN_HandleTypeDef * hcan)988 HAL_StatusTypeDef HAL_CAN_Start(CAN_HandleTypeDef *hcan)
989 {
990 uint32_t tickstart;
991
992 if (hcan->State == HAL_CAN_STATE_READY)
993 {
994 /* Change CAN peripheral state */
995 hcan->State = HAL_CAN_STATE_LISTENING;
996
997 /* Request leave initialisation */
998 CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_INRQ);
999
1000 /* Get tick */
1001 tickstart = HAL_GetTick();
1002
1003 /* Wait the acknowledge */
1004 while ((hcan->Instance->MSR & CAN_MSR_INAK) != 0U)
1005 {
1006 /* Check for the Timeout */
1007 if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
1008 {
1009 /* Update error code */
1010 hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;
1011
1012 /* Change CAN state */
1013 hcan->State = HAL_CAN_STATE_ERROR;
1014
1015 return HAL_ERROR;
1016 }
1017 }
1018
1019 /* Reset the CAN ErrorCode */
1020 hcan->ErrorCode = HAL_CAN_ERROR_NONE;
1021
1022 /* Return function status */
1023 return HAL_OK;
1024 }
1025 else
1026 {
1027 /* Update error code */
1028 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_READY;
1029
1030 return HAL_ERROR;
1031 }
1032 }
1033
1034 /**
1035 * @brief Stop the CAN module and enable access to configuration registers.
1036 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
1037 * the configuration information for the specified CAN.
1038 * @retval HAL status
1039 */
HAL_CAN_Stop(CAN_HandleTypeDef * hcan)1040 HAL_StatusTypeDef HAL_CAN_Stop(CAN_HandleTypeDef *hcan)
1041 {
1042 uint32_t tickstart;
1043
1044 if (hcan->State == HAL_CAN_STATE_LISTENING)
1045 {
1046 /* Request initialisation */
1047 SET_BIT(hcan->Instance->MCR, CAN_MCR_INRQ);
1048
1049 /* Get tick */
1050 tickstart = HAL_GetTick();
1051
1052 /* Wait the acknowledge */
1053 while ((hcan->Instance->MSR & CAN_MSR_INAK) == 0U)
1054 {
1055 /* Check for the Timeout */
1056 if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
1057 {
1058 /* Update error code */
1059 hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;
1060
1061 /* Change CAN state */
1062 hcan->State = HAL_CAN_STATE_ERROR;
1063
1064 return HAL_ERROR;
1065 }
1066 }
1067
1068 /* Exit from sleep mode */
1069 CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
1070
1071 /* Change CAN peripheral state */
1072 hcan->State = HAL_CAN_STATE_READY;
1073
1074 /* Return function status */
1075 return HAL_OK;
1076 }
1077 else
1078 {
1079 /* Update error code */
1080 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_STARTED;
1081
1082 return HAL_ERROR;
1083 }
1084 }
1085
1086 /**
1087 * @brief Request the sleep mode (low power) entry.
1088 * When returning from this function, Sleep mode will be entered
1089 * as soon as the current CAN activity (transmission or reception
1090 * of a CAN frame) has been completed.
1091 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
1092 * the configuration information for the specified CAN.
1093 * @retval HAL status.
1094 */
HAL_CAN_RequestSleep(CAN_HandleTypeDef * hcan)1095 HAL_StatusTypeDef HAL_CAN_RequestSleep(CAN_HandleTypeDef *hcan)
1096 {
1097 HAL_CAN_StateTypeDef state = hcan->State;
1098
1099 if ((state == HAL_CAN_STATE_READY) ||
1100 (state == HAL_CAN_STATE_LISTENING))
1101 {
1102 /* Request Sleep mode */
1103 SET_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
1104
1105 /* Return function status */
1106 return HAL_OK;
1107 }
1108 else
1109 {
1110 /* Update error code */
1111 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
1112
1113 /* Return function status */
1114 return HAL_ERROR;
1115 }
1116 }
1117
1118 /**
1119 * @brief Wake up from sleep mode.
1120 * When returning with HAL_OK status from this function, Sleep mode
1121 * is exited.
1122 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
1123 * the configuration information for the specified CAN.
1124 * @retval HAL status.
1125 */
HAL_CAN_WakeUp(CAN_HandleTypeDef * hcan)1126 HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef *hcan)
1127 {
1128 __IO uint32_t count = 0;
1129 uint32_t timeout = 1000000U;
1130 HAL_CAN_StateTypeDef state = hcan->State;
1131
1132 if ((state == HAL_CAN_STATE_READY) ||
1133 (state == HAL_CAN_STATE_LISTENING))
1134 {
1135 /* Wake up request */
1136 CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
1137
1138 /* Wait sleep mode is exited */
1139 do
1140 {
1141 /* Increment counter */
1142 count++;
1143
1144 /* Check if timeout is reached */
1145 if (count > timeout)
1146 {
1147 /* Update error code */
1148 hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;
1149
1150 return HAL_ERROR;
1151 }
1152 }
1153 while ((hcan->Instance->MSR & CAN_MSR_SLAK) != 0U);
1154
1155 /* Return function status */
1156 return HAL_OK;
1157 }
1158 else
1159 {
1160 /* Update error code */
1161 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
1162
1163 return HAL_ERROR;
1164 }
1165 }
1166
1167 /**
1168 * @brief Check is sleep mode is active.
1169 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
1170 * the configuration information for the specified CAN.
1171 * @retval Status
1172 * - 0 : Sleep mode is not active.
1173 * - 1 : Sleep mode is active.
1174 */
HAL_CAN_IsSleepActive(CAN_HandleTypeDef * hcan)1175 uint32_t HAL_CAN_IsSleepActive(CAN_HandleTypeDef *hcan)
1176 {
1177 uint32_t status = 0U;
1178 HAL_CAN_StateTypeDef state = hcan->State;
1179
1180 if ((state == HAL_CAN_STATE_READY) ||
1181 (state == HAL_CAN_STATE_LISTENING))
1182 {
1183 /* Check Sleep mode */
1184 if ((hcan->Instance->MSR & CAN_MSR_SLAK) != 0U)
1185 {
1186 status = 1U;
1187 }
1188 }
1189
1190 /* Return function status */
1191 return status;
1192 }
1193
1194 /**
1195 * @brief Add a message to the first free Tx mailbox and activate the
1196 * corresponding transmission request.
1197 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
1198 * the configuration information for the specified CAN.
1199 * @param pHeader pointer to a CAN_TxHeaderTypeDef structure.
1200 * @param aData array containing the payload of the Tx frame.
1201 * @param pTxMailbox pointer to a variable where the function will return
1202 * the TxMailbox used to store the Tx message.
1203 * This parameter can be a value of @arg CAN_Tx_Mailboxes.
1204 * @retval HAL status
1205 */
HAL_CAN_AddTxMessage(CAN_HandleTypeDef * hcan,CAN_TxHeaderTypeDef * pHeader,uint8_t aData[],uint32_t * pTxMailbox)1206 HAL_StatusTypeDef HAL_CAN_AddTxMessage(CAN_HandleTypeDef *hcan, CAN_TxHeaderTypeDef *pHeader, uint8_t aData[], uint32_t *pTxMailbox)
1207 {
1208 uint32_t transmitmailbox;
1209 HAL_CAN_StateTypeDef state = hcan->State;
1210 uint32_t tsr = READ_REG(hcan->Instance->TSR);
1211
1212 /* Check the parameters */
1213 assert_param(IS_CAN_IDTYPE(pHeader->IDE));
1214 assert_param(IS_CAN_RTR(pHeader->RTR));
1215 assert_param(IS_CAN_DLC(pHeader->DLC));
1216 if (pHeader->IDE == CAN_ID_STD)
1217 {
1218 assert_param(IS_CAN_STDID(pHeader->StdId));
1219 }
1220 else
1221 {
1222 assert_param(IS_CAN_EXTID(pHeader->ExtId));
1223 }
1224 assert_param(IS_FUNCTIONAL_STATE(pHeader->TransmitGlobalTime));
1225
1226 if ((state == HAL_CAN_STATE_READY) ||
1227 (state == HAL_CAN_STATE_LISTENING))
1228 {
1229 /* Check that all the Tx mailboxes are not full */
1230 if (((tsr & CAN_TSR_TME0) != 0U) ||
1231 ((tsr & CAN_TSR_TME1) != 0U) ||
1232 ((tsr & CAN_TSR_TME2) != 0U))
1233 {
1234 /* Select an empty transmit mailbox */
1235 transmitmailbox = (tsr & CAN_TSR_CODE) >> CAN_TSR_CODE_Pos;
1236
1237 /* Check transmit mailbox value */
1238 if (transmitmailbox > 2U)
1239 {
1240 /* Update error code */
1241 hcan->ErrorCode |= HAL_CAN_ERROR_INTERNAL;
1242
1243 return HAL_ERROR;
1244 }
1245
1246 /* Store the Tx mailbox */
1247 *pTxMailbox = (uint32_t)1 << transmitmailbox;
1248
1249 /* Set up the Id */
1250 if (pHeader->IDE == CAN_ID_STD)
1251 {
1252 hcan->Instance->sTxMailBox[transmitmailbox].TIR = ((pHeader->StdId << CAN_TI0R_STID_Pos) |
1253 pHeader->RTR);
1254 }
1255 else
1256 {
1257 hcan->Instance->sTxMailBox[transmitmailbox].TIR = ((pHeader->ExtId << CAN_TI0R_EXID_Pos) |
1258 pHeader->IDE |
1259 pHeader->RTR);
1260 }
1261
1262 /* Set up the DLC */
1263 hcan->Instance->sTxMailBox[transmitmailbox].TDTR = (pHeader->DLC);
1264
1265 /* Set up the Transmit Global Time mode */
1266 if (pHeader->TransmitGlobalTime == ENABLE)
1267 {
1268 SET_BIT(hcan->Instance->sTxMailBox[transmitmailbox].TDTR, CAN_TDT0R_TGT);
1269 }
1270
1271 /* Set up the data field */
1272 WRITE_REG(hcan->Instance->sTxMailBox[transmitmailbox].TDHR,
1273 ((uint32_t)aData[7] << CAN_TDH0R_DATA7_Pos) |
1274 ((uint32_t)aData[6] << CAN_TDH0R_DATA6_Pos) |
1275 ((uint32_t)aData[5] << CAN_TDH0R_DATA5_Pos) |
1276 ((uint32_t)aData[4] << CAN_TDH0R_DATA4_Pos));
1277 WRITE_REG(hcan->Instance->sTxMailBox[transmitmailbox].TDLR,
1278 ((uint32_t)aData[3] << CAN_TDL0R_DATA3_Pos) |
1279 ((uint32_t)aData[2] << CAN_TDL0R_DATA2_Pos) |
1280 ((uint32_t)aData[1] << CAN_TDL0R_DATA1_Pos) |
1281 ((uint32_t)aData[0] << CAN_TDL0R_DATA0_Pos));
1282
1283 /* Request transmission */
1284 SET_BIT(hcan->Instance->sTxMailBox[transmitmailbox].TIR, CAN_TI0R_TXRQ);
1285
1286 /* Return function status */
1287 return HAL_OK;
1288 }
1289 else
1290 {
1291 /* Update error code */
1292 hcan->ErrorCode |= HAL_CAN_ERROR_PARAM;
1293
1294 return HAL_ERROR;
1295 }
1296 }
1297 else
1298 {
1299 /* Update error code */
1300 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
1301
1302 return HAL_ERROR;
1303 }
1304 }
1305
1306 /**
1307 * @brief Abort transmission requests
1308 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
1309 * the configuration information for the specified CAN.
1310 * @param TxMailboxes List of the Tx Mailboxes to abort.
1311 * This parameter can be any combination of @arg CAN_Tx_Mailboxes.
1312 * @retval HAL status
1313 */
HAL_CAN_AbortTxRequest(CAN_HandleTypeDef * hcan,uint32_t TxMailboxes)1314 HAL_StatusTypeDef HAL_CAN_AbortTxRequest(CAN_HandleTypeDef *hcan, uint32_t TxMailboxes)
1315 {
1316 HAL_CAN_StateTypeDef state = hcan->State;
1317
1318 /* Check function parameters */
1319 assert_param(IS_CAN_TX_MAILBOX_LIST(TxMailboxes));
1320
1321 if ((state == HAL_CAN_STATE_READY) ||
1322 (state == HAL_CAN_STATE_LISTENING))
1323 {
1324 /* Check Tx Mailbox 0 */
1325 if ((TxMailboxes & CAN_TX_MAILBOX0) != 0U)
1326 {
1327 /* Add cancellation request for Tx Mailbox 0 */
1328 SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ0);
1329 }
1330
1331 /* Check Tx Mailbox 1 */
1332 if ((TxMailboxes & CAN_TX_MAILBOX1) != 0U)
1333 {
1334 /* Add cancellation request for Tx Mailbox 1 */
1335 SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ1);
1336 }
1337
1338 /* Check Tx Mailbox 2 */
1339 if ((TxMailboxes & CAN_TX_MAILBOX2) != 0U)
1340 {
1341 /* Add cancellation request for Tx Mailbox 2 */
1342 SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ2);
1343 }
1344
1345 /* Return function status */
1346 return HAL_OK;
1347 }
1348 else
1349 {
1350 /* Update error code */
1351 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
1352
1353 return HAL_ERROR;
1354 }
1355 }
1356
1357 /**
1358 * @brief Return Tx Mailboxes free level: number of free Tx Mailboxes.
1359 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
1360 * the configuration information for the specified CAN.
1361 * @retval Number of free Tx Mailboxes.
1362 */
HAL_CAN_GetTxMailboxesFreeLevel(CAN_HandleTypeDef * hcan)1363 uint32_t HAL_CAN_GetTxMailboxesFreeLevel(CAN_HandleTypeDef *hcan)
1364 {
1365 uint32_t freelevel = 0U;
1366 HAL_CAN_StateTypeDef state = hcan->State;
1367
1368 if ((state == HAL_CAN_STATE_READY) ||
1369 (state == HAL_CAN_STATE_LISTENING))
1370 {
1371 /* Check Tx Mailbox 0 status */
1372 if ((hcan->Instance->TSR & CAN_TSR_TME0) != 0U)
1373 {
1374 freelevel++;
1375 }
1376
1377 /* Check Tx Mailbox 1 status */
1378 if ((hcan->Instance->TSR & CAN_TSR_TME1) != 0U)
1379 {
1380 freelevel++;
1381 }
1382
1383 /* Check Tx Mailbox 2 status */
1384 if ((hcan->Instance->TSR & CAN_TSR_TME2) != 0U)
1385 {
1386 freelevel++;
1387 }
1388 }
1389
1390 /* Return Tx Mailboxes free level */
1391 return freelevel;
1392 }
1393
1394 /**
1395 * @brief Check if a transmission request is pending on the selected Tx
1396 * Mailboxes.
1397 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
1398 * the configuration information for the specified CAN.
1399 * @param TxMailboxes List of Tx Mailboxes to check.
1400 * This parameter can be any combination of @arg CAN_Tx_Mailboxes.
1401 * @retval Status
1402 * - 0 : No pending transmission request on any selected Tx Mailboxes.
1403 * - 1 : Pending transmission request on at least one of the selected
1404 * Tx Mailbox.
1405 */
HAL_CAN_IsTxMessagePending(CAN_HandleTypeDef * hcan,uint32_t TxMailboxes)1406 uint32_t HAL_CAN_IsTxMessagePending(CAN_HandleTypeDef *hcan, uint32_t TxMailboxes)
1407 {
1408 uint32_t status = 0U;
1409 HAL_CAN_StateTypeDef state = hcan->State;
1410
1411 /* Check function parameters */
1412 assert_param(IS_CAN_TX_MAILBOX_LIST(TxMailboxes));
1413
1414 if ((state == HAL_CAN_STATE_READY) ||
1415 (state == HAL_CAN_STATE_LISTENING))
1416 {
1417 /* Check pending transmission request on the selected Tx Mailboxes */
1418 if ((hcan->Instance->TSR & (TxMailboxes << CAN_TSR_TME0_Pos)) != (TxMailboxes << CAN_TSR_TME0_Pos))
1419 {
1420 status = 1U;
1421 }
1422 }
1423
1424 /* Return status */
1425 return status;
1426 }
1427
1428 /**
1429 * @brief Return timestamp of Tx message sent, if time triggered communication
1430 mode is enabled.
1431 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
1432 * the configuration information for the specified CAN.
1433 * @param TxMailbox Tx Mailbox where the timestamp of message sent will be
1434 * read.
1435 * This parameter can be one value of @arg CAN_Tx_Mailboxes.
1436 * @retval Timestamp of message sent from Tx Mailbox.
1437 */
HAL_CAN_GetTxTimestamp(CAN_HandleTypeDef * hcan,uint32_t TxMailbox)1438 uint32_t HAL_CAN_GetTxTimestamp(CAN_HandleTypeDef *hcan, uint32_t TxMailbox)
1439 {
1440 uint32_t timestamp = 0U;
1441 uint32_t transmitmailbox;
1442 HAL_CAN_StateTypeDef state = hcan->State;
1443
1444 /* Check function parameters */
1445 assert_param(IS_CAN_TX_MAILBOX(TxMailbox));
1446
1447 if ((state == HAL_CAN_STATE_READY) ||
1448 (state == HAL_CAN_STATE_LISTENING))
1449 {
1450 /* Select the Tx mailbox */
1451 /* Select the Tx mailbox */
1452 if (TxMailbox == CAN_TX_MAILBOX0)
1453 {
1454 transmitmailbox = 0U;
1455 }
1456 else if (TxMailbox == CAN_TX_MAILBOX1)
1457 {
1458 transmitmailbox = 1U;
1459 }
1460 else /* (TxMailbox == CAN_TX_MAILBOX2) */
1461 {
1462 transmitmailbox = 2U;
1463 }
1464
1465 /* Get timestamp */
1466 timestamp = (hcan->Instance->sTxMailBox[transmitmailbox].TDTR & CAN_TDT0R_TIME) >> CAN_TDT0R_TIME_Pos;
1467 }
1468
1469 /* Return the timestamp */
1470 return timestamp;
1471 }
1472
1473 /**
1474 * @brief Get an CAN frame from the Rx FIFO zone into the message RAM.
1475 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
1476 * the configuration information for the specified CAN.
1477 * @param RxFifo Fifo number of the received message to be read.
1478 * This parameter can be a value of @arg CAN_receive_FIFO_number.
1479 * @param pHeader pointer to a CAN_RxHeaderTypeDef structure where the header
1480 * of the Rx frame will be stored.
1481 * @param aData array where the payload of the Rx frame will be stored.
1482 * @retval HAL status
1483 */
HAL_CAN_GetRxMessage(CAN_HandleTypeDef * hcan,uint32_t RxFifo,CAN_RxHeaderTypeDef * pHeader,uint8_t aData[])1484 HAL_StatusTypeDef HAL_CAN_GetRxMessage(CAN_HandleTypeDef *hcan, uint32_t RxFifo, CAN_RxHeaderTypeDef *pHeader, uint8_t aData[])
1485 {
1486 HAL_CAN_StateTypeDef state = hcan->State;
1487
1488 assert_param(IS_CAN_RX_FIFO(RxFifo));
1489
1490 if ((state == HAL_CAN_STATE_READY) ||
1491 (state == HAL_CAN_STATE_LISTENING))
1492 {
1493 /* Check the Rx FIFO */
1494 if (RxFifo == CAN_RX_FIFO0) /* Rx element is assigned to Rx FIFO 0 */
1495 {
1496 /* Check that the Rx FIFO 0 is not empty */
1497 if ((hcan->Instance->RF0R & CAN_RF0R_FMP0) == 0U)
1498 {
1499 /* Update error code */
1500 hcan->ErrorCode |= HAL_CAN_ERROR_PARAM;
1501
1502 return HAL_ERROR;
1503 }
1504 }
1505 else /* Rx element is assigned to Rx FIFO 1 */
1506 {
1507 /* Check that the Rx FIFO 1 is not empty */
1508 if ((hcan->Instance->RF1R & CAN_RF1R_FMP1) == 0U)
1509 {
1510 /* Update error code */
1511 hcan->ErrorCode |= HAL_CAN_ERROR_PARAM;
1512
1513 return HAL_ERROR;
1514 }
1515 }
1516
1517 /* Get the header */
1518 pHeader->IDE = CAN_RI0R_IDE & hcan->Instance->sFIFOMailBox[RxFifo].RIR;
1519 if (pHeader->IDE == CAN_ID_STD)
1520 {
1521 pHeader->StdId = (CAN_RI0R_STID & hcan->Instance->sFIFOMailBox[RxFifo].RIR) >> CAN_TI0R_STID_Pos;
1522 }
1523 else
1524 {
1525 pHeader->ExtId = ((CAN_RI0R_EXID | CAN_RI0R_STID) & hcan->Instance->sFIFOMailBox[RxFifo].RIR) >> CAN_RI0R_EXID_Pos;
1526 }
1527 pHeader->RTR = (CAN_RI0R_RTR & hcan->Instance->sFIFOMailBox[RxFifo].RIR);
1528 pHeader->DLC = (CAN_RDT0R_DLC & hcan->Instance->sFIFOMailBox[RxFifo].RDTR) >> CAN_RDT0R_DLC_Pos;
1529 pHeader->FilterMatchIndex = (CAN_RDT0R_FMI & hcan->Instance->sFIFOMailBox[RxFifo].RDTR) >> CAN_RDT0R_FMI_Pos;
1530 pHeader->Timestamp = (CAN_RDT0R_TIME & hcan->Instance->sFIFOMailBox[RxFifo].RDTR) >> CAN_RDT0R_TIME_Pos;
1531
1532 /* Get the data */
1533 aData[0] = (uint8_t)((CAN_RDL0R_DATA0 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA0_Pos);
1534 aData[1] = (uint8_t)((CAN_RDL0R_DATA1 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA1_Pos);
1535 aData[2] = (uint8_t)((CAN_RDL0R_DATA2 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA2_Pos);
1536 aData[3] = (uint8_t)((CAN_RDL0R_DATA3 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA3_Pos);
1537 aData[4] = (uint8_t)((CAN_RDH0R_DATA4 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA4_Pos);
1538 aData[5] = (uint8_t)((CAN_RDH0R_DATA5 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA5_Pos);
1539 aData[6] = (uint8_t)((CAN_RDH0R_DATA6 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA6_Pos);
1540 aData[7] = (uint8_t)((CAN_RDH0R_DATA7 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA7_Pos);
1541
1542 /* Release the FIFO */
1543 if (RxFifo == CAN_RX_FIFO0) /* Rx element is assigned to Rx FIFO 0 */
1544 {
1545 /* Release RX FIFO 0 */
1546 SET_BIT(hcan->Instance->RF0R, CAN_RF0R_RFOM0);
1547 }
1548 else /* Rx element is assigned to Rx FIFO 1 */
1549 {
1550 /* Release RX FIFO 1 */
1551 SET_BIT(hcan->Instance->RF1R, CAN_RF1R_RFOM1);
1552 }
1553
1554 /* Return function status */
1555 return HAL_OK;
1556 }
1557 else
1558 {
1559 /* Update error code */
1560 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
1561
1562 return HAL_ERROR;
1563 }
1564 }
1565
1566 /**
1567 * @brief Return Rx FIFO fill level.
1568 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
1569 * the configuration information for the specified CAN.
1570 * @param RxFifo Rx FIFO.
1571 * This parameter can be a value of @arg CAN_receive_FIFO_number.
1572 * @retval Number of messages available in Rx FIFO.
1573 */
HAL_CAN_GetRxFifoFillLevel(CAN_HandleTypeDef * hcan,uint32_t RxFifo)1574 uint32_t HAL_CAN_GetRxFifoFillLevel(CAN_HandleTypeDef *hcan, uint32_t RxFifo)
1575 {
1576 uint32_t filllevel = 0U;
1577 HAL_CAN_StateTypeDef state = hcan->State;
1578
1579 /* Check function parameters */
1580 assert_param(IS_CAN_RX_FIFO(RxFifo));
1581
1582 if ((state == HAL_CAN_STATE_READY) ||
1583 (state == HAL_CAN_STATE_LISTENING))
1584 {
1585 if (RxFifo == CAN_RX_FIFO0)
1586 {
1587 filllevel = hcan->Instance->RF0R & CAN_RF0R_FMP0;
1588 }
1589 else /* RxFifo == CAN_RX_FIFO1 */
1590 {
1591 filllevel = hcan->Instance->RF1R & CAN_RF1R_FMP1;
1592 }
1593 }
1594
1595 /* Return Rx FIFO fill level */
1596 return filllevel;
1597 }
1598
1599 /**
1600 * @}
1601 */
1602
1603 /** @defgroup CAN_Exported_Functions_Group4 Interrupts management
1604 * @brief Interrupts management
1605 *
1606 @verbatim
1607 ==============================================================================
1608 ##### Interrupts management #####
1609 ==============================================================================
1610 [..] This section provides functions allowing to:
1611 (+) HAL_CAN_ActivateNotification : Enable interrupts
1612 (+) HAL_CAN_DeactivateNotification : Disable interrupts
1613 (+) HAL_CAN_IRQHandler : Handles CAN interrupt request
1614
1615 @endverbatim
1616 * @{
1617 */
1618
1619 /**
1620 * @brief Enable interrupts.
1621 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
1622 * the configuration information for the specified CAN.
1623 * @param ActiveITs indicates which interrupts will be enabled.
1624 * This parameter can be any combination of @arg CAN_Interrupts.
1625 * @retval HAL status
1626 */
HAL_CAN_ActivateNotification(CAN_HandleTypeDef * hcan,uint32_t ActiveITs)1627 HAL_StatusTypeDef HAL_CAN_ActivateNotification(CAN_HandleTypeDef *hcan, uint32_t ActiveITs)
1628 {
1629 HAL_CAN_StateTypeDef state = hcan->State;
1630
1631 /* Check function parameters */
1632 assert_param(IS_CAN_IT(ActiveITs));
1633
1634 if ((state == HAL_CAN_STATE_READY) ||
1635 (state == HAL_CAN_STATE_LISTENING))
1636 {
1637 /* Enable the selected interrupts */
1638 __HAL_CAN_ENABLE_IT(hcan, ActiveITs);
1639
1640 /* Return function status */
1641 return HAL_OK;
1642 }
1643 else
1644 {
1645 /* Update error code */
1646 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
1647
1648 return HAL_ERROR;
1649 }
1650 }
1651
1652 /**
1653 * @brief Disable interrupts.
1654 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
1655 * the configuration information for the specified CAN.
1656 * @param InactiveITs indicates which interrupts will be disabled.
1657 * This parameter can be any combination of @arg CAN_Interrupts.
1658 * @retval HAL status
1659 */
HAL_CAN_DeactivateNotification(CAN_HandleTypeDef * hcan,uint32_t InactiveITs)1660 HAL_StatusTypeDef HAL_CAN_DeactivateNotification(CAN_HandleTypeDef *hcan, uint32_t InactiveITs)
1661 {
1662 HAL_CAN_StateTypeDef state = hcan->State;
1663
1664 /* Check function parameters */
1665 assert_param(IS_CAN_IT(InactiveITs));
1666
1667 if ((state == HAL_CAN_STATE_READY) ||
1668 (state == HAL_CAN_STATE_LISTENING))
1669 {
1670 /* Disable the selected interrupts */
1671 __HAL_CAN_DISABLE_IT(hcan, InactiveITs);
1672
1673 /* Return function status */
1674 return HAL_OK;
1675 }
1676 else
1677 {
1678 /* Update error code */
1679 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
1680
1681 return HAL_ERROR;
1682 }
1683 }
1684
1685 /**
1686 * @brief Handles CAN interrupt request
1687 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
1688 * the configuration information for the specified CAN.
1689 * @retval None
1690 */
HAL_CAN_IRQHandler(CAN_HandleTypeDef * hcan)1691 void HAL_CAN_IRQHandler(CAN_HandleTypeDef *hcan)
1692 {
1693 uint32_t errorcode = HAL_CAN_ERROR_NONE;
1694 uint32_t interrupts = READ_REG(hcan->Instance->IER);
1695 uint32_t msrflags = READ_REG(hcan->Instance->MSR);
1696 uint32_t tsrflags = READ_REG(hcan->Instance->TSR);
1697 uint32_t rf0rflags = READ_REG(hcan->Instance->RF0R);
1698 uint32_t rf1rflags = READ_REG(hcan->Instance->RF1R);
1699 uint32_t esrflags = READ_REG(hcan->Instance->ESR);
1700
1701 /* Transmit Mailbox empty interrupt management *****************************/
1702 if ((interrupts & CAN_IT_TX_MAILBOX_EMPTY) != 0U)
1703 {
1704 /* Transmit Mailbox 0 management *****************************************/
1705 if ((tsrflags & CAN_TSR_RQCP0) != 0U)
1706 {
1707 /* Clear the Transmission Complete flag (and TXOK0,ALST0,TERR0 bits) */
1708 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_RQCP0);
1709
1710 if ((tsrflags & CAN_TSR_TXOK0) != 0U)
1711 {
1712 /* Transmission Mailbox 0 complete callback */
1713 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1714 /* Call registered callback*/
1715 hcan->TxMailbox0CompleteCallback(hcan);
1716 #else
1717 /* Call weak (surcharged) callback */
1718 HAL_CAN_TxMailbox0CompleteCallback(hcan);
1719 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1720 }
1721 else
1722 {
1723 if ((tsrflags & CAN_TSR_ALST0) != 0U)
1724 {
1725 /* Update error code */
1726 errorcode |= HAL_CAN_ERROR_TX_ALST0;
1727 }
1728 else if ((tsrflags & CAN_TSR_TERR0) != 0U)
1729 {
1730 /* Update error code */
1731 errorcode |= HAL_CAN_ERROR_TX_TERR0;
1732 }
1733 else
1734 {
1735 /* Transmission Mailbox 0 abort callback */
1736 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1737 /* Call registered callback*/
1738 hcan->TxMailbox0AbortCallback(hcan);
1739 #else
1740 /* Call weak (surcharged) callback */
1741 HAL_CAN_TxMailbox0AbortCallback(hcan);
1742 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1743 }
1744 }
1745 }
1746
1747 /* Transmit Mailbox 1 management *****************************************/
1748 if ((tsrflags & CAN_TSR_RQCP1) != 0U)
1749 {
1750 /* Clear the Transmission Complete flag (and TXOK1,ALST1,TERR1 bits) */
1751 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_RQCP1);
1752
1753 if ((tsrflags & CAN_TSR_TXOK1) != 0U)
1754 {
1755 /* Transmission Mailbox 1 complete callback */
1756 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1757 /* Call registered callback*/
1758 hcan->TxMailbox1CompleteCallback(hcan);
1759 #else
1760 /* Call weak (surcharged) callback */
1761 HAL_CAN_TxMailbox1CompleteCallback(hcan);
1762 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1763 }
1764 else
1765 {
1766 if ((tsrflags & CAN_TSR_ALST1) != 0U)
1767 {
1768 /* Update error code */
1769 errorcode |= HAL_CAN_ERROR_TX_ALST1;
1770 }
1771 else if ((tsrflags & CAN_TSR_TERR1) != 0U)
1772 {
1773 /* Update error code */
1774 errorcode |= HAL_CAN_ERROR_TX_TERR1;
1775 }
1776 else
1777 {
1778 /* Transmission Mailbox 1 abort callback */
1779 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1780 /* Call registered callback*/
1781 hcan->TxMailbox1AbortCallback(hcan);
1782 #else
1783 /* Call weak (surcharged) callback */
1784 HAL_CAN_TxMailbox1AbortCallback(hcan);
1785 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1786 }
1787 }
1788 }
1789
1790 /* Transmit Mailbox 2 management *****************************************/
1791 if ((tsrflags & CAN_TSR_RQCP2) != 0U)
1792 {
1793 /* Clear the Transmission Complete flag (and TXOK2,ALST2,TERR2 bits) */
1794 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_RQCP2);
1795
1796 if ((tsrflags & CAN_TSR_TXOK2) != 0U)
1797 {
1798 /* Transmission Mailbox 2 complete callback */
1799 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1800 /* Call registered callback*/
1801 hcan->TxMailbox2CompleteCallback(hcan);
1802 #else
1803 /* Call weak (surcharged) callback */
1804 HAL_CAN_TxMailbox2CompleteCallback(hcan);
1805 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1806 }
1807 else
1808 {
1809 if ((tsrflags & CAN_TSR_ALST2) != 0U)
1810 {
1811 /* Update error code */
1812 errorcode |= HAL_CAN_ERROR_TX_ALST2;
1813 }
1814 else if ((tsrflags & CAN_TSR_TERR2) != 0U)
1815 {
1816 /* Update error code */
1817 errorcode |= HAL_CAN_ERROR_TX_TERR2;
1818 }
1819 else
1820 {
1821 /* Transmission Mailbox 2 abort callback */
1822 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1823 /* Call registered callback*/
1824 hcan->TxMailbox2AbortCallback(hcan);
1825 #else
1826 /* Call weak (surcharged) callback */
1827 HAL_CAN_TxMailbox2AbortCallback(hcan);
1828 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1829 }
1830 }
1831 }
1832 }
1833
1834 /* Receive FIFO 0 overrun interrupt management *****************************/
1835 if ((interrupts & CAN_IT_RX_FIFO0_OVERRUN) != 0U)
1836 {
1837 if ((rf0rflags & CAN_RF0R_FOVR0) != 0U)
1838 {
1839 /* Set CAN error code to Rx Fifo 0 overrun error */
1840 errorcode |= HAL_CAN_ERROR_RX_FOV0;
1841
1842 /* Clear FIFO0 Overrun Flag */
1843 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV0);
1844 }
1845 }
1846
1847 /* Receive FIFO 0 full interrupt management ********************************/
1848 if ((interrupts & CAN_IT_RX_FIFO0_FULL) != 0U)
1849 {
1850 if ((rf0rflags & CAN_RF0R_FULL0) != 0U)
1851 {
1852 /* Clear FIFO 0 full Flag */
1853 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF0);
1854
1855 /* Receive FIFO 0 full Callback */
1856 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1857 /* Call registered callback*/
1858 hcan->RxFifo0FullCallback(hcan);
1859 #else
1860 /* Call weak (surcharged) callback */
1861 HAL_CAN_RxFifo0FullCallback(hcan);
1862 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1863 }
1864 }
1865
1866 /* Receive FIFO 0 message pending interrupt management *********************/
1867 if ((interrupts & CAN_IT_RX_FIFO0_MSG_PENDING) != 0U)
1868 {
1869 /* Check if message is still pending */
1870 if ((hcan->Instance->RF0R & CAN_RF0R_FMP0) != 0U)
1871 {
1872 /* Receive FIFO 0 message pending Callback */
1873 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1874 /* Call registered callback*/
1875 hcan->RxFifo0MsgPendingCallback(hcan);
1876 #else
1877 /* Call weak (surcharged) callback */
1878 HAL_CAN_RxFifo0MsgPendingCallback(hcan);
1879 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1880 }
1881 }
1882
1883 /* Receive FIFO 1 overrun interrupt management *****************************/
1884 if ((interrupts & CAN_IT_RX_FIFO1_OVERRUN) != 0U)
1885 {
1886 if ((rf1rflags & CAN_RF1R_FOVR1) != 0U)
1887 {
1888 /* Set CAN error code to Rx Fifo 1 overrun error */
1889 errorcode |= HAL_CAN_ERROR_RX_FOV1;
1890
1891 /* Clear FIFO1 Overrun Flag */
1892 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV1);
1893 }
1894 }
1895
1896 /* Receive FIFO 1 full interrupt management ********************************/
1897 if ((interrupts & CAN_IT_RX_FIFO1_FULL) != 0U)
1898 {
1899 if ((rf1rflags & CAN_RF1R_FULL1) != 0U)
1900 {
1901 /* Clear FIFO 1 full Flag */
1902 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF1);
1903
1904 /* Receive FIFO 1 full Callback */
1905 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1906 /* Call registered callback*/
1907 hcan->RxFifo1FullCallback(hcan);
1908 #else
1909 /* Call weak (surcharged) callback */
1910 HAL_CAN_RxFifo1FullCallback(hcan);
1911 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1912 }
1913 }
1914
1915 /* Receive FIFO 1 message pending interrupt management *********************/
1916 if ((interrupts & CAN_IT_RX_FIFO1_MSG_PENDING) != 0U)
1917 {
1918 /* Check if message is still pending */
1919 if ((hcan->Instance->RF1R & CAN_RF1R_FMP1) != 0U)
1920 {
1921 /* Receive FIFO 1 message pending Callback */
1922 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1923 /* Call registered callback*/
1924 hcan->RxFifo1MsgPendingCallback(hcan);
1925 #else
1926 /* Call weak (surcharged) callback */
1927 HAL_CAN_RxFifo1MsgPendingCallback(hcan);
1928 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1929 }
1930 }
1931
1932 /* Sleep interrupt management *********************************************/
1933 if ((interrupts & CAN_IT_SLEEP_ACK) != 0U)
1934 {
1935 if ((msrflags & CAN_MSR_SLAKI) != 0U)
1936 {
1937 /* Clear Sleep interrupt Flag */
1938 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_SLAKI);
1939
1940 /* Sleep Callback */
1941 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1942 /* Call registered callback*/
1943 hcan->SleepCallback(hcan);
1944 #else
1945 /* Call weak (surcharged) callback */
1946 HAL_CAN_SleepCallback(hcan);
1947 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1948 }
1949 }
1950
1951 /* WakeUp interrupt management *********************************************/
1952 if ((interrupts & CAN_IT_WAKEUP) != 0U)
1953 {
1954 if ((msrflags & CAN_MSR_WKUI) != 0U)
1955 {
1956 /* Clear WakeUp Flag */
1957 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_WKU);
1958
1959 /* WakeUp Callback */
1960 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1961 /* Call registered callback*/
1962 hcan->WakeUpFromRxMsgCallback(hcan);
1963 #else
1964 /* Call weak (surcharged) callback */
1965 HAL_CAN_WakeUpFromRxMsgCallback(hcan);
1966 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1967 }
1968 }
1969
1970 /* Error interrupts management *********************************************/
1971 if ((interrupts & CAN_IT_ERROR) != 0U)
1972 {
1973 if ((msrflags & CAN_MSR_ERRI) != 0U)
1974 {
1975 /* Check Error Warning Flag */
1976 if (((interrupts & CAN_IT_ERROR_WARNING) != 0U) &&
1977 ((esrflags & CAN_ESR_EWGF) != 0U))
1978 {
1979 /* Set CAN error code to Error Warning */
1980 errorcode |= HAL_CAN_ERROR_EWG;
1981
1982 /* No need for clear of Error Warning Flag as read-only */
1983 }
1984
1985 /* Check Error Passive Flag */
1986 if (((interrupts & CAN_IT_ERROR_PASSIVE) != 0U) &&
1987 ((esrflags & CAN_ESR_EPVF) != 0U))
1988 {
1989 /* Set CAN error code to Error Passive */
1990 errorcode |= HAL_CAN_ERROR_EPV;
1991
1992 /* No need for clear of Error Passive Flag as read-only */
1993 }
1994
1995 /* Check Bus-off Flag */
1996 if (((interrupts & CAN_IT_BUSOFF) != 0U) &&
1997 ((esrflags & CAN_ESR_BOFF) != 0U))
1998 {
1999 /* Set CAN error code to Bus-Off */
2000 errorcode |= HAL_CAN_ERROR_BOF;
2001
2002 /* No need for clear of Error Bus-Off as read-only */
2003 }
2004
2005 /* Check Last Error Code Flag */
2006 if (((interrupts & CAN_IT_LAST_ERROR_CODE) != 0U) &&
2007 ((esrflags & CAN_ESR_LEC) != 0U))
2008 {
2009 switch (esrflags & CAN_ESR_LEC)
2010 {
2011 case (CAN_ESR_LEC_0):
2012 /* Set CAN error code to Stuff error */
2013 errorcode |= HAL_CAN_ERROR_STF;
2014 break;
2015 case (CAN_ESR_LEC_1):
2016 /* Set CAN error code to Form error */
2017 errorcode |= HAL_CAN_ERROR_FOR;
2018 break;
2019 case (CAN_ESR_LEC_1 | CAN_ESR_LEC_0):
2020 /* Set CAN error code to Acknowledgement error */
2021 errorcode |= HAL_CAN_ERROR_ACK;
2022 break;
2023 case (CAN_ESR_LEC_2):
2024 /* Set CAN error code to Bit recessive error */
2025 errorcode |= HAL_CAN_ERROR_BR;
2026 break;
2027 case (CAN_ESR_LEC_2 | CAN_ESR_LEC_0):
2028 /* Set CAN error code to Bit Dominant error */
2029 errorcode |= HAL_CAN_ERROR_BD;
2030 break;
2031 case (CAN_ESR_LEC_2 | CAN_ESR_LEC_1):
2032 /* Set CAN error code to CRC error */
2033 errorcode |= HAL_CAN_ERROR_CRC;
2034 break;
2035 default:
2036 break;
2037 }
2038
2039 /* Clear Last error code Flag */
2040 CLEAR_BIT(hcan->Instance->ESR, CAN_ESR_LEC);
2041 }
2042 }
2043
2044 /* Clear ERRI Flag */
2045 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_ERRI);
2046 }
2047
2048 /* Call the Error call Back in case of Errors */
2049 if (errorcode != HAL_CAN_ERROR_NONE)
2050 {
2051 /* Update error code in handle */
2052 hcan->ErrorCode |= errorcode;
2053
2054 /* Call Error callback function */
2055 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
2056 /* Call registered callback*/
2057 hcan->ErrorCallback(hcan);
2058 #else
2059 /* Call weak (surcharged) callback */
2060 HAL_CAN_ErrorCallback(hcan);
2061 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
2062 }
2063 }
2064
2065 /**
2066 * @}
2067 */
2068
2069 /** @defgroup CAN_Exported_Functions_Group5 Callback functions
2070 * @brief CAN Callback functions
2071 *
2072 @verbatim
2073 ==============================================================================
2074 ##### Callback functions #####
2075 ==============================================================================
2076 [..]
2077 This subsection provides the following callback functions:
2078 (+) HAL_CAN_TxMailbox0CompleteCallback
2079 (+) HAL_CAN_TxMailbox1CompleteCallback
2080 (+) HAL_CAN_TxMailbox2CompleteCallback
2081 (+) HAL_CAN_TxMailbox0AbortCallback
2082 (+) HAL_CAN_TxMailbox1AbortCallback
2083 (+) HAL_CAN_TxMailbox2AbortCallback
2084 (+) HAL_CAN_RxFifo0MsgPendingCallback
2085 (+) HAL_CAN_RxFifo0FullCallback
2086 (+) HAL_CAN_RxFifo1MsgPendingCallback
2087 (+) HAL_CAN_RxFifo1FullCallback
2088 (+) HAL_CAN_SleepCallback
2089 (+) HAL_CAN_WakeUpFromRxMsgCallback
2090 (+) HAL_CAN_ErrorCallback
2091
2092 @endverbatim
2093 * @{
2094 */
2095
2096 /**
2097 * @brief Transmission Mailbox 0 complete callback.
2098 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2099 * the configuration information for the specified CAN.
2100 * @retval None
2101 */
HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef * hcan)2102 __weak void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan)
2103 {
2104 /* Prevent unused argument(s) compilation warning */
2105 UNUSED(hcan);
2106
2107 /* NOTE : This function Should not be modified, when the callback is needed,
2108 the HAL_CAN_TxMailbox0CompleteCallback could be implemented in the
2109 user file
2110 */
2111 }
2112
2113 /**
2114 * @brief Transmission Mailbox 1 complete callback.
2115 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2116 * the configuration information for the specified CAN.
2117 * @retval None
2118 */
HAL_CAN_TxMailbox1CompleteCallback(CAN_HandleTypeDef * hcan)2119 __weak void HAL_CAN_TxMailbox1CompleteCallback(CAN_HandleTypeDef *hcan)
2120 {
2121 /* Prevent unused argument(s) compilation warning */
2122 UNUSED(hcan);
2123
2124 /* NOTE : This function Should not be modified, when the callback is needed,
2125 the HAL_CAN_TxMailbox1CompleteCallback could be implemented in the
2126 user file
2127 */
2128 }
2129
2130 /**
2131 * @brief Transmission Mailbox 2 complete callback.
2132 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2133 * the configuration information for the specified CAN.
2134 * @retval None
2135 */
HAL_CAN_TxMailbox2CompleteCallback(CAN_HandleTypeDef * hcan)2136 __weak void HAL_CAN_TxMailbox2CompleteCallback(CAN_HandleTypeDef *hcan)
2137 {
2138 /* Prevent unused argument(s) compilation warning */
2139 UNUSED(hcan);
2140
2141 /* NOTE : This function Should not be modified, when the callback is needed,
2142 the HAL_CAN_TxMailbox2CompleteCallback could be implemented in the
2143 user file
2144 */
2145 }
2146
2147 /**
2148 * @brief Transmission Mailbox 0 Cancellation callback.
2149 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
2150 * the configuration information for the specified CAN.
2151 * @retval None
2152 */
HAL_CAN_TxMailbox0AbortCallback(CAN_HandleTypeDef * hcan)2153 __weak void HAL_CAN_TxMailbox0AbortCallback(CAN_HandleTypeDef *hcan)
2154 {
2155 /* Prevent unused argument(s) compilation warning */
2156 UNUSED(hcan);
2157
2158 /* NOTE : This function Should not be modified, when the callback is needed,
2159 the HAL_CAN_TxMailbox0AbortCallback could be implemented in the
2160 user file
2161 */
2162 }
2163
2164 /**
2165 * @brief Transmission Mailbox 1 Cancellation callback.
2166 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
2167 * the configuration information for the specified CAN.
2168 * @retval None
2169 */
HAL_CAN_TxMailbox1AbortCallback(CAN_HandleTypeDef * hcan)2170 __weak void HAL_CAN_TxMailbox1AbortCallback(CAN_HandleTypeDef *hcan)
2171 {
2172 /* Prevent unused argument(s) compilation warning */
2173 UNUSED(hcan);
2174
2175 /* NOTE : This function Should not be modified, when the callback is needed,
2176 the HAL_CAN_TxMailbox1AbortCallback could be implemented in the
2177 user file
2178 */
2179 }
2180
2181 /**
2182 * @brief Transmission Mailbox 2 Cancellation callback.
2183 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
2184 * the configuration information for the specified CAN.
2185 * @retval None
2186 */
HAL_CAN_TxMailbox2AbortCallback(CAN_HandleTypeDef * hcan)2187 __weak void HAL_CAN_TxMailbox2AbortCallback(CAN_HandleTypeDef *hcan)
2188 {
2189 /* Prevent unused argument(s) compilation warning */
2190 UNUSED(hcan);
2191
2192 /* NOTE : This function Should not be modified, when the callback is needed,
2193 the HAL_CAN_TxMailbox2AbortCallback could be implemented in the
2194 user file
2195 */
2196 }
2197
2198 /**
2199 * @brief Rx FIFO 0 message pending callback.
2200 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2201 * the configuration information for the specified CAN.
2202 * @retval None
2203 */
HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef * hcan)2204 __weak void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
2205 {
2206 /* Prevent unused argument(s) compilation warning */
2207 UNUSED(hcan);
2208
2209 /* NOTE : This function Should not be modified, when the callback is needed,
2210 the HAL_CAN_RxFifo0MsgPendingCallback could be implemented in the
2211 user file
2212 */
2213 }
2214
2215 /**
2216 * @brief Rx FIFO 0 full callback.
2217 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2218 * the configuration information for the specified CAN.
2219 * @retval None
2220 */
HAL_CAN_RxFifo0FullCallback(CAN_HandleTypeDef * hcan)2221 __weak void HAL_CAN_RxFifo0FullCallback(CAN_HandleTypeDef *hcan)
2222 {
2223 /* Prevent unused argument(s) compilation warning */
2224 UNUSED(hcan);
2225
2226 /* NOTE : This function Should not be modified, when the callback is needed,
2227 the HAL_CAN_RxFifo0FullCallback could be implemented in the user
2228 file
2229 */
2230 }
2231
2232 /**
2233 * @brief Rx FIFO 1 message pending callback.
2234 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2235 * the configuration information for the specified CAN.
2236 * @retval None
2237 */
HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef * hcan)2238 __weak void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan)
2239 {
2240 /* Prevent unused argument(s) compilation warning */
2241 UNUSED(hcan);
2242
2243 /* NOTE : This function Should not be modified, when the callback is needed,
2244 the HAL_CAN_RxFifo1MsgPendingCallback could be implemented in the
2245 user file
2246 */
2247 }
2248
2249 /**
2250 * @brief Rx FIFO 1 full callback.
2251 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2252 * the configuration information for the specified CAN.
2253 * @retval None
2254 */
HAL_CAN_RxFifo1FullCallback(CAN_HandleTypeDef * hcan)2255 __weak void HAL_CAN_RxFifo1FullCallback(CAN_HandleTypeDef *hcan)
2256 {
2257 /* Prevent unused argument(s) compilation warning */
2258 UNUSED(hcan);
2259
2260 /* NOTE : This function Should not be modified, when the callback is needed,
2261 the HAL_CAN_RxFifo1FullCallback could be implemented in the user
2262 file
2263 */
2264 }
2265
2266 /**
2267 * @brief Sleep callback.
2268 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2269 * the configuration information for the specified CAN.
2270 * @retval None
2271 */
HAL_CAN_SleepCallback(CAN_HandleTypeDef * hcan)2272 __weak void HAL_CAN_SleepCallback(CAN_HandleTypeDef *hcan)
2273 {
2274 /* Prevent unused argument(s) compilation warning */
2275 UNUSED(hcan);
2276
2277 /* NOTE : This function Should not be modified, when the callback is needed,
2278 the HAL_CAN_SleepCallback could be implemented in the user file
2279 */
2280 }
2281
2282 /**
2283 * @brief WakeUp from Rx message callback.
2284 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2285 * the configuration information for the specified CAN.
2286 * @retval None
2287 */
HAL_CAN_WakeUpFromRxMsgCallback(CAN_HandleTypeDef * hcan)2288 __weak void HAL_CAN_WakeUpFromRxMsgCallback(CAN_HandleTypeDef *hcan)
2289 {
2290 /* Prevent unused argument(s) compilation warning */
2291 UNUSED(hcan);
2292
2293 /* NOTE : This function Should not be modified, when the callback is needed,
2294 the HAL_CAN_WakeUpFromRxMsgCallback could be implemented in the
2295 user file
2296 */
2297 }
2298
2299 /**
2300 * @brief Error CAN callback.
2301 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2302 * the configuration information for the specified CAN.
2303 * @retval None
2304 */
HAL_CAN_ErrorCallback(CAN_HandleTypeDef * hcan)2305 __weak void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan)
2306 {
2307 /* Prevent unused argument(s) compilation warning */
2308 UNUSED(hcan);
2309
2310 /* NOTE : This function Should not be modified, when the callback is needed,
2311 the HAL_CAN_ErrorCallback could be implemented in the user file
2312 */
2313 }
2314
2315 /**
2316 * @}
2317 */
2318
2319 /** @defgroup CAN_Exported_Functions_Group6 Peripheral State and Error functions
2320 * @brief CAN Peripheral State functions
2321 *
2322 @verbatim
2323 ==============================================================================
2324 ##### Peripheral State and Error functions #####
2325 ==============================================================================
2326 [..]
2327 This subsection provides functions allowing to :
2328 (+) HAL_CAN_GetState() : Return the CAN state.
2329 (+) HAL_CAN_GetError() : Return the CAN error codes if any.
2330 (+) HAL_CAN_ResetError(): Reset the CAN error codes if any.
2331
2332 @endverbatim
2333 * @{
2334 */
2335
2336 /**
2337 * @brief Return the CAN state.
2338 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2339 * the configuration information for the specified CAN.
2340 * @retval HAL state
2341 */
HAL_CAN_GetState(CAN_HandleTypeDef * hcan)2342 HAL_CAN_StateTypeDef HAL_CAN_GetState(CAN_HandleTypeDef *hcan)
2343 {
2344 HAL_CAN_StateTypeDef state = hcan->State;
2345
2346 if ((state == HAL_CAN_STATE_READY) ||
2347 (state == HAL_CAN_STATE_LISTENING))
2348 {
2349 /* Check sleep mode acknowledge flag */
2350 if ((hcan->Instance->MSR & CAN_MSR_SLAK) != 0U)
2351 {
2352 /* Sleep mode is active */
2353 state = HAL_CAN_STATE_SLEEP_ACTIVE;
2354 }
2355 /* Check sleep mode request flag */
2356 else if ((hcan->Instance->MCR & CAN_MCR_SLEEP) != 0U)
2357 {
2358 /* Sleep mode request is pending */
2359 state = HAL_CAN_STATE_SLEEP_PENDING;
2360 }
2361 else
2362 {
2363 /* Neither sleep mode request nor sleep mode acknowledge */
2364 }
2365 }
2366
2367 /* Return CAN state */
2368 return state;
2369 }
2370
2371 /**
2372 * @brief Return the CAN error code.
2373 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2374 * the configuration information for the specified CAN.
2375 * @retval CAN Error Code
2376 */
HAL_CAN_GetError(CAN_HandleTypeDef * hcan)2377 uint32_t HAL_CAN_GetError(CAN_HandleTypeDef *hcan)
2378 {
2379 /* Return CAN error code */
2380 return hcan->ErrorCode;
2381 }
2382
2383 /**
2384 * @brief Reset the CAN error code.
2385 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2386 * the configuration information for the specified CAN.
2387 * @retval HAL status
2388 */
HAL_CAN_ResetError(CAN_HandleTypeDef * hcan)2389 HAL_StatusTypeDef HAL_CAN_ResetError(CAN_HandleTypeDef *hcan)
2390 {
2391 HAL_StatusTypeDef status = HAL_OK;
2392 HAL_CAN_StateTypeDef state = hcan->State;
2393
2394 if ((state == HAL_CAN_STATE_READY) ||
2395 (state == HAL_CAN_STATE_LISTENING))
2396 {
2397 /* Reset CAN error code */
2398 hcan->ErrorCode = 0U;
2399 }
2400 else
2401 {
2402 /* Update error code */
2403 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
2404
2405 status = HAL_ERROR;
2406 }
2407
2408 /* Return the status */
2409 return status;
2410 }
2411
2412 /**
2413 * @}
2414 */
2415
2416 /**
2417 * @}
2418 */
2419
2420 #endif /* HAL_CAN_MODULE_ENABLED */
2421
2422 /**
2423 * @}
2424 */
2425
2426 #endif /* CAN */
2427
2428 /**
2429 * @}
2430 */
2431
2432 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
2433