1 /**
2 ******************************************************************************
3 * @file stm32f2xx_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 ******************************************************************************
16 * @attention
17 *
18 * Copyright (c) 2016 STMicroelectronics.
19 * All rights reserved.
20 *
21 * This software is licensed under terms that can be found in the LICENSE file
22 * in the root directory of this software component.
23 * If no LICENSE file comes with this software, it is provided AS-IS.
24 *
25 ******************************************************************************
26 @verbatim
27 ==============================================================================
28 ##### How to use this driver #####
29 ==============================================================================
30 [..]
31 (#) Initialize the CAN low level resources by implementing the
32 HAL_CAN_MspInit():
33 (++) Enable the CAN interface clock using __HAL_RCC_CANx_CLK_ENABLE()
34 (++) Configure CAN pins
35 (+++) Enable the clock for the CAN GPIOs
36 (+++) Configure CAN pins as alternate function open-drain
37 (++) In case of using interrupts (e.g. HAL_CAN_ActivateNotification())
38 (+++) Configure the CAN interrupt priority using
39 HAL_NVIC_SetPriority()
40 (+++) Enable the CAN IRQ handler using HAL_NVIC_EnableIRQ()
41 (+++) In CAN IRQ handler, call HAL_CAN_IRQHandler()
42
43 (#) Initialize the CAN peripheral using HAL_CAN_Init() function. This
44 function resorts to HAL_CAN_MspInit() for low-level initialization.
45
46 (#) Configure the reception filters using the following configuration
47 functions:
48 (++) HAL_CAN_ConfigFilter()
49
50 (#) Start the CAN module using HAL_CAN_Start() function. At this level
51 the node is active on the bus: it receive messages, and can send
52 messages.
53
54 (#) To manage messages transmission, the following Tx control functions
55 can be used:
56 (++) HAL_CAN_AddTxMessage() to request transmission of a new
57 message.
58 (++) HAL_CAN_AbortTxRequest() to abort transmission of a pending
59 message.
60 (++) HAL_CAN_GetTxMailboxesFreeLevel() to get the number of free Tx
61 mailboxes.
62 (++) HAL_CAN_IsTxMessagePending() to check if a message is pending
63 in a Tx mailbox.
64 (++) HAL_CAN_GetTxTimestamp() to get the timestamp of Tx message
65 sent, if time triggered communication mode is enabled.
66
67 (#) When a message is received into the CAN Rx FIFOs, it can be retrieved
68 using the HAL_CAN_GetRxMessage() function. The function
69 HAL_CAN_GetRxFifoFillLevel() allows to know how many Rx message are
70 stored in the Rx Fifo.
71
72 (#) Calling the HAL_CAN_Stop() function stops the CAN module.
73
74 (#) The deinitialization is achieved with HAL_CAN_DeInit() function.
75
76
77 *** Polling mode operation ***
78 ==============================
79 [..]
80 (#) Reception:
81 (++) Monitor reception of message using HAL_CAN_GetRxFifoFillLevel()
82 until at least one message is received.
83 (++) Then get the message using HAL_CAN_GetRxMessage().
84
85 (#) Transmission:
86 (++) Monitor the Tx mailboxes availability until at least one Tx
87 mailbox is free, using HAL_CAN_GetTxMailboxesFreeLevel().
88 (++) Then request transmission of a message using
89 HAL_CAN_AddTxMessage().
90
91
92 *** Interrupt mode operation ***
93 ================================
94 [..]
95 (#) Notifications are activated using HAL_CAN_ActivateNotification()
96 function. Then, the process can be controlled through the
97 available user callbacks: HAL_CAN_xxxCallback(), using same APIs
98 HAL_CAN_GetRxMessage() and HAL_CAN_AddTxMessage().
99
100 (#) Notifications can be deactivated using
101 HAL_CAN_DeactivateNotification() function.
102
103 (#) Special care should be taken for CAN_IT_RX_FIFO0_MSG_PENDING and
104 CAN_IT_RX_FIFO1_MSG_PENDING notifications. These notifications trig
105 the callbacks HAL_CAN_RxFIFO0MsgPendingCallback() and
106 HAL_CAN_RxFIFO1MsgPendingCallback(). User has two possible options
107 here.
108 (++) Directly get the Rx message in the callback, using
109 HAL_CAN_GetRxMessage().
110 (++) Or deactivate the notification in the callback without
111 getting the Rx message. The Rx message can then be got later
112 using HAL_CAN_GetRxMessage(). Once the Rx message have been
113 read, the notification can be activated again.
114
115
116 *** Sleep mode ***
117 ==================
118 [..]
119 (#) The CAN peripheral can be put in sleep mode (low power), using
120 HAL_CAN_RequestSleep(). The sleep mode will be entered as soon as the
121 current CAN activity (transmission or reception of a CAN frame) will
122 be completed.
123
124 (#) A notification can be activated to be informed when the sleep mode
125 will be entered.
126
127 (#) It can be checked if the sleep mode is entered using
128 HAL_CAN_IsSleepActive().
129 Note that the CAN state (accessible from the API HAL_CAN_GetState())
130 is HAL_CAN_STATE_SLEEP_PENDING as soon as the sleep mode request is
131 submitted (the sleep mode is not yet entered), and become
132 HAL_CAN_STATE_SLEEP_ACTIVE when the sleep mode is effective.
133
134 (#) The wake-up from sleep mode can be triggered by two ways:
135 (++) Using HAL_CAN_WakeUp(). When returning from this function,
136 the sleep mode is exited (if return status is HAL_OK).
137 (++) When a start of Rx CAN frame is detected by the CAN peripheral,
138 if automatic wake up mode is enabled.
139
140 *** Callback registration ***
141 =============================================
142
143 The compilation define USE_HAL_CAN_REGISTER_CALLBACKS when set to 1
144 allows the user to configure dynamically the driver callbacks.
145 Use Function HAL_CAN_RegisterCallback() to register an interrupt callback.
146
147 Function HAL_CAN_RegisterCallback() allows to register following callbacks:
148 (+) TxMailbox0CompleteCallback : Tx Mailbox 0 Complete Callback.
149 (+) TxMailbox1CompleteCallback : Tx Mailbox 1 Complete Callback.
150 (+) TxMailbox2CompleteCallback : Tx Mailbox 2 Complete Callback.
151 (+) TxMailbox0AbortCallback : Tx Mailbox 0 Abort Callback.
152 (+) TxMailbox1AbortCallback : Tx Mailbox 1 Abort Callback.
153 (+) TxMailbox2AbortCallback : Tx Mailbox 2 Abort Callback.
154 (+) RxFifo0MsgPendingCallback : Rx Fifo 0 Message Pending Callback.
155 (+) RxFifo0FullCallback : Rx Fifo 0 Full Callback.
156 (+) RxFifo1MsgPendingCallback : Rx Fifo 1 Message Pending Callback.
157 (+) RxFifo1FullCallback : Rx Fifo 1 Full Callback.
158 (+) SleepCallback : Sleep Callback.
159 (+) WakeUpFromRxMsgCallback : Wake Up From Rx Message Callback.
160 (+) ErrorCallback : Error Callback.
161 (+) MspInitCallback : CAN MspInit.
162 (+) MspDeInitCallback : CAN MspDeInit.
163 This function takes as parameters the HAL peripheral handle, the Callback ID
164 and a pointer to the user callback function.
165
166 Use function HAL_CAN_UnRegisterCallback() to reset a callback to the default
167 weak function.
168 HAL_CAN_UnRegisterCallback takes as parameters the HAL peripheral handle,
169 and the Callback ID.
170 This function allows to reset following callbacks:
171 (+) TxMailbox0CompleteCallback : Tx Mailbox 0 Complete Callback.
172 (+) TxMailbox1CompleteCallback : Tx Mailbox 1 Complete Callback.
173 (+) TxMailbox2CompleteCallback : Tx Mailbox 2 Complete Callback.
174 (+) TxMailbox0AbortCallback : Tx Mailbox 0 Abort Callback.
175 (+) TxMailbox1AbortCallback : Tx Mailbox 1 Abort Callback.
176 (+) TxMailbox2AbortCallback : Tx Mailbox 2 Abort Callback.
177 (+) RxFifo0MsgPendingCallback : Rx Fifo 0 Message Pending Callback.
178 (+) RxFifo0FullCallback : Rx Fifo 0 Full Callback.
179 (+) RxFifo1MsgPendingCallback : Rx Fifo 1 Message Pending Callback.
180 (+) RxFifo1FullCallback : Rx Fifo 1 Full Callback.
181 (+) SleepCallback : Sleep Callback.
182 (+) WakeUpFromRxMsgCallback : Wake Up From Rx Message Callback.
183 (+) ErrorCallback : Error Callback.
184 (+) MspInitCallback : CAN MspInit.
185 (+) MspDeInitCallback : CAN MspDeInit.
186
187 By default, after the HAL_CAN_Init() and when the state is HAL_CAN_STATE_RESET,
188 all callbacks are set to the corresponding weak functions:
189 example HAL_CAN_ErrorCallback().
190 Exception done for MspInit and MspDeInit functions that are
191 reset to the legacy weak function in the HAL_CAN_Init()/ HAL_CAN_DeInit() only when
192 these callbacks are null (not registered beforehand).
193 if not, MspInit or MspDeInit are not null, the HAL_CAN_Init()/ HAL_CAN_DeInit()
194 keep and use the user MspInit/MspDeInit callbacks (registered beforehand)
195
196 Callbacks can be registered/unregistered in HAL_CAN_STATE_READY state only.
197 Exception done MspInit/MspDeInit that can be registered/unregistered
198 in HAL_CAN_STATE_READY or HAL_CAN_STATE_RESET state,
199 thus registered (user) MspInit/DeInit callbacks can be used during the Init/DeInit.
200 In that case first register the MspInit/MspDeInit user callbacks
201 using HAL_CAN_RegisterCallback() before calling HAL_CAN_DeInit()
202 or HAL_CAN_Init() function.
203
204 When The compilation define USE_HAL_CAN_REGISTER_CALLBACKS is set to 0 or
205 not defined, the callback registration feature is not available and all callbacks
206 are set to the corresponding weak functions.
207
208 @endverbatim
209 ******************************************************************************
210 */
211
212 /* Includes ------------------------------------------------------------------*/
213 #include "stm32f2xx_hal.h"
214
215 /** @addtogroup STM32F2xx_HAL_Driver
216 * @{
217 */
218
219 #if defined(CAN1)
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 /* HAL_CAN_LEGACY_MODULE_ENABLED */
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,
559 void (* pCallback)(CAN_HandleTypeDef *_hcan))
560 {
561 HAL_StatusTypeDef status = HAL_OK;
562
563 if (pCallback == NULL)
564 {
565 /* Update the error code */
566 hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
567
568 return HAL_ERROR;
569 }
570
571 if (hcan->State == HAL_CAN_STATE_READY)
572 {
573 switch (CallbackID)
574 {
575 case HAL_CAN_TX_MAILBOX0_COMPLETE_CB_ID :
576 hcan->TxMailbox0CompleteCallback = pCallback;
577 break;
578
579 case HAL_CAN_TX_MAILBOX1_COMPLETE_CB_ID :
580 hcan->TxMailbox1CompleteCallback = pCallback;
581 break;
582
583 case HAL_CAN_TX_MAILBOX2_COMPLETE_CB_ID :
584 hcan->TxMailbox2CompleteCallback = pCallback;
585 break;
586
587 case HAL_CAN_TX_MAILBOX0_ABORT_CB_ID :
588 hcan->TxMailbox0AbortCallback = pCallback;
589 break;
590
591 case HAL_CAN_TX_MAILBOX1_ABORT_CB_ID :
592 hcan->TxMailbox1AbortCallback = pCallback;
593 break;
594
595 case HAL_CAN_TX_MAILBOX2_ABORT_CB_ID :
596 hcan->TxMailbox2AbortCallback = pCallback;
597 break;
598
599 case HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID :
600 hcan->RxFifo0MsgPendingCallback = pCallback;
601 break;
602
603 case HAL_CAN_RX_FIFO0_FULL_CB_ID :
604 hcan->RxFifo0FullCallback = pCallback;
605 break;
606
607 case HAL_CAN_RX_FIFO1_MSG_PENDING_CB_ID :
608 hcan->RxFifo1MsgPendingCallback = pCallback;
609 break;
610
611 case HAL_CAN_RX_FIFO1_FULL_CB_ID :
612 hcan->RxFifo1FullCallback = pCallback;
613 break;
614
615 case HAL_CAN_SLEEP_CB_ID :
616 hcan->SleepCallback = pCallback;
617 break;
618
619 case HAL_CAN_WAKEUP_FROM_RX_MSG_CB_ID :
620 hcan->WakeUpFromRxMsgCallback = pCallback;
621 break;
622
623 case HAL_CAN_ERROR_CB_ID :
624 hcan->ErrorCallback = pCallback;
625 break;
626
627 case HAL_CAN_MSPINIT_CB_ID :
628 hcan->MspInitCallback = pCallback;
629 break;
630
631 case HAL_CAN_MSPDEINIT_CB_ID :
632 hcan->MspDeInitCallback = pCallback;
633 break;
634
635 default :
636 /* Update the error code */
637 hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
638
639 /* Return error status */
640 status = HAL_ERROR;
641 break;
642 }
643 }
644 else if (hcan->State == HAL_CAN_STATE_RESET)
645 {
646 switch (CallbackID)
647 {
648 case HAL_CAN_MSPINIT_CB_ID :
649 hcan->MspInitCallback = pCallback;
650 break;
651
652 case HAL_CAN_MSPDEINIT_CB_ID :
653 hcan->MspDeInitCallback = pCallback;
654 break;
655
656 default :
657 /* Update the error code */
658 hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
659
660 /* Return error status */
661 status = HAL_ERROR;
662 break;
663 }
664 }
665 else
666 {
667 /* Update the error code */
668 hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
669
670 /* Return error status */
671 status = HAL_ERROR;
672 }
673
674 return status;
675 }
676
677 /**
678 * @brief Unregister a CAN CallBack.
679 * CAN callback is redirected to the weak predefined callback
680 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
681 * the configuration information for CAN module
682 * @param CallbackID ID of the callback to be unregistered
683 * This parameter can be one of the following values:
684 * @arg @ref HAL_CAN_TX_MAILBOX0_COMPLETE_CB_ID Tx Mailbox 0 Complete callback ID
685 * @arg @ref HAL_CAN_TX_MAILBOX1_COMPLETE_CB_ID Tx Mailbox 1 Complete callback ID
686 * @arg @ref HAL_CAN_TX_MAILBOX2_COMPLETE_CB_ID Tx Mailbox 2 Complete callback ID
687 * @arg @ref HAL_CAN_TX_MAILBOX0_ABORT_CB_ID Tx Mailbox 0 Abort callback ID
688 * @arg @ref HAL_CAN_TX_MAILBOX1_ABORT_CB_ID Tx Mailbox 1 Abort callback ID
689 * @arg @ref HAL_CAN_TX_MAILBOX2_ABORT_CB_ID Tx Mailbox 2 Abort callback ID
690 * @arg @ref HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID Rx Fifo 0 message pending callback ID
691 * @arg @ref HAL_CAN_RX_FIFO0_FULL_CB_ID Rx Fifo 0 full callback ID
692 * @arg @ref HAL_CAN_RX_FIFO1_MSG_PENDING_CB_ID Rx Fifo 1 message pending callback ID
693 * @arg @ref HAL_CAN_RX_FIFO1_FULL_CB_ID Rx Fifo 1 full callback ID
694 * @arg @ref HAL_CAN_SLEEP_CB_ID Sleep callback ID
695 * @arg @ref HAL_CAN_WAKEUP_FROM_RX_MSG_CB_ID Wake Up from Rx message callback ID
696 * @arg @ref HAL_CAN_ERROR_CB_ID Error callback ID
697 * @arg @ref HAL_CAN_MSPINIT_CB_ID MspInit callback ID
698 * @arg @ref HAL_CAN_MSPDEINIT_CB_ID MspDeInit callback ID
699 * @retval HAL status
700 */
HAL_CAN_UnRegisterCallback(CAN_HandleTypeDef * hcan,HAL_CAN_CallbackIDTypeDef CallbackID)701 HAL_StatusTypeDef HAL_CAN_UnRegisterCallback(CAN_HandleTypeDef *hcan, HAL_CAN_CallbackIDTypeDef CallbackID)
702 {
703 HAL_StatusTypeDef status = HAL_OK;
704
705 if (hcan->State == HAL_CAN_STATE_READY)
706 {
707 switch (CallbackID)
708 {
709 case HAL_CAN_TX_MAILBOX0_COMPLETE_CB_ID :
710 hcan->TxMailbox0CompleteCallback = HAL_CAN_TxMailbox0CompleteCallback;
711 break;
712
713 case HAL_CAN_TX_MAILBOX1_COMPLETE_CB_ID :
714 hcan->TxMailbox1CompleteCallback = HAL_CAN_TxMailbox1CompleteCallback;
715 break;
716
717 case HAL_CAN_TX_MAILBOX2_COMPLETE_CB_ID :
718 hcan->TxMailbox2CompleteCallback = HAL_CAN_TxMailbox2CompleteCallback;
719 break;
720
721 case HAL_CAN_TX_MAILBOX0_ABORT_CB_ID :
722 hcan->TxMailbox0AbortCallback = HAL_CAN_TxMailbox0AbortCallback;
723 break;
724
725 case HAL_CAN_TX_MAILBOX1_ABORT_CB_ID :
726 hcan->TxMailbox1AbortCallback = HAL_CAN_TxMailbox1AbortCallback;
727 break;
728
729 case HAL_CAN_TX_MAILBOX2_ABORT_CB_ID :
730 hcan->TxMailbox2AbortCallback = HAL_CAN_TxMailbox2AbortCallback;
731 break;
732
733 case HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID :
734 hcan->RxFifo0MsgPendingCallback = HAL_CAN_RxFifo0MsgPendingCallback;
735 break;
736
737 case HAL_CAN_RX_FIFO0_FULL_CB_ID :
738 hcan->RxFifo0FullCallback = HAL_CAN_RxFifo0FullCallback;
739 break;
740
741 case HAL_CAN_RX_FIFO1_MSG_PENDING_CB_ID :
742 hcan->RxFifo1MsgPendingCallback = HAL_CAN_RxFifo1MsgPendingCallback;
743 break;
744
745 case HAL_CAN_RX_FIFO1_FULL_CB_ID :
746 hcan->RxFifo1FullCallback = HAL_CAN_RxFifo1FullCallback;
747 break;
748
749 case HAL_CAN_SLEEP_CB_ID :
750 hcan->SleepCallback = HAL_CAN_SleepCallback;
751 break;
752
753 case HAL_CAN_WAKEUP_FROM_RX_MSG_CB_ID :
754 hcan->WakeUpFromRxMsgCallback = HAL_CAN_WakeUpFromRxMsgCallback;
755 break;
756
757 case HAL_CAN_ERROR_CB_ID :
758 hcan->ErrorCallback = HAL_CAN_ErrorCallback;
759 break;
760
761 case HAL_CAN_MSPINIT_CB_ID :
762 hcan->MspInitCallback = HAL_CAN_MspInit;
763 break;
764
765 case HAL_CAN_MSPDEINIT_CB_ID :
766 hcan->MspDeInitCallback = HAL_CAN_MspDeInit;
767 break;
768
769 default :
770 /* Update the error code */
771 hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
772
773 /* Return error status */
774 status = HAL_ERROR;
775 break;
776 }
777 }
778 else if (hcan->State == HAL_CAN_STATE_RESET)
779 {
780 switch (CallbackID)
781 {
782 case HAL_CAN_MSPINIT_CB_ID :
783 hcan->MspInitCallback = HAL_CAN_MspInit;
784 break;
785
786 case HAL_CAN_MSPDEINIT_CB_ID :
787 hcan->MspDeInitCallback = HAL_CAN_MspDeInit;
788 break;
789
790 default :
791 /* Update the error code */
792 hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
793
794 /* Return error status */
795 status = HAL_ERROR;
796 break;
797 }
798 }
799 else
800 {
801 /* Update the error code */
802 hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
803
804 /* Return error status */
805 status = HAL_ERROR;
806 }
807
808 return status;
809 }
810 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
811
812 /**
813 * @}
814 */
815
816 /** @defgroup CAN_Exported_Functions_Group2 Configuration functions
817 * @brief Configuration functions.
818 *
819 @verbatim
820 ==============================================================================
821 ##### Configuration functions #####
822 ==============================================================================
823 [..] This section provides functions allowing to:
824 (+) HAL_CAN_ConfigFilter : Configure the CAN reception filters
825
826 @endverbatim
827 * @{
828 */
829
830 /**
831 * @brief Configures the CAN reception filter according to the specified
832 * parameters in the CAN_FilterInitStruct.
833 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
834 * the configuration information for the specified CAN.
835 * @param sFilterConfig pointer to a CAN_FilterTypeDef structure that
836 * contains the filter configuration information.
837 * @retval None
838 */
HAL_CAN_ConfigFilter(CAN_HandleTypeDef * hcan,const CAN_FilterTypeDef * sFilterConfig)839 HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef *hcan, const CAN_FilterTypeDef *sFilterConfig)
840 {
841 uint32_t filternbrbitpos;
842 CAN_TypeDef *can_ip = hcan->Instance;
843 HAL_CAN_StateTypeDef state = hcan->State;
844
845 if ((state == HAL_CAN_STATE_READY) ||
846 (state == HAL_CAN_STATE_LISTENING))
847 {
848 /* Check the parameters */
849 assert_param(IS_CAN_FILTER_ID_HALFWORD(sFilterConfig->FilterIdHigh));
850 assert_param(IS_CAN_FILTER_ID_HALFWORD(sFilterConfig->FilterIdLow));
851 assert_param(IS_CAN_FILTER_ID_HALFWORD(sFilterConfig->FilterMaskIdHigh));
852 assert_param(IS_CAN_FILTER_ID_HALFWORD(sFilterConfig->FilterMaskIdLow));
853 assert_param(IS_CAN_FILTER_MODE(sFilterConfig->FilterMode));
854 assert_param(IS_CAN_FILTER_SCALE(sFilterConfig->FilterScale));
855 assert_param(IS_CAN_FILTER_FIFO(sFilterConfig->FilterFIFOAssignment));
856 assert_param(IS_CAN_FILTER_ACTIVATION(sFilterConfig->FilterActivation));
857
858 #if defined(CAN2)
859 /* CAN1 and CAN2 are dual instances with 28 common filters banks */
860 /* Select master instance to access the filter banks */
861 can_ip = CAN1;
862
863 /* Check the parameters */
864 assert_param(IS_CAN_FILTER_BANK_DUAL(sFilterConfig->FilterBank));
865 assert_param(IS_CAN_FILTER_BANK_DUAL(sFilterConfig->SlaveStartFilterBank));
866 #else
867 /* CAN1 is single instance with 14 dedicated filters banks */
868
869 /* Check the parameters */
870 assert_param(IS_CAN_FILTER_BANK_SINGLE(sFilterConfig->FilterBank));
871 #endif
872
873 /* Initialisation mode for the filter */
874 SET_BIT(can_ip->FMR, CAN_FMR_FINIT);
875
876 #if defined(CAN2)
877 /* Select the start filter number of CAN2 slave instance */
878 CLEAR_BIT(can_ip->FMR, CAN_FMR_CAN2SB);
879 SET_BIT(can_ip->FMR, sFilterConfig->SlaveStartFilterBank << CAN_FMR_CAN2SB_Pos);
880
881 #endif
882 /* Convert filter number into bit position */
883 filternbrbitpos = (uint32_t)1 << (sFilterConfig->FilterBank & 0x1FU);
884
885 /* Filter Deactivation */
886 CLEAR_BIT(can_ip->FA1R, filternbrbitpos);
887
888 /* Filter Scale */
889 if (sFilterConfig->FilterScale == CAN_FILTERSCALE_16BIT)
890 {
891 /* 16-bit scale for the filter */
892 CLEAR_BIT(can_ip->FS1R, filternbrbitpos);
893
894 /* First 16-bit identifier and First 16-bit mask */
895 /* Or First 16-bit identifier and Second 16-bit identifier */
896 can_ip->sFilterRegister[sFilterConfig->FilterBank].FR1 =
897 ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdLow) << 16U) |
898 (0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdLow);
899
900 /* Second 16-bit identifier and Second 16-bit mask */
901 /* Or Third 16-bit identifier and Fourth 16-bit identifier */
902 can_ip->sFilterRegister[sFilterConfig->FilterBank].FR2 =
903 ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16U) |
904 (0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdHigh);
905 }
906
907 if (sFilterConfig->FilterScale == CAN_FILTERSCALE_32BIT)
908 {
909 /* 32-bit scale for the filter */
910 SET_BIT(can_ip->FS1R, filternbrbitpos);
911
912 /* 32-bit identifier or First 32-bit identifier */
913 can_ip->sFilterRegister[sFilterConfig->FilterBank].FR1 =
914 ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdHigh) << 16U) |
915 (0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdLow);
916
917 /* 32-bit mask or Second 32-bit identifier */
918 can_ip->sFilterRegister[sFilterConfig->FilterBank].FR2 =
919 ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16U) |
920 (0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdLow);
921 }
922
923 /* Filter Mode */
924 if (sFilterConfig->FilterMode == CAN_FILTERMODE_IDMASK)
925 {
926 /* Id/Mask mode for the filter*/
927 CLEAR_BIT(can_ip->FM1R, filternbrbitpos);
928 }
929 else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */
930 {
931 /* Identifier list mode for the filter*/
932 SET_BIT(can_ip->FM1R, filternbrbitpos);
933 }
934
935 /* Filter FIFO assignment */
936 if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO0)
937 {
938 /* FIFO 0 assignation for the filter */
939 CLEAR_BIT(can_ip->FFA1R, filternbrbitpos);
940 }
941 else
942 {
943 /* FIFO 1 assignation for the filter */
944 SET_BIT(can_ip->FFA1R, filternbrbitpos);
945 }
946
947 /* Filter activation */
948 if (sFilterConfig->FilterActivation == CAN_FILTER_ENABLE)
949 {
950 SET_BIT(can_ip->FA1R, filternbrbitpos);
951 }
952
953 /* Leave the initialisation mode for the filter */
954 CLEAR_BIT(can_ip->FMR, CAN_FMR_FINIT);
955
956 /* Return function status */
957 return HAL_OK;
958 }
959 else
960 {
961 /* Update error code */
962 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
963
964 return HAL_ERROR;
965 }
966 }
967
968 /**
969 * @}
970 */
971
972 /** @defgroup CAN_Exported_Functions_Group3 Control functions
973 * @brief Control functions
974 *
975 @verbatim
976 ==============================================================================
977 ##### Control functions #####
978 ==============================================================================
979 [..] This section provides functions allowing to:
980 (+) HAL_CAN_Start : Start the CAN module
981 (+) HAL_CAN_Stop : Stop the CAN module
982 (+) HAL_CAN_RequestSleep : Request sleep mode entry.
983 (+) HAL_CAN_WakeUp : Wake up from sleep mode.
984 (+) HAL_CAN_IsSleepActive : Check is sleep mode is active.
985 (+) HAL_CAN_AddTxMessage : Add a message to the Tx mailboxes
986 and activate the corresponding
987 transmission request
988 (+) HAL_CAN_AbortTxRequest : Abort transmission request
989 (+) HAL_CAN_GetTxMailboxesFreeLevel : Return Tx mailboxes free level
990 (+) HAL_CAN_IsTxMessagePending : Check if a transmission request is
991 pending on the selected Tx mailbox
992 (+) HAL_CAN_GetRxMessage : Get a CAN frame from the Rx FIFO
993 (+) HAL_CAN_GetRxFifoFillLevel : Return Rx FIFO fill level
994
995 @endverbatim
996 * @{
997 */
998
999 /**
1000 * @brief Start the CAN module.
1001 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
1002 * the configuration information for the specified CAN.
1003 * @retval HAL status
1004 */
HAL_CAN_Start(CAN_HandleTypeDef * hcan)1005 HAL_StatusTypeDef HAL_CAN_Start(CAN_HandleTypeDef *hcan)
1006 {
1007 uint32_t tickstart;
1008
1009 if (hcan->State == HAL_CAN_STATE_READY)
1010 {
1011 /* Change CAN peripheral state */
1012 hcan->State = HAL_CAN_STATE_LISTENING;
1013
1014 /* Request leave initialisation */
1015 CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_INRQ);
1016
1017 /* Get tick */
1018 tickstart = HAL_GetTick();
1019
1020 /* Wait the acknowledge */
1021 while ((hcan->Instance->MSR & CAN_MSR_INAK) != 0U)
1022 {
1023 /* Check for the Timeout */
1024 if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
1025 {
1026 /* Update error code */
1027 hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;
1028
1029 /* Change CAN state */
1030 hcan->State = HAL_CAN_STATE_ERROR;
1031
1032 return HAL_ERROR;
1033 }
1034 }
1035
1036 /* Reset the CAN ErrorCode */
1037 hcan->ErrorCode = HAL_CAN_ERROR_NONE;
1038
1039 /* Return function status */
1040 return HAL_OK;
1041 }
1042 else
1043 {
1044 /* Update error code */
1045 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_READY;
1046
1047 return HAL_ERROR;
1048 }
1049 }
1050
1051 /**
1052 * @brief Stop the CAN module and enable access to configuration registers.
1053 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
1054 * the configuration information for the specified CAN.
1055 * @retval HAL status
1056 */
HAL_CAN_Stop(CAN_HandleTypeDef * hcan)1057 HAL_StatusTypeDef HAL_CAN_Stop(CAN_HandleTypeDef *hcan)
1058 {
1059 uint32_t tickstart;
1060
1061 if (hcan->State == HAL_CAN_STATE_LISTENING)
1062 {
1063 /* Request initialisation */
1064 SET_BIT(hcan->Instance->MCR, CAN_MCR_INRQ);
1065
1066 /* Get tick */
1067 tickstart = HAL_GetTick();
1068
1069 /* Wait the acknowledge */
1070 while ((hcan->Instance->MSR & CAN_MSR_INAK) == 0U)
1071 {
1072 /* Check for the Timeout */
1073 if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
1074 {
1075 /* Update error code */
1076 hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;
1077
1078 /* Change CAN state */
1079 hcan->State = HAL_CAN_STATE_ERROR;
1080
1081 return HAL_ERROR;
1082 }
1083 }
1084
1085 /* Exit from sleep mode */
1086 CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
1087
1088 /* Change CAN peripheral state */
1089 hcan->State = HAL_CAN_STATE_READY;
1090
1091 /* Return function status */
1092 return HAL_OK;
1093 }
1094 else
1095 {
1096 /* Update error code */
1097 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_STARTED;
1098
1099 return HAL_ERROR;
1100 }
1101 }
1102
1103 /**
1104 * @brief Request the sleep mode (low power) entry.
1105 * When returning from this function, Sleep mode will be entered
1106 * as soon as the current CAN activity (transmission or reception
1107 * of a CAN frame) has been completed.
1108 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
1109 * the configuration information for the specified CAN.
1110 * @retval HAL status.
1111 */
HAL_CAN_RequestSleep(CAN_HandleTypeDef * hcan)1112 HAL_StatusTypeDef HAL_CAN_RequestSleep(CAN_HandleTypeDef *hcan)
1113 {
1114 HAL_CAN_StateTypeDef state = hcan->State;
1115
1116 if ((state == HAL_CAN_STATE_READY) ||
1117 (state == HAL_CAN_STATE_LISTENING))
1118 {
1119 /* Request Sleep mode */
1120 SET_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
1121
1122 /* Return function status */
1123 return HAL_OK;
1124 }
1125 else
1126 {
1127 /* Update error code */
1128 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
1129
1130 /* Return function status */
1131 return HAL_ERROR;
1132 }
1133 }
1134
1135 /**
1136 * @brief Wake up from sleep mode.
1137 * When returning with HAL_OK status from this function, Sleep mode
1138 * is exited.
1139 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
1140 * the configuration information for the specified CAN.
1141 * @retval HAL status.
1142 */
HAL_CAN_WakeUp(CAN_HandleTypeDef * hcan)1143 HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef *hcan)
1144 {
1145 __IO uint32_t count = 0;
1146 uint32_t timeout = 1000000U;
1147 HAL_CAN_StateTypeDef state = hcan->State;
1148
1149 if ((state == HAL_CAN_STATE_READY) ||
1150 (state == HAL_CAN_STATE_LISTENING))
1151 {
1152 /* Wake up request */
1153 CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
1154
1155 /* Wait sleep mode is exited */
1156 do
1157 {
1158 /* Increment counter */
1159 count++;
1160
1161 /* Check if timeout is reached */
1162 if (count > timeout)
1163 {
1164 /* Update error code */
1165 hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;
1166
1167 return HAL_ERROR;
1168 }
1169 }
1170 while ((hcan->Instance->MSR & CAN_MSR_SLAK) != 0U);
1171
1172 /* Return function status */
1173 return HAL_OK;
1174 }
1175 else
1176 {
1177 /* Update error code */
1178 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
1179
1180 return HAL_ERROR;
1181 }
1182 }
1183
1184 /**
1185 * @brief Check is sleep mode is active.
1186 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
1187 * the configuration information for the specified CAN.
1188 * @retval Status
1189 * - 0 : Sleep mode is not active.
1190 * - 1 : Sleep mode is active.
1191 */
HAL_CAN_IsSleepActive(const CAN_HandleTypeDef * hcan)1192 uint32_t HAL_CAN_IsSleepActive(const CAN_HandleTypeDef *hcan)
1193 {
1194 uint32_t status = 0U;
1195 HAL_CAN_StateTypeDef state = hcan->State;
1196
1197 if ((state == HAL_CAN_STATE_READY) ||
1198 (state == HAL_CAN_STATE_LISTENING))
1199 {
1200 /* Check Sleep mode */
1201 if ((hcan->Instance->MSR & CAN_MSR_SLAK) != 0U)
1202 {
1203 status = 1U;
1204 }
1205 }
1206
1207 /* Return function status */
1208 return status;
1209 }
1210
1211 /**
1212 * @brief Add a message to the first free Tx mailbox and activate the
1213 * corresponding transmission request.
1214 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
1215 * the configuration information for the specified CAN.
1216 * @param pHeader pointer to a CAN_TxHeaderTypeDef structure.
1217 * @param aData array containing the payload of the Tx frame.
1218 * @param pTxMailbox pointer to a variable where the function will return
1219 * the TxMailbox used to store the Tx message.
1220 * This parameter can be a value of @arg CAN_Tx_Mailboxes.
1221 * @retval HAL status
1222 */
HAL_CAN_AddTxMessage(CAN_HandleTypeDef * hcan,const CAN_TxHeaderTypeDef * pHeader,const uint8_t aData[],uint32_t * pTxMailbox)1223 HAL_StatusTypeDef HAL_CAN_AddTxMessage(CAN_HandleTypeDef *hcan, const CAN_TxHeaderTypeDef *pHeader,
1224 const uint8_t aData[], uint32_t *pTxMailbox)
1225 {
1226 uint32_t transmitmailbox;
1227 HAL_CAN_StateTypeDef state = hcan->State;
1228 uint32_t tsr = READ_REG(hcan->Instance->TSR);
1229
1230 /* Check the parameters */
1231 assert_param(IS_CAN_IDTYPE(pHeader->IDE));
1232 assert_param(IS_CAN_RTR(pHeader->RTR));
1233 assert_param(IS_CAN_DLC(pHeader->DLC));
1234 if (pHeader->IDE == CAN_ID_STD)
1235 {
1236 assert_param(IS_CAN_STDID(pHeader->StdId));
1237 }
1238 else
1239 {
1240 assert_param(IS_CAN_EXTID(pHeader->ExtId));
1241 }
1242 assert_param(IS_FUNCTIONAL_STATE(pHeader->TransmitGlobalTime));
1243
1244 if ((state == HAL_CAN_STATE_READY) ||
1245 (state == HAL_CAN_STATE_LISTENING))
1246 {
1247 /* Check that all the Tx mailboxes are not full */
1248 if (((tsr & CAN_TSR_TME0) != 0U) ||
1249 ((tsr & CAN_TSR_TME1) != 0U) ||
1250 ((tsr & CAN_TSR_TME2) != 0U))
1251 {
1252 /* Select an empty transmit mailbox */
1253 transmitmailbox = (tsr & CAN_TSR_CODE) >> CAN_TSR_CODE_Pos;
1254
1255 /* Store the Tx mailbox */
1256 *pTxMailbox = (uint32_t)1 << transmitmailbox;
1257
1258 /* Set up the Id */
1259 if (pHeader->IDE == CAN_ID_STD)
1260 {
1261 hcan->Instance->sTxMailBox[transmitmailbox].TIR = ((pHeader->StdId << CAN_TI0R_STID_Pos) |
1262 pHeader->RTR);
1263 }
1264 else
1265 {
1266 hcan->Instance->sTxMailBox[transmitmailbox].TIR = ((pHeader->ExtId << CAN_TI0R_EXID_Pos) |
1267 pHeader->IDE |
1268 pHeader->RTR);
1269 }
1270
1271 /* Set up the DLC */
1272 hcan->Instance->sTxMailBox[transmitmailbox].TDTR = (pHeader->DLC);
1273
1274 /* Set up the Transmit Global Time mode */
1275 if (pHeader->TransmitGlobalTime == ENABLE)
1276 {
1277 SET_BIT(hcan->Instance->sTxMailBox[transmitmailbox].TDTR, CAN_TDT0R_TGT);
1278 }
1279
1280 /* Set up the data field */
1281 WRITE_REG(hcan->Instance->sTxMailBox[transmitmailbox].TDHR,
1282 ((uint32_t)aData[7] << CAN_TDH0R_DATA7_Pos) |
1283 ((uint32_t)aData[6] << CAN_TDH0R_DATA6_Pos) |
1284 ((uint32_t)aData[5] << CAN_TDH0R_DATA5_Pos) |
1285 ((uint32_t)aData[4] << CAN_TDH0R_DATA4_Pos));
1286 WRITE_REG(hcan->Instance->sTxMailBox[transmitmailbox].TDLR,
1287 ((uint32_t)aData[3] << CAN_TDL0R_DATA3_Pos) |
1288 ((uint32_t)aData[2] << CAN_TDL0R_DATA2_Pos) |
1289 ((uint32_t)aData[1] << CAN_TDL0R_DATA1_Pos) |
1290 ((uint32_t)aData[0] << CAN_TDL0R_DATA0_Pos));
1291
1292 /* Request transmission */
1293 SET_BIT(hcan->Instance->sTxMailBox[transmitmailbox].TIR, CAN_TI0R_TXRQ);
1294
1295 /* Return function status */
1296 return HAL_OK;
1297 }
1298 else
1299 {
1300 /* Update error code */
1301 hcan->ErrorCode |= HAL_CAN_ERROR_PARAM;
1302
1303 return HAL_ERROR;
1304 }
1305 }
1306 else
1307 {
1308 /* Update error code */
1309 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
1310
1311 return HAL_ERROR;
1312 }
1313 }
1314
1315 /**
1316 * @brief Abort transmission requests
1317 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
1318 * the configuration information for the specified CAN.
1319 * @param TxMailboxes List of the Tx Mailboxes to abort.
1320 * This parameter can be any combination of @arg CAN_Tx_Mailboxes.
1321 * @retval HAL status
1322 */
HAL_CAN_AbortTxRequest(CAN_HandleTypeDef * hcan,uint32_t TxMailboxes)1323 HAL_StatusTypeDef HAL_CAN_AbortTxRequest(CAN_HandleTypeDef *hcan, uint32_t TxMailboxes)
1324 {
1325 HAL_CAN_StateTypeDef state = hcan->State;
1326
1327 /* Check function parameters */
1328 assert_param(IS_CAN_TX_MAILBOX_LIST(TxMailboxes));
1329
1330 if ((state == HAL_CAN_STATE_READY) ||
1331 (state == HAL_CAN_STATE_LISTENING))
1332 {
1333 /* Check Tx Mailbox 0 */
1334 if ((TxMailboxes & CAN_TX_MAILBOX0) != 0U)
1335 {
1336 /* Add cancellation request for Tx Mailbox 0 */
1337 SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ0);
1338 }
1339
1340 /* Check Tx Mailbox 1 */
1341 if ((TxMailboxes & CAN_TX_MAILBOX1) != 0U)
1342 {
1343 /* Add cancellation request for Tx Mailbox 1 */
1344 SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ1);
1345 }
1346
1347 /* Check Tx Mailbox 2 */
1348 if ((TxMailboxes & CAN_TX_MAILBOX2) != 0U)
1349 {
1350 /* Add cancellation request for Tx Mailbox 2 */
1351 SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ2);
1352 }
1353
1354 /* Return function status */
1355 return HAL_OK;
1356 }
1357 else
1358 {
1359 /* Update error code */
1360 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
1361
1362 return HAL_ERROR;
1363 }
1364 }
1365
1366 /**
1367 * @brief Return Tx Mailboxes free level: number of free Tx Mailboxes.
1368 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
1369 * the configuration information for the specified CAN.
1370 * @retval Number of free Tx Mailboxes.
1371 */
HAL_CAN_GetTxMailboxesFreeLevel(const CAN_HandleTypeDef * hcan)1372 uint32_t HAL_CAN_GetTxMailboxesFreeLevel(const CAN_HandleTypeDef *hcan)
1373 {
1374 uint32_t freelevel = 0U;
1375 HAL_CAN_StateTypeDef state = hcan->State;
1376
1377 if ((state == HAL_CAN_STATE_READY) ||
1378 (state == HAL_CAN_STATE_LISTENING))
1379 {
1380 /* Check Tx Mailbox 0 status */
1381 if ((hcan->Instance->TSR & CAN_TSR_TME0) != 0U)
1382 {
1383 freelevel++;
1384 }
1385
1386 /* Check Tx Mailbox 1 status */
1387 if ((hcan->Instance->TSR & CAN_TSR_TME1) != 0U)
1388 {
1389 freelevel++;
1390 }
1391
1392 /* Check Tx Mailbox 2 status */
1393 if ((hcan->Instance->TSR & CAN_TSR_TME2) != 0U)
1394 {
1395 freelevel++;
1396 }
1397 }
1398
1399 /* Return Tx Mailboxes free level */
1400 return freelevel;
1401 }
1402
1403 /**
1404 * @brief Check if a transmission request is pending on the selected Tx
1405 * Mailboxes.
1406 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
1407 * the configuration information for the specified CAN.
1408 * @param TxMailboxes List of Tx Mailboxes to check.
1409 * This parameter can be any combination of @arg CAN_Tx_Mailboxes.
1410 * @retval Status
1411 * - 0 : No pending transmission request on any selected Tx Mailboxes.
1412 * - 1 : Pending transmission request on at least one of the selected
1413 * Tx Mailbox.
1414 */
HAL_CAN_IsTxMessagePending(const CAN_HandleTypeDef * hcan,uint32_t TxMailboxes)1415 uint32_t HAL_CAN_IsTxMessagePending(const CAN_HandleTypeDef *hcan, uint32_t TxMailboxes)
1416 {
1417 uint32_t status = 0U;
1418 HAL_CAN_StateTypeDef state = hcan->State;
1419
1420 /* Check function parameters */
1421 assert_param(IS_CAN_TX_MAILBOX_LIST(TxMailboxes));
1422
1423 if ((state == HAL_CAN_STATE_READY) ||
1424 (state == HAL_CAN_STATE_LISTENING))
1425 {
1426 /* Check pending transmission request on the selected Tx Mailboxes */
1427 if ((hcan->Instance->TSR & (TxMailboxes << CAN_TSR_TME0_Pos)) != (TxMailboxes << CAN_TSR_TME0_Pos))
1428 {
1429 status = 1U;
1430 }
1431 }
1432
1433 /* Return status */
1434 return status;
1435 }
1436
1437 /**
1438 * @brief Return timestamp of Tx message sent, if time triggered communication
1439 mode is enabled.
1440 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
1441 * the configuration information for the specified CAN.
1442 * @param TxMailbox Tx Mailbox where the timestamp of message sent will be
1443 * read.
1444 * This parameter can be one value of @arg CAN_Tx_Mailboxes.
1445 * @retval Timestamp of message sent from Tx Mailbox.
1446 */
HAL_CAN_GetTxTimestamp(const CAN_HandleTypeDef * hcan,uint32_t TxMailbox)1447 uint32_t HAL_CAN_GetTxTimestamp(const CAN_HandleTypeDef *hcan, uint32_t TxMailbox)
1448 {
1449 uint32_t timestamp = 0U;
1450 uint32_t transmitmailbox;
1451 HAL_CAN_StateTypeDef state = hcan->State;
1452
1453 /* Check function parameters */
1454 assert_param(IS_CAN_TX_MAILBOX(TxMailbox));
1455
1456 if ((state == HAL_CAN_STATE_READY) ||
1457 (state == HAL_CAN_STATE_LISTENING))
1458 {
1459 /* Select the Tx mailbox */
1460 transmitmailbox = POSITION_VAL(TxMailbox);
1461
1462 /* Get timestamp */
1463 timestamp = (hcan->Instance->sTxMailBox[transmitmailbox].TDTR & CAN_TDT0R_TIME) >> CAN_TDT0R_TIME_Pos;
1464 }
1465
1466 /* Return the timestamp */
1467 return timestamp;
1468 }
1469
1470 /**
1471 * @brief Get an CAN frame from the Rx FIFO zone into the message RAM.
1472 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
1473 * the configuration information for the specified CAN.
1474 * @param RxFifo Fifo number of the received message to be read.
1475 * This parameter can be a value of @arg CAN_receive_FIFO_number.
1476 * @param pHeader pointer to a CAN_RxHeaderTypeDef structure where the header
1477 * of the Rx frame will be stored.
1478 * @param aData array where the payload of the Rx frame will be stored.
1479 * @retval HAL status
1480 */
HAL_CAN_GetRxMessage(CAN_HandleTypeDef * hcan,uint32_t RxFifo,CAN_RxHeaderTypeDef * pHeader,uint8_t aData[])1481 HAL_StatusTypeDef HAL_CAN_GetRxMessage(CAN_HandleTypeDef *hcan, uint32_t RxFifo,
1482 CAN_RxHeaderTypeDef *pHeader, uint8_t aData[])
1483 {
1484 HAL_CAN_StateTypeDef state = hcan->State;
1485
1486 assert_param(IS_CAN_RX_FIFO(RxFifo));
1487
1488 if ((state == HAL_CAN_STATE_READY) ||
1489 (state == HAL_CAN_STATE_LISTENING))
1490 {
1491 /* Check the Rx FIFO */
1492 if (RxFifo == CAN_RX_FIFO0) /* Rx element is assigned to Rx FIFO 0 */
1493 {
1494 /* Check that the Rx FIFO 0 is not empty */
1495 if ((hcan->Instance->RF0R & CAN_RF0R_FMP0) == 0U)
1496 {
1497 /* Update error code */
1498 hcan->ErrorCode |= HAL_CAN_ERROR_PARAM;
1499
1500 return HAL_ERROR;
1501 }
1502 }
1503 else /* Rx element is assigned to Rx FIFO 1 */
1504 {
1505 /* Check that the Rx FIFO 1 is not empty */
1506 if ((hcan->Instance->RF1R & CAN_RF1R_FMP1) == 0U)
1507 {
1508 /* Update error code */
1509 hcan->ErrorCode |= HAL_CAN_ERROR_PARAM;
1510
1511 return HAL_ERROR;
1512 }
1513 }
1514
1515 /* Get the header */
1516 pHeader->IDE = CAN_RI0R_IDE & hcan->Instance->sFIFOMailBox[RxFifo].RIR;
1517 if (pHeader->IDE == CAN_ID_STD)
1518 {
1519 pHeader->StdId = (CAN_RI0R_STID & hcan->Instance->sFIFOMailBox[RxFifo].RIR) >> CAN_TI0R_STID_Pos;
1520 }
1521 else
1522 {
1523 pHeader->ExtId = ((CAN_RI0R_EXID | CAN_RI0R_STID) &
1524 hcan->Instance->sFIFOMailBox[RxFifo].RIR) >> CAN_RI0R_EXID_Pos;
1525 }
1526 pHeader->RTR = (CAN_RI0R_RTR & hcan->Instance->sFIFOMailBox[RxFifo].RIR);
1527 if (((CAN_RDT0R_DLC & hcan->Instance->sFIFOMailBox[RxFifo].RDTR) >> CAN_RDT0R_DLC_Pos) >= 8U)
1528 {
1529 /* Truncate DLC to 8 if received field is over range */
1530 pHeader->DLC = 8U;
1531 }
1532 else
1533 {
1534 pHeader->DLC = (CAN_RDT0R_DLC & hcan->Instance->sFIFOMailBox[RxFifo].RDTR) >> CAN_RDT0R_DLC_Pos;
1535 }
1536 pHeader->FilterMatchIndex = (CAN_RDT0R_FMI & hcan->Instance->sFIFOMailBox[RxFifo].RDTR) >> CAN_RDT0R_FMI_Pos;
1537 pHeader->Timestamp = (CAN_RDT0R_TIME & hcan->Instance->sFIFOMailBox[RxFifo].RDTR) >> CAN_RDT0R_TIME_Pos;
1538
1539 /* Get the data */
1540 aData[0] = (uint8_t)((CAN_RDL0R_DATA0 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA0_Pos);
1541 aData[1] = (uint8_t)((CAN_RDL0R_DATA1 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA1_Pos);
1542 aData[2] = (uint8_t)((CAN_RDL0R_DATA2 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA2_Pos);
1543 aData[3] = (uint8_t)((CAN_RDL0R_DATA3 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA3_Pos);
1544 aData[4] = (uint8_t)((CAN_RDH0R_DATA4 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA4_Pos);
1545 aData[5] = (uint8_t)((CAN_RDH0R_DATA5 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA5_Pos);
1546 aData[6] = (uint8_t)((CAN_RDH0R_DATA6 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA6_Pos);
1547 aData[7] = (uint8_t)((CAN_RDH0R_DATA7 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA7_Pos);
1548
1549 /* Release the FIFO */
1550 if (RxFifo == CAN_RX_FIFO0) /* Rx element is assigned to Rx FIFO 0 */
1551 {
1552 /* Release RX FIFO 0 */
1553 SET_BIT(hcan->Instance->RF0R, CAN_RF0R_RFOM0);
1554 }
1555 else /* Rx element is assigned to Rx FIFO 1 */
1556 {
1557 /* Release RX FIFO 1 */
1558 SET_BIT(hcan->Instance->RF1R, CAN_RF1R_RFOM1);
1559 }
1560
1561 /* Return function status */
1562 return HAL_OK;
1563 }
1564 else
1565 {
1566 /* Update error code */
1567 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
1568
1569 return HAL_ERROR;
1570 }
1571 }
1572
1573 /**
1574 * @brief Return Rx FIFO fill level.
1575 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
1576 * the configuration information for the specified CAN.
1577 * @param RxFifo Rx FIFO.
1578 * This parameter can be a value of @arg CAN_receive_FIFO_number.
1579 * @retval Number of messages available in Rx FIFO.
1580 */
HAL_CAN_GetRxFifoFillLevel(const CAN_HandleTypeDef * hcan,uint32_t RxFifo)1581 uint32_t HAL_CAN_GetRxFifoFillLevel(const CAN_HandleTypeDef *hcan, uint32_t RxFifo)
1582 {
1583 uint32_t filllevel = 0U;
1584 HAL_CAN_StateTypeDef state = hcan->State;
1585
1586 /* Check function parameters */
1587 assert_param(IS_CAN_RX_FIFO(RxFifo));
1588
1589 if ((state == HAL_CAN_STATE_READY) ||
1590 (state == HAL_CAN_STATE_LISTENING))
1591 {
1592 if (RxFifo == CAN_RX_FIFO0)
1593 {
1594 filllevel = hcan->Instance->RF0R & CAN_RF0R_FMP0;
1595 }
1596 else /* RxFifo == CAN_RX_FIFO1 */
1597 {
1598 filllevel = hcan->Instance->RF1R & CAN_RF1R_FMP1;
1599 }
1600 }
1601
1602 /* Return Rx FIFO fill level */
1603 return filllevel;
1604 }
1605
1606 /**
1607 * @}
1608 */
1609
1610 /** @defgroup CAN_Exported_Functions_Group4 Interrupts management
1611 * @brief Interrupts management
1612 *
1613 @verbatim
1614 ==============================================================================
1615 ##### Interrupts management #####
1616 ==============================================================================
1617 [..] This section provides functions allowing to:
1618 (+) HAL_CAN_ActivateNotification : Enable interrupts
1619 (+) HAL_CAN_DeactivateNotification : Disable interrupts
1620 (+) HAL_CAN_IRQHandler : Handles CAN interrupt request
1621
1622 @endverbatim
1623 * @{
1624 */
1625
1626 /**
1627 * @brief Enable interrupts.
1628 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
1629 * the configuration information for the specified CAN.
1630 * @param ActiveITs indicates which interrupts will be enabled.
1631 * This parameter can be any combination of @arg CAN_Interrupts.
1632 * @retval HAL status
1633 */
HAL_CAN_ActivateNotification(CAN_HandleTypeDef * hcan,uint32_t ActiveITs)1634 HAL_StatusTypeDef HAL_CAN_ActivateNotification(CAN_HandleTypeDef *hcan, uint32_t ActiveITs)
1635 {
1636 HAL_CAN_StateTypeDef state = hcan->State;
1637
1638 /* Check function parameters */
1639 assert_param(IS_CAN_IT(ActiveITs));
1640
1641 if ((state == HAL_CAN_STATE_READY) ||
1642 (state == HAL_CAN_STATE_LISTENING))
1643 {
1644 /* Enable the selected interrupts */
1645 __HAL_CAN_ENABLE_IT(hcan, ActiveITs);
1646
1647 /* Return function status */
1648 return HAL_OK;
1649 }
1650 else
1651 {
1652 /* Update error code */
1653 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
1654
1655 return HAL_ERROR;
1656 }
1657 }
1658
1659 /**
1660 * @brief Disable interrupts.
1661 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
1662 * the configuration information for the specified CAN.
1663 * @param InactiveITs indicates which interrupts will be disabled.
1664 * This parameter can be any combination of @arg CAN_Interrupts.
1665 * @retval HAL status
1666 */
HAL_CAN_DeactivateNotification(CAN_HandleTypeDef * hcan,uint32_t InactiveITs)1667 HAL_StatusTypeDef HAL_CAN_DeactivateNotification(CAN_HandleTypeDef *hcan, uint32_t InactiveITs)
1668 {
1669 HAL_CAN_StateTypeDef state = hcan->State;
1670
1671 /* Check function parameters */
1672 assert_param(IS_CAN_IT(InactiveITs));
1673
1674 if ((state == HAL_CAN_STATE_READY) ||
1675 (state == HAL_CAN_STATE_LISTENING))
1676 {
1677 /* Disable the selected interrupts */
1678 __HAL_CAN_DISABLE_IT(hcan, InactiveITs);
1679
1680 /* Return function status */
1681 return HAL_OK;
1682 }
1683 else
1684 {
1685 /* Update error code */
1686 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
1687
1688 return HAL_ERROR;
1689 }
1690 }
1691
1692 /**
1693 * @brief Handles CAN interrupt request
1694 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
1695 * the configuration information for the specified CAN.
1696 * @retval None
1697 */
HAL_CAN_IRQHandler(CAN_HandleTypeDef * hcan)1698 void HAL_CAN_IRQHandler(CAN_HandleTypeDef *hcan)
1699 {
1700 uint32_t errorcode = HAL_CAN_ERROR_NONE;
1701 uint32_t interrupts = READ_REG(hcan->Instance->IER);
1702 uint32_t msrflags = READ_REG(hcan->Instance->MSR);
1703 uint32_t tsrflags = READ_REG(hcan->Instance->TSR);
1704 uint32_t rf0rflags = READ_REG(hcan->Instance->RF0R);
1705 uint32_t rf1rflags = READ_REG(hcan->Instance->RF1R);
1706 uint32_t esrflags = READ_REG(hcan->Instance->ESR);
1707
1708 /* Transmit Mailbox empty interrupt management *****************************/
1709 if ((interrupts & CAN_IT_TX_MAILBOX_EMPTY) != 0U)
1710 {
1711 /* Transmit Mailbox 0 management *****************************************/
1712 if ((tsrflags & CAN_TSR_RQCP0) != 0U)
1713 {
1714 /* Clear the Transmission Complete flag (and TXOK0,ALST0,TERR0 bits) */
1715 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_RQCP0);
1716
1717 if ((tsrflags & CAN_TSR_TXOK0) != 0U)
1718 {
1719 /* Transmission Mailbox 0 complete callback */
1720 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1721 /* Call registered callback*/
1722 hcan->TxMailbox0CompleteCallback(hcan);
1723 #else
1724 /* Call weak (surcharged) callback */
1725 HAL_CAN_TxMailbox0CompleteCallback(hcan);
1726 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1727 }
1728 else
1729 {
1730 if ((tsrflags & CAN_TSR_ALST0) != 0U)
1731 {
1732 /* Update error code */
1733 errorcode |= HAL_CAN_ERROR_TX_ALST0;
1734 }
1735 else if ((tsrflags & CAN_TSR_TERR0) != 0U)
1736 {
1737 /* Update error code */
1738 errorcode |= HAL_CAN_ERROR_TX_TERR0;
1739 }
1740 else
1741 {
1742 /* Transmission Mailbox 0 abort callback */
1743 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1744 /* Call registered callback*/
1745 hcan->TxMailbox0AbortCallback(hcan);
1746 #else
1747 /* Call weak (surcharged) callback */
1748 HAL_CAN_TxMailbox0AbortCallback(hcan);
1749 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1750 }
1751 }
1752 }
1753
1754 /* Transmit Mailbox 1 management *****************************************/
1755 if ((tsrflags & CAN_TSR_RQCP1) != 0U)
1756 {
1757 /* Clear the Transmission Complete flag (and TXOK1,ALST1,TERR1 bits) */
1758 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_RQCP1);
1759
1760 if ((tsrflags & CAN_TSR_TXOK1) != 0U)
1761 {
1762 /* Transmission Mailbox 1 complete callback */
1763 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1764 /* Call registered callback*/
1765 hcan->TxMailbox1CompleteCallback(hcan);
1766 #else
1767 /* Call weak (surcharged) callback */
1768 HAL_CAN_TxMailbox1CompleteCallback(hcan);
1769 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1770 }
1771 else
1772 {
1773 if ((tsrflags & CAN_TSR_ALST1) != 0U)
1774 {
1775 /* Update error code */
1776 errorcode |= HAL_CAN_ERROR_TX_ALST1;
1777 }
1778 else if ((tsrflags & CAN_TSR_TERR1) != 0U)
1779 {
1780 /* Update error code */
1781 errorcode |= HAL_CAN_ERROR_TX_TERR1;
1782 }
1783 else
1784 {
1785 /* Transmission Mailbox 1 abort callback */
1786 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1787 /* Call registered callback*/
1788 hcan->TxMailbox1AbortCallback(hcan);
1789 #else
1790 /* Call weak (surcharged) callback */
1791 HAL_CAN_TxMailbox1AbortCallback(hcan);
1792 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1793 }
1794 }
1795 }
1796
1797 /* Transmit Mailbox 2 management *****************************************/
1798 if ((tsrflags & CAN_TSR_RQCP2) != 0U)
1799 {
1800 /* Clear the Transmission Complete flag (and TXOK2,ALST2,TERR2 bits) */
1801 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_RQCP2);
1802
1803 if ((tsrflags & CAN_TSR_TXOK2) != 0U)
1804 {
1805 /* Transmission Mailbox 2 complete callback */
1806 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1807 /* Call registered callback*/
1808 hcan->TxMailbox2CompleteCallback(hcan);
1809 #else
1810 /* Call weak (surcharged) callback */
1811 HAL_CAN_TxMailbox2CompleteCallback(hcan);
1812 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1813 }
1814 else
1815 {
1816 if ((tsrflags & CAN_TSR_ALST2) != 0U)
1817 {
1818 /* Update error code */
1819 errorcode |= HAL_CAN_ERROR_TX_ALST2;
1820 }
1821 else if ((tsrflags & CAN_TSR_TERR2) != 0U)
1822 {
1823 /* Update error code */
1824 errorcode |= HAL_CAN_ERROR_TX_TERR2;
1825 }
1826 else
1827 {
1828 /* Transmission Mailbox 2 abort callback */
1829 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1830 /* Call registered callback*/
1831 hcan->TxMailbox2AbortCallback(hcan);
1832 #else
1833 /* Call weak (surcharged) callback */
1834 HAL_CAN_TxMailbox2AbortCallback(hcan);
1835 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1836 }
1837 }
1838 }
1839 }
1840
1841 /* Receive FIFO 0 overrun interrupt management *****************************/
1842 if ((interrupts & CAN_IT_RX_FIFO0_OVERRUN) != 0U)
1843 {
1844 if ((rf0rflags & CAN_RF0R_FOVR0) != 0U)
1845 {
1846 /* Set CAN error code to Rx Fifo 0 overrun error */
1847 errorcode |= HAL_CAN_ERROR_RX_FOV0;
1848
1849 /* Clear FIFO0 Overrun Flag */
1850 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV0);
1851 }
1852 }
1853
1854 /* Receive FIFO 0 full interrupt management ********************************/
1855 if ((interrupts & CAN_IT_RX_FIFO0_FULL) != 0U)
1856 {
1857 if ((rf0rflags & CAN_RF0R_FULL0) != 0U)
1858 {
1859 /* Clear FIFO 0 full Flag */
1860 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF0);
1861
1862 /* Receive FIFO 0 full Callback */
1863 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1864 /* Call registered callback*/
1865 hcan->RxFifo0FullCallback(hcan);
1866 #else
1867 /* Call weak (surcharged) callback */
1868 HAL_CAN_RxFifo0FullCallback(hcan);
1869 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1870 }
1871 }
1872
1873 /* Receive FIFO 0 message pending interrupt management *********************/
1874 if ((interrupts & CAN_IT_RX_FIFO0_MSG_PENDING) != 0U)
1875 {
1876 /* Check if message is still pending */
1877 if ((hcan->Instance->RF0R & CAN_RF0R_FMP0) != 0U)
1878 {
1879 /* Receive FIFO 0 message pending Callback */
1880 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1881 /* Call registered callback*/
1882 hcan->RxFifo0MsgPendingCallback(hcan);
1883 #else
1884 /* Call weak (surcharged) callback */
1885 HAL_CAN_RxFifo0MsgPendingCallback(hcan);
1886 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1887 }
1888 }
1889
1890 /* Receive FIFO 1 overrun interrupt management *****************************/
1891 if ((interrupts & CAN_IT_RX_FIFO1_OVERRUN) != 0U)
1892 {
1893 if ((rf1rflags & CAN_RF1R_FOVR1) != 0U)
1894 {
1895 /* Set CAN error code to Rx Fifo 1 overrun error */
1896 errorcode |= HAL_CAN_ERROR_RX_FOV1;
1897
1898 /* Clear FIFO1 Overrun Flag */
1899 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV1);
1900 }
1901 }
1902
1903 /* Receive FIFO 1 full interrupt management ********************************/
1904 if ((interrupts & CAN_IT_RX_FIFO1_FULL) != 0U)
1905 {
1906 if ((rf1rflags & CAN_RF1R_FULL1) != 0U)
1907 {
1908 /* Clear FIFO 1 full Flag */
1909 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF1);
1910
1911 /* Receive FIFO 1 full Callback */
1912 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1913 /* Call registered callback*/
1914 hcan->RxFifo1FullCallback(hcan);
1915 #else
1916 /* Call weak (surcharged) callback */
1917 HAL_CAN_RxFifo1FullCallback(hcan);
1918 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1919 }
1920 }
1921
1922 /* Receive FIFO 1 message pending interrupt management *********************/
1923 if ((interrupts & CAN_IT_RX_FIFO1_MSG_PENDING) != 0U)
1924 {
1925 /* Check if message is still pending */
1926 if ((hcan->Instance->RF1R & CAN_RF1R_FMP1) != 0U)
1927 {
1928 /* Receive FIFO 1 message pending Callback */
1929 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1930 /* Call registered callback*/
1931 hcan->RxFifo1MsgPendingCallback(hcan);
1932 #else
1933 /* Call weak (surcharged) callback */
1934 HAL_CAN_RxFifo1MsgPendingCallback(hcan);
1935 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1936 }
1937 }
1938
1939 /* Sleep interrupt management *********************************************/
1940 if ((interrupts & CAN_IT_SLEEP_ACK) != 0U)
1941 {
1942 if ((msrflags & CAN_MSR_SLAKI) != 0U)
1943 {
1944 /* Clear Sleep interrupt Flag */
1945 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_SLAKI);
1946
1947 /* Sleep Callback */
1948 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1949 /* Call registered callback*/
1950 hcan->SleepCallback(hcan);
1951 #else
1952 /* Call weak (surcharged) callback */
1953 HAL_CAN_SleepCallback(hcan);
1954 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1955 }
1956 }
1957
1958 /* WakeUp interrupt management *********************************************/
1959 if ((interrupts & CAN_IT_WAKEUP) != 0U)
1960 {
1961 if ((msrflags & CAN_MSR_WKUI) != 0U)
1962 {
1963 /* Clear WakeUp Flag */
1964 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_WKU);
1965
1966 /* WakeUp Callback */
1967 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1968 /* Call registered callback*/
1969 hcan->WakeUpFromRxMsgCallback(hcan);
1970 #else
1971 /* Call weak (surcharged) callback */
1972 HAL_CAN_WakeUpFromRxMsgCallback(hcan);
1973 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1974 }
1975 }
1976
1977 /* Error interrupts management *********************************************/
1978 if ((interrupts & CAN_IT_ERROR) != 0U)
1979 {
1980 if ((msrflags & CAN_MSR_ERRI) != 0U)
1981 {
1982 /* Check Error Warning Flag */
1983 if (((interrupts & CAN_IT_ERROR_WARNING) != 0U) &&
1984 ((esrflags & CAN_ESR_EWGF) != 0U))
1985 {
1986 /* Set CAN error code to Error Warning */
1987 errorcode |= HAL_CAN_ERROR_EWG;
1988
1989 /* No need for clear of Error Warning Flag as read-only */
1990 }
1991
1992 /* Check Error Passive Flag */
1993 if (((interrupts & CAN_IT_ERROR_PASSIVE) != 0U) &&
1994 ((esrflags & CAN_ESR_EPVF) != 0U))
1995 {
1996 /* Set CAN error code to Error Passive */
1997 errorcode |= HAL_CAN_ERROR_EPV;
1998
1999 /* No need for clear of Error Passive Flag as read-only */
2000 }
2001
2002 /* Check Bus-off Flag */
2003 if (((interrupts & CAN_IT_BUSOFF) != 0U) &&
2004 ((esrflags & CAN_ESR_BOFF) != 0U))
2005 {
2006 /* Set CAN error code to Bus-Off */
2007 errorcode |= HAL_CAN_ERROR_BOF;
2008
2009 /* No need for clear of Error Bus-Off as read-only */
2010 }
2011
2012 /* Check Last Error Code Flag */
2013 if (((interrupts & CAN_IT_LAST_ERROR_CODE) != 0U) &&
2014 ((esrflags & CAN_ESR_LEC) != 0U))
2015 {
2016 switch (esrflags & CAN_ESR_LEC)
2017 {
2018 case (CAN_ESR_LEC_0):
2019 /* Set CAN error code to Stuff error */
2020 errorcode |= HAL_CAN_ERROR_STF;
2021 break;
2022 case (CAN_ESR_LEC_1):
2023 /* Set CAN error code to Form error */
2024 errorcode |= HAL_CAN_ERROR_FOR;
2025 break;
2026 case (CAN_ESR_LEC_1 | CAN_ESR_LEC_0):
2027 /* Set CAN error code to Acknowledgement error */
2028 errorcode |= HAL_CAN_ERROR_ACK;
2029 break;
2030 case (CAN_ESR_LEC_2):
2031 /* Set CAN error code to Bit recessive error */
2032 errorcode |= HAL_CAN_ERROR_BR;
2033 break;
2034 case (CAN_ESR_LEC_2 | CAN_ESR_LEC_0):
2035 /* Set CAN error code to Bit Dominant error */
2036 errorcode |= HAL_CAN_ERROR_BD;
2037 break;
2038 case (CAN_ESR_LEC_2 | CAN_ESR_LEC_1):
2039 /* Set CAN error code to CRC error */
2040 errorcode |= HAL_CAN_ERROR_CRC;
2041 break;
2042 default:
2043 break;
2044 }
2045
2046 /* Clear Last error code Flag */
2047 CLEAR_BIT(hcan->Instance->ESR, CAN_ESR_LEC);
2048 }
2049 }
2050
2051 /* Clear ERRI Flag */
2052 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_ERRI);
2053 }
2054
2055 /* Call the Error call Back in case of Errors */
2056 if (errorcode != HAL_CAN_ERROR_NONE)
2057 {
2058 /* Update error code in handle */
2059 hcan->ErrorCode |= errorcode;
2060
2061 /* Call Error callback function */
2062 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
2063 /* Call registered callback*/
2064 hcan->ErrorCallback(hcan);
2065 #else
2066 /* Call weak (surcharged) callback */
2067 HAL_CAN_ErrorCallback(hcan);
2068 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
2069 }
2070 }
2071
2072 /**
2073 * @}
2074 */
2075
2076 /** @defgroup CAN_Exported_Functions_Group5 Callback functions
2077 * @brief CAN Callback functions
2078 *
2079 @verbatim
2080 ==============================================================================
2081 ##### Callback functions #####
2082 ==============================================================================
2083 [..]
2084 This subsection provides the following callback functions:
2085 (+) HAL_CAN_TxMailbox0CompleteCallback
2086 (+) HAL_CAN_TxMailbox1CompleteCallback
2087 (+) HAL_CAN_TxMailbox2CompleteCallback
2088 (+) HAL_CAN_TxMailbox0AbortCallback
2089 (+) HAL_CAN_TxMailbox1AbortCallback
2090 (+) HAL_CAN_TxMailbox2AbortCallback
2091 (+) HAL_CAN_RxFifo0MsgPendingCallback
2092 (+) HAL_CAN_RxFifo0FullCallback
2093 (+) HAL_CAN_RxFifo1MsgPendingCallback
2094 (+) HAL_CAN_RxFifo1FullCallback
2095 (+) HAL_CAN_SleepCallback
2096 (+) HAL_CAN_WakeUpFromRxMsgCallback
2097 (+) HAL_CAN_ErrorCallback
2098
2099 @endverbatim
2100 * @{
2101 */
2102
2103 /**
2104 * @brief Transmission Mailbox 0 complete callback.
2105 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2106 * the configuration information for the specified CAN.
2107 * @retval None
2108 */
HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef * hcan)2109 __weak void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan)
2110 {
2111 /* Prevent unused argument(s) compilation warning */
2112 UNUSED(hcan);
2113
2114 /* NOTE : This function Should not be modified, when the callback is needed,
2115 the HAL_CAN_TxMailbox0CompleteCallback could be implemented in the
2116 user file
2117 */
2118 }
2119
2120 /**
2121 * @brief Transmission Mailbox 1 complete callback.
2122 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2123 * the configuration information for the specified CAN.
2124 * @retval None
2125 */
HAL_CAN_TxMailbox1CompleteCallback(CAN_HandleTypeDef * hcan)2126 __weak void HAL_CAN_TxMailbox1CompleteCallback(CAN_HandleTypeDef *hcan)
2127 {
2128 /* Prevent unused argument(s) compilation warning */
2129 UNUSED(hcan);
2130
2131 /* NOTE : This function Should not be modified, when the callback is needed,
2132 the HAL_CAN_TxMailbox1CompleteCallback could be implemented in the
2133 user file
2134 */
2135 }
2136
2137 /**
2138 * @brief Transmission Mailbox 2 complete callback.
2139 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2140 * the configuration information for the specified CAN.
2141 * @retval None
2142 */
HAL_CAN_TxMailbox2CompleteCallback(CAN_HandleTypeDef * hcan)2143 __weak void HAL_CAN_TxMailbox2CompleteCallback(CAN_HandleTypeDef *hcan)
2144 {
2145 /* Prevent unused argument(s) compilation warning */
2146 UNUSED(hcan);
2147
2148 /* NOTE : This function Should not be modified, when the callback is needed,
2149 the HAL_CAN_TxMailbox2CompleteCallback could be implemented in the
2150 user file
2151 */
2152 }
2153
2154 /**
2155 * @brief Transmission Mailbox 0 Cancellation callback.
2156 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
2157 * the configuration information for the specified CAN.
2158 * @retval None
2159 */
HAL_CAN_TxMailbox0AbortCallback(CAN_HandleTypeDef * hcan)2160 __weak void HAL_CAN_TxMailbox0AbortCallback(CAN_HandleTypeDef *hcan)
2161 {
2162 /* Prevent unused argument(s) compilation warning */
2163 UNUSED(hcan);
2164
2165 /* NOTE : This function Should not be modified, when the callback is needed,
2166 the HAL_CAN_TxMailbox0AbortCallback could be implemented in the
2167 user file
2168 */
2169 }
2170
2171 /**
2172 * @brief Transmission Mailbox 1 Cancellation callback.
2173 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
2174 * the configuration information for the specified CAN.
2175 * @retval None
2176 */
HAL_CAN_TxMailbox1AbortCallback(CAN_HandleTypeDef * hcan)2177 __weak void HAL_CAN_TxMailbox1AbortCallback(CAN_HandleTypeDef *hcan)
2178 {
2179 /* Prevent unused argument(s) compilation warning */
2180 UNUSED(hcan);
2181
2182 /* NOTE : This function Should not be modified, when the callback is needed,
2183 the HAL_CAN_TxMailbox1AbortCallback could be implemented in the
2184 user file
2185 */
2186 }
2187
2188 /**
2189 * @brief Transmission Mailbox 2 Cancellation callback.
2190 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
2191 * the configuration information for the specified CAN.
2192 * @retval None
2193 */
HAL_CAN_TxMailbox2AbortCallback(CAN_HandleTypeDef * hcan)2194 __weak void HAL_CAN_TxMailbox2AbortCallback(CAN_HandleTypeDef *hcan)
2195 {
2196 /* Prevent unused argument(s) compilation warning */
2197 UNUSED(hcan);
2198
2199 /* NOTE : This function Should not be modified, when the callback is needed,
2200 the HAL_CAN_TxMailbox2AbortCallback could be implemented in the
2201 user file
2202 */
2203 }
2204
2205 /**
2206 * @brief Rx FIFO 0 message pending callback.
2207 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2208 * the configuration information for the specified CAN.
2209 * @retval None
2210 */
HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef * hcan)2211 __weak void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
2212 {
2213 /* Prevent unused argument(s) compilation warning */
2214 UNUSED(hcan);
2215
2216 /* NOTE : This function Should not be modified, when the callback is needed,
2217 the HAL_CAN_RxFifo0MsgPendingCallback could be implemented in the
2218 user file
2219 */
2220 }
2221
2222 /**
2223 * @brief Rx FIFO 0 full callback.
2224 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2225 * the configuration information for the specified CAN.
2226 * @retval None
2227 */
HAL_CAN_RxFifo0FullCallback(CAN_HandleTypeDef * hcan)2228 __weak void HAL_CAN_RxFifo0FullCallback(CAN_HandleTypeDef *hcan)
2229 {
2230 /* Prevent unused argument(s) compilation warning */
2231 UNUSED(hcan);
2232
2233 /* NOTE : This function Should not be modified, when the callback is needed,
2234 the HAL_CAN_RxFifo0FullCallback could be implemented in the user
2235 file
2236 */
2237 }
2238
2239 /**
2240 * @brief Rx FIFO 1 message pending callback.
2241 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2242 * the configuration information for the specified CAN.
2243 * @retval None
2244 */
HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef * hcan)2245 __weak void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan)
2246 {
2247 /* Prevent unused argument(s) compilation warning */
2248 UNUSED(hcan);
2249
2250 /* NOTE : This function Should not be modified, when the callback is needed,
2251 the HAL_CAN_RxFifo1MsgPendingCallback could be implemented in the
2252 user file
2253 */
2254 }
2255
2256 /**
2257 * @brief Rx FIFO 1 full callback.
2258 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2259 * the configuration information for the specified CAN.
2260 * @retval None
2261 */
HAL_CAN_RxFifo1FullCallback(CAN_HandleTypeDef * hcan)2262 __weak void HAL_CAN_RxFifo1FullCallback(CAN_HandleTypeDef *hcan)
2263 {
2264 /* Prevent unused argument(s) compilation warning */
2265 UNUSED(hcan);
2266
2267 /* NOTE : This function Should not be modified, when the callback is needed,
2268 the HAL_CAN_RxFifo1FullCallback could be implemented in the user
2269 file
2270 */
2271 }
2272
2273 /**
2274 * @brief Sleep callback.
2275 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2276 * the configuration information for the specified CAN.
2277 * @retval None
2278 */
HAL_CAN_SleepCallback(CAN_HandleTypeDef * hcan)2279 __weak void HAL_CAN_SleepCallback(CAN_HandleTypeDef *hcan)
2280 {
2281 /* Prevent unused argument(s) compilation warning */
2282 UNUSED(hcan);
2283
2284 /* NOTE : This function Should not be modified, when the callback is needed,
2285 the HAL_CAN_SleepCallback could be implemented in the user file
2286 */
2287 }
2288
2289 /**
2290 * @brief WakeUp from Rx message callback.
2291 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2292 * the configuration information for the specified CAN.
2293 * @retval None
2294 */
HAL_CAN_WakeUpFromRxMsgCallback(CAN_HandleTypeDef * hcan)2295 __weak void HAL_CAN_WakeUpFromRxMsgCallback(CAN_HandleTypeDef *hcan)
2296 {
2297 /* Prevent unused argument(s) compilation warning */
2298 UNUSED(hcan);
2299
2300 /* NOTE : This function Should not be modified, when the callback is needed,
2301 the HAL_CAN_WakeUpFromRxMsgCallback could be implemented in the
2302 user file
2303 */
2304 }
2305
2306 /**
2307 * @brief Error CAN callback.
2308 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2309 * the configuration information for the specified CAN.
2310 * @retval None
2311 */
HAL_CAN_ErrorCallback(CAN_HandleTypeDef * hcan)2312 __weak void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan)
2313 {
2314 /* Prevent unused argument(s) compilation warning */
2315 UNUSED(hcan);
2316
2317 /* NOTE : This function Should not be modified, when the callback is needed,
2318 the HAL_CAN_ErrorCallback could be implemented in the user file
2319 */
2320 }
2321
2322 /**
2323 * @}
2324 */
2325
2326 /** @defgroup CAN_Exported_Functions_Group6 Peripheral State and Error functions
2327 * @brief CAN Peripheral State functions
2328 *
2329 @verbatim
2330 ==============================================================================
2331 ##### Peripheral State and Error functions #####
2332 ==============================================================================
2333 [..]
2334 This subsection provides functions allowing to :
2335 (+) HAL_CAN_GetState() : Return the CAN state.
2336 (+) HAL_CAN_GetError() : Return the CAN error codes if any.
2337 (+) HAL_CAN_ResetError(): Reset the CAN error codes if any.
2338
2339 @endverbatim
2340 * @{
2341 */
2342
2343 /**
2344 * @brief Return the CAN state.
2345 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2346 * the configuration information for the specified CAN.
2347 * @retval HAL state
2348 */
HAL_CAN_GetState(const CAN_HandleTypeDef * hcan)2349 HAL_CAN_StateTypeDef HAL_CAN_GetState(const CAN_HandleTypeDef *hcan)
2350 {
2351 HAL_CAN_StateTypeDef state = hcan->State;
2352
2353 if ((state == HAL_CAN_STATE_READY) ||
2354 (state == HAL_CAN_STATE_LISTENING))
2355 {
2356 /* Check sleep mode acknowledge flag */
2357 if ((hcan->Instance->MSR & CAN_MSR_SLAK) != 0U)
2358 {
2359 /* Sleep mode is active */
2360 state = HAL_CAN_STATE_SLEEP_ACTIVE;
2361 }
2362 /* Check sleep mode request flag */
2363 else if ((hcan->Instance->MCR & CAN_MCR_SLEEP) != 0U)
2364 {
2365 /* Sleep mode request is pending */
2366 state = HAL_CAN_STATE_SLEEP_PENDING;
2367 }
2368 else
2369 {
2370 /* Neither sleep mode request nor sleep mode acknowledge */
2371 }
2372 }
2373
2374 /* Return CAN state */
2375 return state;
2376 }
2377
2378 /**
2379 * @brief Return the CAN error code.
2380 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2381 * the configuration information for the specified CAN.
2382 * @retval CAN Error Code
2383 */
HAL_CAN_GetError(const CAN_HandleTypeDef * hcan)2384 uint32_t HAL_CAN_GetError(const CAN_HandleTypeDef *hcan)
2385 {
2386 /* Return CAN error code */
2387 return hcan->ErrorCode;
2388 }
2389
2390 /**
2391 * @brief Reset the CAN error code.
2392 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2393 * the configuration information for the specified CAN.
2394 * @retval HAL status
2395 */
HAL_CAN_ResetError(CAN_HandleTypeDef * hcan)2396 HAL_StatusTypeDef HAL_CAN_ResetError(CAN_HandleTypeDef *hcan)
2397 {
2398 HAL_StatusTypeDef status = HAL_OK;
2399 HAL_CAN_StateTypeDef state = hcan->State;
2400
2401 if ((state == HAL_CAN_STATE_READY) ||
2402 (state == HAL_CAN_STATE_LISTENING))
2403 {
2404 /* Reset CAN error code */
2405 hcan->ErrorCode = 0U;
2406 }
2407 else
2408 {
2409 /* Update error code */
2410 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
2411
2412 status = HAL_ERROR;
2413 }
2414
2415 /* Return the status */
2416 return status;
2417 }
2418
2419 /**
2420 * @}
2421 */
2422
2423 /**
2424 * @}
2425 */
2426
2427 #endif /* HAL_CAN_MODULE_ENABLED */
2428
2429 /**
2430 * @}
2431 */
2432
2433 #endif /* CAN1 */
2434
2435 /**
2436 * @}
2437 */
2438
