1 /**
2 ******************************************************************************
3 * @file stm32f3xx_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
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 "stm32f3xx_hal.h"
214
215 /** @addtogroup STM32F3xx_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 /* 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 #define CAN_WAKEUP_TIMEOUT_COUNTER 1000000U
239 /**
240 * @}
241 */
242 /* Private macro -------------------------------------------------------------*/
243 /* Private variables ---------------------------------------------------------*/
244 /* Private function prototypes -----------------------------------------------*/
245 /* Exported functions --------------------------------------------------------*/
246
247 /** @defgroup CAN_Exported_Functions CAN Exported Functions
248 * @{
249 */
250
251 /** @defgroup CAN_Exported_Functions_Group1 Initialization and de-initialization functions
252 * @brief Initialization and Configuration functions
253 *
254 @verbatim
255 ==============================================================================
256 ##### Initialization and de-initialization functions #####
257 ==============================================================================
258 [..] This section provides functions allowing to:
259 (+) HAL_CAN_Init : Initialize and configure the CAN.
260 (+) HAL_CAN_DeInit : De-initialize the CAN.
261 (+) HAL_CAN_MspInit : Initialize the CAN MSP.
262 (+) HAL_CAN_MspDeInit : DeInitialize the CAN MSP.
263
264 @endverbatim
265 * @{
266 */
267
268 /**
269 * @brief Initializes the CAN peripheral according to the specified
270 * parameters in the CAN_InitStruct.
271 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
272 * the configuration information for the specified CAN.
273 * @retval HAL status
274 */
HAL_CAN_Init(CAN_HandleTypeDef * hcan)275 HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef *hcan)
276 {
277 uint32_t tickstart;
278
279 /* Check CAN handle */
280 if (hcan == NULL)
281 {
282 return HAL_ERROR;
283 }
284
285 /* Check the parameters */
286 assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
287 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TimeTriggeredMode));
288 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.AutoBusOff));
289 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.AutoWakeUp));
290 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.AutoRetransmission));
291 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.ReceiveFifoLocked));
292 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TransmitFifoPriority));
293 assert_param(IS_CAN_MODE(hcan->Init.Mode));
294 assert_param(IS_CAN_SJW(hcan->Init.SyncJumpWidth));
295 assert_param(IS_CAN_BS1(hcan->Init.TimeSeg1));
296 assert_param(IS_CAN_BS2(hcan->Init.TimeSeg2));
297 assert_param(IS_CAN_PRESCALER(hcan->Init.Prescaler));
298
299 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
300 if (hcan->State == HAL_CAN_STATE_RESET)
301 {
302 /* Reset callbacks to legacy functions */
303 hcan->RxFifo0MsgPendingCallback = HAL_CAN_RxFifo0MsgPendingCallback; /* Legacy weak RxFifo0MsgPendingCallback */
304 hcan->RxFifo0FullCallback = HAL_CAN_RxFifo0FullCallback; /* Legacy weak RxFifo0FullCallback */
305 hcan->RxFifo1MsgPendingCallback = HAL_CAN_RxFifo1MsgPendingCallback; /* Legacy weak RxFifo1MsgPendingCallback */
306 hcan->RxFifo1FullCallback = HAL_CAN_RxFifo1FullCallback; /* Legacy weak RxFifo1FullCallback */
307 hcan->TxMailbox0CompleteCallback = HAL_CAN_TxMailbox0CompleteCallback; /* Legacy weak TxMailbox0CompleteCallback */
308 hcan->TxMailbox1CompleteCallback = HAL_CAN_TxMailbox1CompleteCallback; /* Legacy weak TxMailbox1CompleteCallback */
309 hcan->TxMailbox2CompleteCallback = HAL_CAN_TxMailbox2CompleteCallback; /* Legacy weak TxMailbox2CompleteCallback */
310 hcan->TxMailbox0AbortCallback = HAL_CAN_TxMailbox0AbortCallback; /* Legacy weak TxMailbox0AbortCallback */
311 hcan->TxMailbox1AbortCallback = HAL_CAN_TxMailbox1AbortCallback; /* Legacy weak TxMailbox1AbortCallback */
312 hcan->TxMailbox2AbortCallback = HAL_CAN_TxMailbox2AbortCallback; /* Legacy weak TxMailbox2AbortCallback */
313 hcan->SleepCallback = HAL_CAN_SleepCallback; /* Legacy weak SleepCallback */
314 hcan->WakeUpFromRxMsgCallback = HAL_CAN_WakeUpFromRxMsgCallback; /* Legacy weak WakeUpFromRxMsgCallback */
315 hcan->ErrorCallback = HAL_CAN_ErrorCallback; /* Legacy weak ErrorCallback */
316
317 if (hcan->MspInitCallback == NULL)
318 {
319 hcan->MspInitCallback = HAL_CAN_MspInit; /* Legacy weak MspInit */
320 }
321
322 /* Init the low level hardware: CLOCK, NVIC */
323 hcan->MspInitCallback(hcan);
324 }
325
326 #else
327 if (hcan->State == HAL_CAN_STATE_RESET)
328 {
329 /* Init the low level hardware: CLOCK, NVIC */
330 HAL_CAN_MspInit(hcan);
331 }
332 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
333
334 /* Request initialisation */
335 SET_BIT(hcan->Instance->MCR, CAN_MCR_INRQ);
336
337 /* Get tick */
338 tickstart = HAL_GetTick();
339
340 /* Wait initialisation acknowledge */
341 while ((hcan->Instance->MSR & CAN_MSR_INAK) == 0U)
342 {
343 if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
344 {
345 /* Update error code */
346 hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;
347
348 /* Change CAN state */
349 hcan->State = HAL_CAN_STATE_ERROR;
350
351 return HAL_ERROR;
352 }
353 }
354
355 /* Exit from sleep mode */
356 CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
357
358 /* Get tick */
359 tickstart = HAL_GetTick();
360
361 /* Check Sleep mode leave acknowledge */
362 while ((hcan->Instance->MSR & CAN_MSR_SLAK) != 0U)
363 {
364 if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
365 {
366 /* Update error code */
367 hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;
368
369 /* Change CAN state */
370 hcan->State = HAL_CAN_STATE_ERROR;
371
372 return HAL_ERROR;
373 }
374 }
375
376 /* Set the time triggered communication mode */
377 if (hcan->Init.TimeTriggeredMode == ENABLE)
378 {
379 SET_BIT(hcan->Instance->MCR, CAN_MCR_TTCM);
380 }
381 else
382 {
383 CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_TTCM);
384 }
385
386 /* Set the automatic bus-off management */
387 if (hcan->Init.AutoBusOff == ENABLE)
388 {
389 SET_BIT(hcan->Instance->MCR, CAN_MCR_ABOM);
390 }
391 else
392 {
393 CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_ABOM);
394 }
395
396 /* Set the automatic wake-up mode */
397 if (hcan->Init.AutoWakeUp == ENABLE)
398 {
399 SET_BIT(hcan->Instance->MCR, CAN_MCR_AWUM);
400 }
401 else
402 {
403 CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_AWUM);
404 }
405
406 /* Set the automatic retransmission */
407 if (hcan->Init.AutoRetransmission == ENABLE)
408 {
409 CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_NART);
410 }
411 else
412 {
413 SET_BIT(hcan->Instance->MCR, CAN_MCR_NART);
414 }
415
416 /* Set the receive FIFO locked mode */
417 if (hcan->Init.ReceiveFifoLocked == ENABLE)
418 {
419 SET_BIT(hcan->Instance->MCR, CAN_MCR_RFLM);
420 }
421 else
422 {
423 CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_RFLM);
424 }
425
426 /* Set the transmit FIFO priority */
427 if (hcan->Init.TransmitFifoPriority == ENABLE)
428 {
429 SET_BIT(hcan->Instance->MCR, CAN_MCR_TXFP);
430 }
431 else
432 {
433 CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_TXFP);
434 }
435
436 /* Set the bit timing register */
437 WRITE_REG(hcan->Instance->BTR, (uint32_t)(hcan->Init.Mode |
438 hcan->Init.SyncJumpWidth |
439 hcan->Init.TimeSeg1 |
440 hcan->Init.TimeSeg2 |
441 (hcan->Init.Prescaler - 1U)));
442
443 /* Initialize the error code */
444 hcan->ErrorCode = HAL_CAN_ERROR_NONE;
445
446 /* Initialize the CAN state */
447 hcan->State = HAL_CAN_STATE_READY;
448
449 /* Return function status */
450 return HAL_OK;
451 }
452
453 /**
454 * @brief Deinitializes the CAN peripheral registers to their default
455 * reset values.
456 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
457 * the configuration information for the specified CAN.
458 * @retval HAL status
459 */
HAL_CAN_DeInit(CAN_HandleTypeDef * hcan)460 HAL_StatusTypeDef HAL_CAN_DeInit(CAN_HandleTypeDef *hcan)
461 {
462 /* Check CAN handle */
463 if (hcan == NULL)
464 {
465 return HAL_ERROR;
466 }
467
468 /* Check the parameters */
469 assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
470
471 /* Stop the CAN module */
472 (void)HAL_CAN_Stop(hcan);
473
474 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
475 if (hcan->MspDeInitCallback == NULL)
476 {
477 hcan->MspDeInitCallback = HAL_CAN_MspDeInit; /* Legacy weak MspDeInit */
478 }
479
480 /* DeInit the low level hardware: CLOCK, NVIC */
481 hcan->MspDeInitCallback(hcan);
482
483 #else
484 /* DeInit the low level hardware: CLOCK, NVIC */
485 HAL_CAN_MspDeInit(hcan);
486 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
487
488 /* Reset the CAN peripheral */
489 SET_BIT(hcan->Instance->MCR, CAN_MCR_RESET);
490
491 /* Reset the CAN ErrorCode */
492 hcan->ErrorCode = HAL_CAN_ERROR_NONE;
493
494 /* Change CAN state */
495 hcan->State = HAL_CAN_STATE_RESET;
496
497 /* Return function status */
498 return HAL_OK;
499 }
500
501 /**
502 * @brief Initializes the CAN MSP.
503 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
504 * the configuration information for the specified CAN.
505 * @retval None
506 */
HAL_CAN_MspInit(CAN_HandleTypeDef * hcan)507 __weak void HAL_CAN_MspInit(CAN_HandleTypeDef *hcan)
508 {
509 /* Prevent unused argument(s) compilation warning */
510 UNUSED(hcan);
511
512 /* NOTE : This function Should not be modified, when the callback is needed,
513 the HAL_CAN_MspInit could be implemented in the user file
514 */
515 }
516
517 /**
518 * @brief DeInitializes the CAN MSP.
519 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
520 * the configuration information for the specified CAN.
521 * @retval None
522 */
HAL_CAN_MspDeInit(CAN_HandleTypeDef * hcan)523 __weak void HAL_CAN_MspDeInit(CAN_HandleTypeDef *hcan)
524 {
525 /* Prevent unused argument(s) compilation warning */
526 UNUSED(hcan);
527
528 /* NOTE : This function Should not be modified, when the callback is needed,
529 the HAL_CAN_MspDeInit could be implemented in the user file
530 */
531 }
532
533 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
534 /**
535 * @brief Register a CAN CallBack.
536 * To be used instead of the weak predefined callback
537 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
538 * the configuration information for CAN module
539 * @param CallbackID ID of the callback to be registered
540 * This parameter can be one of the following values:
541 * @arg @ref HAL_CAN_TX_MAILBOX0_COMPLETE_CB_ID Tx Mailbox 0 Complete callback ID
542 * @arg @ref HAL_CAN_TX_MAILBOX1_COMPLETE_CB_ID Tx Mailbox 1 Complete callback ID
543 * @arg @ref HAL_CAN_TX_MAILBOX2_COMPLETE_CB_ID Tx Mailbox 2 Complete callback ID
544 * @arg @ref HAL_CAN_TX_MAILBOX0_ABORT_CB_ID Tx Mailbox 0 Abort callback ID
545 * @arg @ref HAL_CAN_TX_MAILBOX1_ABORT_CB_ID Tx Mailbox 1 Abort callback ID
546 * @arg @ref HAL_CAN_TX_MAILBOX2_ABORT_CB_ID Tx Mailbox 2 Abort callback ID
547 * @arg @ref HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID Rx Fifo 0 message pending callback ID
548 * @arg @ref HAL_CAN_RX_FIFO0_FULL_CB_ID Rx Fifo 0 full callback ID
549 * @arg @ref HAL_CAN_RX_FIFO1_MSG_PENDING_CB_ID Rx Fifo 1 message pending callback ID
550 * @arg @ref HAL_CAN_RX_FIFO1_FULL_CB_ID Rx Fifo 1 full callback ID
551 * @arg @ref HAL_CAN_SLEEP_CB_ID Sleep callback ID
552 * @arg @ref HAL_CAN_WAKEUP_FROM_RX_MSG_CB_ID Wake Up from Rx message callback ID
553 * @arg @ref HAL_CAN_ERROR_CB_ID Error callback ID
554 * @arg @ref HAL_CAN_MSPINIT_CB_ID MspInit callback ID
555 * @arg @ref HAL_CAN_MSPDEINIT_CB_ID MspDeInit callback ID
556 * @param pCallback pointer to the Callback function
557 * @retval HAL status
558 */
HAL_CAN_RegisterCallback(CAN_HandleTypeDef * hcan,HAL_CAN_CallbackIDTypeDef CallbackID,void (* pCallback)(CAN_HandleTypeDef * _hcan))559 HAL_StatusTypeDef HAL_CAN_RegisterCallback(CAN_HandleTypeDef *hcan, HAL_CAN_CallbackIDTypeDef CallbackID,
560 void (* pCallback)(CAN_HandleTypeDef *_hcan))
561 {
562 HAL_StatusTypeDef status = HAL_OK;
563
564 if (pCallback == NULL)
565 {
566 /* Update the error code */
567 hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
568
569 return HAL_ERROR;
570 }
571
572 if (hcan->State == HAL_CAN_STATE_READY)
573 {
574 switch (CallbackID)
575 {
576 case HAL_CAN_TX_MAILBOX0_COMPLETE_CB_ID :
577 hcan->TxMailbox0CompleteCallback = pCallback;
578 break;
579
580 case HAL_CAN_TX_MAILBOX1_COMPLETE_CB_ID :
581 hcan->TxMailbox1CompleteCallback = pCallback;
582 break;
583
584 case HAL_CAN_TX_MAILBOX2_COMPLETE_CB_ID :
585 hcan->TxMailbox2CompleteCallback = pCallback;
586 break;
587
588 case HAL_CAN_TX_MAILBOX0_ABORT_CB_ID :
589 hcan->TxMailbox0AbortCallback = pCallback;
590 break;
591
592 case HAL_CAN_TX_MAILBOX1_ABORT_CB_ID :
593 hcan->TxMailbox1AbortCallback = pCallback;
594 break;
595
596 case HAL_CAN_TX_MAILBOX2_ABORT_CB_ID :
597 hcan->TxMailbox2AbortCallback = pCallback;
598 break;
599
600 case HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID :
601 hcan->RxFifo0MsgPendingCallback = pCallback;
602 break;
603
604 case HAL_CAN_RX_FIFO0_FULL_CB_ID :
605 hcan->RxFifo0FullCallback = pCallback;
606 break;
607
608 case HAL_CAN_RX_FIFO1_MSG_PENDING_CB_ID :
609 hcan->RxFifo1MsgPendingCallback = pCallback;
610 break;
611
612 case HAL_CAN_RX_FIFO1_FULL_CB_ID :
613 hcan->RxFifo1FullCallback = pCallback;
614 break;
615
616 case HAL_CAN_SLEEP_CB_ID :
617 hcan->SleepCallback = pCallback;
618 break;
619
620 case HAL_CAN_WAKEUP_FROM_RX_MSG_CB_ID :
621 hcan->WakeUpFromRxMsgCallback = pCallback;
622 break;
623
624 case HAL_CAN_ERROR_CB_ID :
625 hcan->ErrorCallback = pCallback;
626 break;
627
628 case HAL_CAN_MSPINIT_CB_ID :
629 hcan->MspInitCallback = pCallback;
630 break;
631
632 case HAL_CAN_MSPDEINIT_CB_ID :
633 hcan->MspDeInitCallback = pCallback;
634 break;
635
636 default :
637 /* Update the error code */
638 hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
639
640 /* Return error status */
641 status = HAL_ERROR;
642 break;
643 }
644 }
645 else if (hcan->State == HAL_CAN_STATE_RESET)
646 {
647 switch (CallbackID)
648 {
649 case HAL_CAN_MSPINIT_CB_ID :
650 hcan->MspInitCallback = pCallback;
651 break;
652
653 case HAL_CAN_MSPDEINIT_CB_ID :
654 hcan->MspDeInitCallback = pCallback;
655 break;
656
657 default :
658 /* Update the error code */
659 hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
660
661 /* Return error status */
662 status = HAL_ERROR;
663 break;
664 }
665 }
666 else
667 {
668 /* Update the error code */
669 hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
670
671 /* Return error status */
672 status = HAL_ERROR;
673 }
674
675 return status;
676 }
677
678 /**
679 * @brief Unregister a CAN CallBack.
680 * CAN callback is redirected to the weak predefined callback
681 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
682 * the configuration information for CAN module
683 * @param CallbackID ID of the callback to be unregistered
684 * This parameter can be one of the following values:
685 * @arg @ref HAL_CAN_TX_MAILBOX0_COMPLETE_CB_ID Tx Mailbox 0 Complete callback ID
686 * @arg @ref HAL_CAN_TX_MAILBOX1_COMPLETE_CB_ID Tx Mailbox 1 Complete callback ID
687 * @arg @ref HAL_CAN_TX_MAILBOX2_COMPLETE_CB_ID Tx Mailbox 2 Complete callback ID
688 * @arg @ref HAL_CAN_TX_MAILBOX0_ABORT_CB_ID Tx Mailbox 0 Abort callback ID
689 * @arg @ref HAL_CAN_TX_MAILBOX1_ABORT_CB_ID Tx Mailbox 1 Abort callback ID
690 * @arg @ref HAL_CAN_TX_MAILBOX2_ABORT_CB_ID Tx Mailbox 2 Abort callback ID
691 * @arg @ref HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID Rx Fifo 0 message pending callback ID
692 * @arg @ref HAL_CAN_RX_FIFO0_FULL_CB_ID Rx Fifo 0 full callback ID
693 * @arg @ref HAL_CAN_RX_FIFO1_MSG_PENDING_CB_ID Rx Fifo 1 message pending callback ID
694 * @arg @ref HAL_CAN_RX_FIFO1_FULL_CB_ID Rx Fifo 1 full callback ID
695 * @arg @ref HAL_CAN_SLEEP_CB_ID Sleep callback ID
696 * @arg @ref HAL_CAN_WAKEUP_FROM_RX_MSG_CB_ID Wake Up from Rx message callback ID
697 * @arg @ref HAL_CAN_ERROR_CB_ID Error callback ID
698 * @arg @ref HAL_CAN_MSPINIT_CB_ID MspInit callback ID
699 * @arg @ref HAL_CAN_MSPDEINIT_CB_ID MspDeInit callback ID
700 * @retval HAL status
701 */
HAL_CAN_UnRegisterCallback(CAN_HandleTypeDef * hcan,HAL_CAN_CallbackIDTypeDef CallbackID)702 HAL_StatusTypeDef HAL_CAN_UnRegisterCallback(CAN_HandleTypeDef *hcan, HAL_CAN_CallbackIDTypeDef CallbackID)
703 {
704 HAL_StatusTypeDef status = HAL_OK;
705
706 if (hcan->State == HAL_CAN_STATE_READY)
707 {
708 switch (CallbackID)
709 {
710 case HAL_CAN_TX_MAILBOX0_COMPLETE_CB_ID :
711 hcan->TxMailbox0CompleteCallback = HAL_CAN_TxMailbox0CompleteCallback;
712 break;
713
714 case HAL_CAN_TX_MAILBOX1_COMPLETE_CB_ID :
715 hcan->TxMailbox1CompleteCallback = HAL_CAN_TxMailbox1CompleteCallback;
716 break;
717
718 case HAL_CAN_TX_MAILBOX2_COMPLETE_CB_ID :
719 hcan->TxMailbox2CompleteCallback = HAL_CAN_TxMailbox2CompleteCallback;
720 break;
721
722 case HAL_CAN_TX_MAILBOX0_ABORT_CB_ID :
723 hcan->TxMailbox0AbortCallback = HAL_CAN_TxMailbox0AbortCallback;
724 break;
725
726 case HAL_CAN_TX_MAILBOX1_ABORT_CB_ID :
727 hcan->TxMailbox1AbortCallback = HAL_CAN_TxMailbox1AbortCallback;
728 break;
729
730 case HAL_CAN_TX_MAILBOX2_ABORT_CB_ID :
731 hcan->TxMailbox2AbortCallback = HAL_CAN_TxMailbox2AbortCallback;
732 break;
733
734 case HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID :
735 hcan->RxFifo0MsgPendingCallback = HAL_CAN_RxFifo0MsgPendingCallback;
736 break;
737
738 case HAL_CAN_RX_FIFO0_FULL_CB_ID :
739 hcan->RxFifo0FullCallback = HAL_CAN_RxFifo0FullCallback;
740 break;
741
742 case HAL_CAN_RX_FIFO1_MSG_PENDING_CB_ID :
743 hcan->RxFifo1MsgPendingCallback = HAL_CAN_RxFifo1MsgPendingCallback;
744 break;
745
746 case HAL_CAN_RX_FIFO1_FULL_CB_ID :
747 hcan->RxFifo1FullCallback = HAL_CAN_RxFifo1FullCallback;
748 break;
749
750 case HAL_CAN_SLEEP_CB_ID :
751 hcan->SleepCallback = HAL_CAN_SleepCallback;
752 break;
753
754 case HAL_CAN_WAKEUP_FROM_RX_MSG_CB_ID :
755 hcan->WakeUpFromRxMsgCallback = HAL_CAN_WakeUpFromRxMsgCallback;
756 break;
757
758 case HAL_CAN_ERROR_CB_ID :
759 hcan->ErrorCallback = HAL_CAN_ErrorCallback;
760 break;
761
762 case HAL_CAN_MSPINIT_CB_ID :
763 hcan->MspInitCallback = HAL_CAN_MspInit;
764 break;
765
766 case HAL_CAN_MSPDEINIT_CB_ID :
767 hcan->MspDeInitCallback = HAL_CAN_MspDeInit;
768 break;
769
770 default :
771 /* Update the error code */
772 hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
773
774 /* Return error status */
775 status = HAL_ERROR;
776 break;
777 }
778 }
779 else if (hcan->State == HAL_CAN_STATE_RESET)
780 {
781 switch (CallbackID)
782 {
783 case HAL_CAN_MSPINIT_CB_ID :
784 hcan->MspInitCallback = HAL_CAN_MspInit;
785 break;
786
787 case HAL_CAN_MSPDEINIT_CB_ID :
788 hcan->MspDeInitCallback = HAL_CAN_MspDeInit;
789 break;
790
791 default :
792 /* Update the error code */
793 hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
794
795 /* Return error status */
796 status = HAL_ERROR;
797 break;
798 }
799 }
800 else
801 {
802 /* Update the error code */
803 hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
804
805 /* Return error status */
806 status = HAL_ERROR;
807 }
808
809 return status;
810 }
811 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
812
813 /**
814 * @}
815 */
816
817 /** @defgroup CAN_Exported_Functions_Group2 Configuration functions
818 * @brief Configuration functions.
819 *
820 @verbatim
821 ==============================================================================
822 ##### Configuration functions #####
823 ==============================================================================
824 [..] This section provides functions allowing to:
825 (+) HAL_CAN_ConfigFilter : Configure the CAN reception filters
826
827 @endverbatim
828 * @{
829 */
830
831 /**
832 * @brief Configures the CAN reception filter according to the specified
833 * parameters in the CAN_FilterInitStruct.
834 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
835 * the configuration information for the specified CAN.
836 * @param sFilterConfig pointer to a CAN_FilterTypeDef structure that
837 * contains the filter configuration information.
838 * @retval None
839 */
HAL_CAN_ConfigFilter(CAN_HandleTypeDef * hcan,const CAN_FilterTypeDef * sFilterConfig)840 HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef *hcan, const CAN_FilterTypeDef *sFilterConfig)
841 {
842 uint32_t filternbrbitpos;
843 CAN_TypeDef *can_ip = hcan->Instance;
844 HAL_CAN_StateTypeDef state = hcan->State;
845
846 if ((state == HAL_CAN_STATE_READY) ||
847 (state == HAL_CAN_STATE_LISTENING))
848 {
849 /* Check the parameters */
850 assert_param(IS_CAN_FILTER_ID_HALFWORD(sFilterConfig->FilterIdHigh));
851 assert_param(IS_CAN_FILTER_ID_HALFWORD(sFilterConfig->FilterIdLow));
852 assert_param(IS_CAN_FILTER_ID_HALFWORD(sFilterConfig->FilterMaskIdHigh));
853 assert_param(IS_CAN_FILTER_ID_HALFWORD(sFilterConfig->FilterMaskIdLow));
854 assert_param(IS_CAN_FILTER_MODE(sFilterConfig->FilterMode));
855 assert_param(IS_CAN_FILTER_SCALE(sFilterConfig->FilterScale));
856 assert_param(IS_CAN_FILTER_FIFO(sFilterConfig->FilterFIFOAssignment));
857 assert_param(IS_CAN_FILTER_ACTIVATION(sFilterConfig->FilterActivation));
858
859 /* CAN is single instance with 14 dedicated filters banks */
860
861 /* Check the parameters */
862 assert_param(IS_CAN_FILTER_BANK_SINGLE(sFilterConfig->FilterBank));
863
864 /* Initialisation mode for the filter */
865 SET_BIT(can_ip->FMR, CAN_FMR_FINIT);
866
867 /* Convert filter number into bit position */
868 filternbrbitpos = (uint32_t)1 << (sFilterConfig->FilterBank & 0x1FU);
869
870 /* Filter Deactivation */
871 CLEAR_BIT(can_ip->FA1R, filternbrbitpos);
872
873 /* Filter Scale */
874 if (sFilterConfig->FilterScale == CAN_FILTERSCALE_16BIT)
875 {
876 /* 16-bit scale for the filter */
877 CLEAR_BIT(can_ip->FS1R, filternbrbitpos);
878
879 /* First 16-bit identifier and First 16-bit mask */
880 /* Or First 16-bit identifier and Second 16-bit identifier */
881 can_ip->sFilterRegister[sFilterConfig->FilterBank].FR1 =
882 ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdLow) << 16U) |
883 (0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdLow);
884
885 /* Second 16-bit identifier and Second 16-bit mask */
886 /* Or Third 16-bit identifier and Fourth 16-bit identifier */
887 can_ip->sFilterRegister[sFilterConfig->FilterBank].FR2 =
888 ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16U) |
889 (0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdHigh);
890 }
891
892 if (sFilterConfig->FilterScale == CAN_FILTERSCALE_32BIT)
893 {
894 /* 32-bit scale for the filter */
895 SET_BIT(can_ip->FS1R, filternbrbitpos);
896
897 /* 32-bit identifier or First 32-bit identifier */
898 can_ip->sFilterRegister[sFilterConfig->FilterBank].FR1 =
899 ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdHigh) << 16U) |
900 (0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdLow);
901
902 /* 32-bit mask or Second 32-bit identifier */
903 can_ip->sFilterRegister[sFilterConfig->FilterBank].FR2 =
904 ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16U) |
905 (0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdLow);
906 }
907
908 /* Filter Mode */
909 if (sFilterConfig->FilterMode == CAN_FILTERMODE_IDMASK)
910 {
911 /* Id/Mask mode for the filter*/
912 CLEAR_BIT(can_ip->FM1R, filternbrbitpos);
913 }
914 else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */
915 {
916 /* Identifier list mode for the filter*/
917 SET_BIT(can_ip->FM1R, filternbrbitpos);
918 }
919
920 /* Filter FIFO assignment */
921 if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO0)
922 {
923 /* FIFO 0 assignation for the filter */
924 CLEAR_BIT(can_ip->FFA1R, filternbrbitpos);
925 }
926 else
927 {
928 /* FIFO 1 assignation for the filter */
929 SET_BIT(can_ip->FFA1R, filternbrbitpos);
930 }
931
932 /* Filter activation */
933 if (sFilterConfig->FilterActivation == CAN_FILTER_ENABLE)
934 {
935 SET_BIT(can_ip->FA1R, filternbrbitpos);
936 }
937
938 /* Leave the initialisation mode for the filter */
939 CLEAR_BIT(can_ip->FMR, CAN_FMR_FINIT);
940
941 /* Return function status */
942 return HAL_OK;
943 }
944 else
945 {
946 /* Update error code */
947 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
948
949 return HAL_ERROR;
950 }
951 }
952
953 /**
954 * @}
955 */
956
957 /** @defgroup CAN_Exported_Functions_Group3 Control functions
958 * @brief Control functions
959 *
960 @verbatim
961 ==============================================================================
962 ##### Control functions #####
963 ==============================================================================
964 [..] This section provides functions allowing to:
965 (+) HAL_CAN_Start : Start the CAN module
966 (+) HAL_CAN_Stop : Stop the CAN module
967 (+) HAL_CAN_RequestSleep : Request sleep mode entry.
968 (+) HAL_CAN_WakeUp : Wake up from sleep mode.
969 (+) HAL_CAN_IsSleepActive : Check is sleep mode is active.
970 (+) HAL_CAN_AddTxMessage : Add a message to the Tx mailboxes
971 and activate the corresponding
972 transmission request
973 (+) HAL_CAN_AbortTxRequest : Abort transmission request
974 (+) HAL_CAN_GetTxMailboxesFreeLevel : Return Tx mailboxes free level
975 (+) HAL_CAN_IsTxMessagePending : Check if a transmission request is
976 pending on the selected Tx mailbox
977 (+) HAL_CAN_GetRxMessage : Get a CAN frame from the Rx FIFO
978 (+) HAL_CAN_GetRxFifoFillLevel : Return Rx FIFO fill level
979
980 @endverbatim
981 * @{
982 */
983
984 /**
985 * @brief Start the CAN module.
986 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
987 * the configuration information for the specified CAN.
988 * @retval HAL status
989 */
HAL_CAN_Start(CAN_HandleTypeDef * hcan)990 HAL_StatusTypeDef HAL_CAN_Start(CAN_HandleTypeDef *hcan)
991 {
992 uint32_t tickstart;
993
994 if (hcan->State == HAL_CAN_STATE_READY)
995 {
996 /* Change CAN peripheral state */
997 hcan->State = HAL_CAN_STATE_LISTENING;
998
999 /* Request leave initialisation */
1000 CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_INRQ);
1001
1002 /* Get tick */
1003 tickstart = HAL_GetTick();
1004
1005 /* Wait the acknowledge */
1006 while ((hcan->Instance->MSR & CAN_MSR_INAK) != 0U)
1007 {
1008 /* Check for the Timeout */
1009 if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
1010 {
1011 /* Update error code */
1012 hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;
1013
1014 /* Change CAN state */
1015 hcan->State = HAL_CAN_STATE_ERROR;
1016
1017 return HAL_ERROR;
1018 }
1019 }
1020
1021 /* Reset the CAN ErrorCode */
1022 hcan->ErrorCode = HAL_CAN_ERROR_NONE;
1023
1024 /* Return function status */
1025 return HAL_OK;
1026 }
1027 else
1028 {
1029 /* Update error code */
1030 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_READY;
1031
1032 return HAL_ERROR;
1033 }
1034 }
1035
1036 /**
1037 * @brief Stop the CAN module and enable access to configuration registers.
1038 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
1039 * the configuration information for the specified CAN.
1040 * @retval HAL status
1041 */
HAL_CAN_Stop(CAN_HandleTypeDef * hcan)1042 HAL_StatusTypeDef HAL_CAN_Stop(CAN_HandleTypeDef *hcan)
1043 {
1044 uint32_t tickstart;
1045
1046 if (hcan->State == HAL_CAN_STATE_LISTENING)
1047 {
1048 /* Request initialisation */
1049 SET_BIT(hcan->Instance->MCR, CAN_MCR_INRQ);
1050
1051 /* Get tick */
1052 tickstart = HAL_GetTick();
1053
1054 /* Wait the acknowledge */
1055 while ((hcan->Instance->MSR & CAN_MSR_INAK) == 0U)
1056 {
1057 /* Check for the Timeout */
1058 if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
1059 {
1060 /* Update error code */
1061 hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;
1062
1063 /* Change CAN state */
1064 hcan->State = HAL_CAN_STATE_ERROR;
1065
1066 return HAL_ERROR;
1067 }
1068 }
1069
1070 /* Exit from sleep mode */
1071 CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
1072
1073 /* Change CAN peripheral state */
1074 hcan->State = HAL_CAN_STATE_READY;
1075
1076 /* Return function status */
1077 return HAL_OK;
1078 }
1079 else
1080 {
1081 /* Update error code */
1082 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_STARTED;
1083
1084 return HAL_ERROR;
1085 }
1086 }
1087
1088 /**
1089 * @brief Request the sleep mode (low power) entry.
1090 * When returning from this function, Sleep mode will be entered
1091 * as soon as the current CAN activity (transmission or reception
1092 * of a CAN frame) has been completed.
1093 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
1094 * the configuration information for the specified CAN.
1095 * @retval HAL status.
1096 */
HAL_CAN_RequestSleep(CAN_HandleTypeDef * hcan)1097 HAL_StatusTypeDef HAL_CAN_RequestSleep(CAN_HandleTypeDef *hcan)
1098 {
1099 HAL_CAN_StateTypeDef state = hcan->State;
1100
1101 if ((state == HAL_CAN_STATE_READY) ||
1102 (state == HAL_CAN_STATE_LISTENING))
1103 {
1104 /* Request Sleep mode */
1105 SET_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
1106
1107 /* Return function status */
1108 return HAL_OK;
1109 }
1110 else
1111 {
1112 /* Update error code */
1113 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
1114
1115 /* Return function status */
1116 return HAL_ERROR;
1117 }
1118 }
1119
1120 /**
1121 * @brief Wake up from sleep mode.
1122 * When returning with HAL_OK status from this function, Sleep mode
1123 * is exited.
1124 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
1125 * the configuration information for the specified CAN.
1126 * @retval HAL status.
1127 */
HAL_CAN_WakeUp(CAN_HandleTypeDef * hcan)1128 HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef *hcan)
1129 {
1130 __IO uint32_t count = 0;
1131 HAL_CAN_StateTypeDef state = hcan->State;
1132
1133 if ((state == HAL_CAN_STATE_READY) ||
1134 (state == HAL_CAN_STATE_LISTENING))
1135 {
1136 /* Wake up request */
1137 CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
1138
1139 /* Wait sleep mode is exited */
1140 do
1141 {
1142 /* Increment counter */
1143 count++;
1144
1145 /* Check if timeout is reached */
1146 if (count > CAN_WAKEUP_TIMEOUT_COUNTER)
1147 {
1148 /* Update error code */
1149 hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;
1150
1151 return HAL_ERROR;
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(const CAN_HandleTypeDef * hcan)1175 uint32_t HAL_CAN_IsSleepActive(const 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,const CAN_TxHeaderTypeDef * pHeader,const uint8_t aData[],uint32_t * pTxMailbox)1206 HAL_StatusTypeDef HAL_CAN_AddTxMessage(CAN_HandleTypeDef *hcan, const CAN_TxHeaderTypeDef *pHeader,
1207 const uint8_t aData[], uint32_t *pTxMailbox)
1208 {
1209 uint32_t transmitmailbox;
1210 HAL_CAN_StateTypeDef state = hcan->State;
1211 uint32_t tsr = READ_REG(hcan->Instance->TSR);
1212
1213 /* Check the parameters */
1214 assert_param(IS_CAN_IDTYPE(pHeader->IDE));
1215 assert_param(IS_CAN_RTR(pHeader->RTR));
1216 assert_param(IS_CAN_DLC(pHeader->DLC));
1217 if (pHeader->IDE == CAN_ID_STD)
1218 {
1219 assert_param(IS_CAN_STDID(pHeader->StdId));
1220 }
1221 else
1222 {
1223 assert_param(IS_CAN_EXTID(pHeader->ExtId));
1224 }
1225 assert_param(IS_FUNCTIONAL_STATE(pHeader->TransmitGlobalTime));
1226
1227 if ((state == HAL_CAN_STATE_READY) ||
1228 (state == HAL_CAN_STATE_LISTENING))
1229 {
1230 /* Check that all the Tx mailboxes are not full */
1231 if (((tsr & CAN_TSR_TME0) != 0U) ||
1232 ((tsr & CAN_TSR_TME1) != 0U) ||
1233 ((tsr & CAN_TSR_TME2) != 0U))
1234 {
1235 /* Select an empty transmit mailbox */
1236 transmitmailbox = (tsr & CAN_TSR_CODE) >> CAN_TSR_CODE_Pos;
1237
1238 /* Store the Tx mailbox */
1239 *pTxMailbox = (uint32_t)1 << transmitmailbox;
1240
1241 /* Set up the Id */
1242 if (pHeader->IDE == CAN_ID_STD)
1243 {
1244 hcan->Instance->sTxMailBox[transmitmailbox].TIR = ((pHeader->StdId << CAN_TI0R_STID_Pos) |
1245 pHeader->RTR);
1246 }
1247 else
1248 {
1249 hcan->Instance->sTxMailBox[transmitmailbox].TIR = ((pHeader->ExtId << CAN_TI0R_EXID_Pos) |
1250 pHeader->IDE |
1251 pHeader->RTR);
1252 }
1253
1254 /* Set up the DLC */
1255 hcan->Instance->sTxMailBox[transmitmailbox].TDTR = (pHeader->DLC);
1256
1257 /* Set up the Transmit Global Time mode */
1258 if (pHeader->TransmitGlobalTime == ENABLE)
1259 {
1260 SET_BIT(hcan->Instance->sTxMailBox[transmitmailbox].TDTR, CAN_TDT0R_TGT);
1261 }
1262
1263 /* Set up the data field */
1264 WRITE_REG(hcan->Instance->sTxMailBox[transmitmailbox].TDHR,
1265 ((uint32_t)aData[7] << CAN_TDH0R_DATA7_Pos) |
1266 ((uint32_t)aData[6] << CAN_TDH0R_DATA6_Pos) |
1267 ((uint32_t)aData[5] << CAN_TDH0R_DATA5_Pos) |
1268 ((uint32_t)aData[4] << CAN_TDH0R_DATA4_Pos));
1269 WRITE_REG(hcan->Instance->sTxMailBox[transmitmailbox].TDLR,
1270 ((uint32_t)aData[3] << CAN_TDL0R_DATA3_Pos) |
1271 ((uint32_t)aData[2] << CAN_TDL0R_DATA2_Pos) |
1272 ((uint32_t)aData[1] << CAN_TDL0R_DATA1_Pos) |
1273 ((uint32_t)aData[0] << CAN_TDL0R_DATA0_Pos));
1274
1275 /* Request transmission */
1276 SET_BIT(hcan->Instance->sTxMailBox[transmitmailbox].TIR, CAN_TI0R_TXRQ);
1277
1278 /* Return function status */
1279 return HAL_OK;
1280 }
1281 else
1282 {
1283 /* Update error code */
1284 hcan->ErrorCode |= HAL_CAN_ERROR_PARAM;
1285
1286 return HAL_ERROR;
1287 }
1288 }
1289 else
1290 {
1291 /* Update error code */
1292 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
1293
1294 return HAL_ERROR;
1295 }
1296 }
1297
1298 /**
1299 * @brief Abort transmission requests
1300 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
1301 * the configuration information for the specified CAN.
1302 * @param TxMailboxes List of the Tx Mailboxes to abort.
1303 * This parameter can be any combination of @arg CAN_Tx_Mailboxes.
1304 * @retval HAL status
1305 */
HAL_CAN_AbortTxRequest(CAN_HandleTypeDef * hcan,uint32_t TxMailboxes)1306 HAL_StatusTypeDef HAL_CAN_AbortTxRequest(CAN_HandleTypeDef *hcan, uint32_t TxMailboxes)
1307 {
1308 HAL_CAN_StateTypeDef state = hcan->State;
1309
1310 /* Check function parameters */
1311 assert_param(IS_CAN_TX_MAILBOX_LIST(TxMailboxes));
1312
1313 if ((state == HAL_CAN_STATE_READY) ||
1314 (state == HAL_CAN_STATE_LISTENING))
1315 {
1316 /* Check Tx Mailbox 0 */
1317 if ((TxMailboxes & CAN_TX_MAILBOX0) != 0U)
1318 {
1319 /* Add cancellation request for Tx Mailbox 0 */
1320 SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ0);
1321 }
1322
1323 /* Check Tx Mailbox 1 */
1324 if ((TxMailboxes & CAN_TX_MAILBOX1) != 0U)
1325 {
1326 /* Add cancellation request for Tx Mailbox 1 */
1327 SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ1);
1328 }
1329
1330 /* Check Tx Mailbox 2 */
1331 if ((TxMailboxes & CAN_TX_MAILBOX2) != 0U)
1332 {
1333 /* Add cancellation request for Tx Mailbox 2 */
1334 SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ2);
1335 }
1336
1337 /* Return function status */
1338 return HAL_OK;
1339 }
1340 else
1341 {
1342 /* Update error code */
1343 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
1344
1345 return HAL_ERROR;
1346 }
1347 }
1348
1349 /**
1350 * @brief Return Tx Mailboxes free level: number of free Tx Mailboxes.
1351 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
1352 * the configuration information for the specified CAN.
1353 * @retval Number of free Tx Mailboxes.
1354 */
HAL_CAN_GetTxMailboxesFreeLevel(const CAN_HandleTypeDef * hcan)1355 uint32_t HAL_CAN_GetTxMailboxesFreeLevel(const CAN_HandleTypeDef *hcan)
1356 {
1357 uint32_t freelevel = 0U;
1358 HAL_CAN_StateTypeDef state = hcan->State;
1359
1360 if ((state == HAL_CAN_STATE_READY) ||
1361 (state == HAL_CAN_STATE_LISTENING))
1362 {
1363 /* Check Tx Mailbox 0 status */
1364 if ((hcan->Instance->TSR & CAN_TSR_TME0) != 0U)
1365 {
1366 freelevel++;
1367 }
1368
1369 /* Check Tx Mailbox 1 status */
1370 if ((hcan->Instance->TSR & CAN_TSR_TME1) != 0U)
1371 {
1372 freelevel++;
1373 }
1374
1375 /* Check Tx Mailbox 2 status */
1376 if ((hcan->Instance->TSR & CAN_TSR_TME2) != 0U)
1377 {
1378 freelevel++;
1379 }
1380 }
1381
1382 /* Return Tx Mailboxes free level */
1383 return freelevel;
1384 }
1385
1386 /**
1387 * @brief Check if a transmission request is pending on the selected Tx
1388 * Mailboxes.
1389 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
1390 * the configuration information for the specified CAN.
1391 * @param TxMailboxes List of Tx Mailboxes to check.
1392 * This parameter can be any combination of @arg CAN_Tx_Mailboxes.
1393 * @retval Status
1394 * - 0 : No pending transmission request on any selected Tx Mailboxes.
1395 * - 1 : Pending transmission request on at least one of the selected
1396 * Tx Mailbox.
1397 */
HAL_CAN_IsTxMessagePending(const CAN_HandleTypeDef * hcan,uint32_t TxMailboxes)1398 uint32_t HAL_CAN_IsTxMessagePending(const CAN_HandleTypeDef *hcan, uint32_t TxMailboxes)
1399 {
1400 uint32_t status = 0U;
1401 HAL_CAN_StateTypeDef state = hcan->State;
1402
1403 /* Check function parameters */
1404 assert_param(IS_CAN_TX_MAILBOX_LIST(TxMailboxes));
1405
1406 if ((state == HAL_CAN_STATE_READY) ||
1407 (state == HAL_CAN_STATE_LISTENING))
1408 {
1409 /* Check pending transmission request on the selected Tx Mailboxes */
1410 if ((hcan->Instance->TSR & (TxMailboxes << CAN_TSR_TME0_Pos)) != (TxMailboxes << CAN_TSR_TME0_Pos))
1411 {
1412 status = 1U;
1413 }
1414 }
1415
1416 /* Return status */
1417 return status;
1418 }
1419
1420 /**
1421 * @brief Return timestamp of Tx message sent, if time triggered communication
1422 mode is enabled.
1423 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
1424 * the configuration information for the specified CAN.
1425 * @param TxMailbox Tx Mailbox where the timestamp of message sent will be
1426 * read.
1427 * This parameter can be one value of @arg CAN_Tx_Mailboxes.
1428 * @retval Timestamp of message sent from Tx Mailbox.
1429 */
HAL_CAN_GetTxTimestamp(const CAN_HandleTypeDef * hcan,uint32_t TxMailbox)1430 uint32_t HAL_CAN_GetTxTimestamp(const CAN_HandleTypeDef *hcan, uint32_t TxMailbox)
1431 {
1432 uint32_t timestamp = 0U;
1433 uint32_t transmitmailbox;
1434 HAL_CAN_StateTypeDef state = hcan->State;
1435
1436 /* Check function parameters */
1437 assert_param(IS_CAN_TX_MAILBOX(TxMailbox));
1438
1439 if ((state == HAL_CAN_STATE_READY) ||
1440 (state == HAL_CAN_STATE_LISTENING))
1441 {
1442 /* Select the Tx mailbox */
1443 transmitmailbox = POSITION_VAL(TxMailbox);
1444
1445 /* Get timestamp */
1446 timestamp = (hcan->Instance->sTxMailBox[transmitmailbox].TDTR & CAN_TDT0R_TIME) >> CAN_TDT0R_TIME_Pos;
1447 }
1448
1449 /* Return the timestamp */
1450 return timestamp;
1451 }
1452
1453 /**
1454 * @brief Get an CAN frame from the Rx FIFO zone into the message RAM.
1455 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
1456 * the configuration information for the specified CAN.
1457 * @param RxFifo Fifo number of the received message to be read.
1458 * This parameter can be a value of @arg CAN_receive_FIFO_number.
1459 * @param pHeader pointer to a CAN_RxHeaderTypeDef structure where the header
1460 * of the Rx frame will be stored.
1461 * @param aData array where the payload of the Rx frame will be stored.
1462 * @retval HAL status
1463 */
HAL_CAN_GetRxMessage(CAN_HandleTypeDef * hcan,uint32_t RxFifo,CAN_RxHeaderTypeDef * pHeader,uint8_t aData[])1464 HAL_StatusTypeDef HAL_CAN_GetRxMessage(CAN_HandleTypeDef *hcan, uint32_t RxFifo,
1465 CAN_RxHeaderTypeDef *pHeader, uint8_t aData[])
1466 {
1467 HAL_CAN_StateTypeDef state = hcan->State;
1468
1469 assert_param(IS_CAN_RX_FIFO(RxFifo));
1470
1471 if ((state == HAL_CAN_STATE_READY) ||
1472 (state == HAL_CAN_STATE_LISTENING))
1473 {
1474 /* Check the Rx FIFO */
1475 if (RxFifo == CAN_RX_FIFO0) /* Rx element is assigned to Rx FIFO 0 */
1476 {
1477 /* Check that the Rx FIFO 0 is not empty */
1478 if ((hcan->Instance->RF0R & CAN_RF0R_FMP0) == 0U)
1479 {
1480 /* Update error code */
1481 hcan->ErrorCode |= HAL_CAN_ERROR_PARAM;
1482
1483 return HAL_ERROR;
1484 }
1485 }
1486 else /* Rx element is assigned to Rx FIFO 1 */
1487 {
1488 /* Check that the Rx FIFO 1 is not empty */
1489 if ((hcan->Instance->RF1R & CAN_RF1R_FMP1) == 0U)
1490 {
1491 /* Update error code */
1492 hcan->ErrorCode |= HAL_CAN_ERROR_PARAM;
1493
1494 return HAL_ERROR;
1495 }
1496 }
1497
1498 /* Get the header */
1499 pHeader->IDE = CAN_RI0R_IDE & hcan->Instance->sFIFOMailBox[RxFifo].RIR;
1500 if (pHeader->IDE == CAN_ID_STD)
1501 {
1502 pHeader->StdId = (CAN_RI0R_STID & hcan->Instance->sFIFOMailBox[RxFifo].RIR) >> CAN_TI0R_STID_Pos;
1503 }
1504 else
1505 {
1506 pHeader->ExtId = ((CAN_RI0R_EXID | CAN_RI0R_STID) &
1507 hcan->Instance->sFIFOMailBox[RxFifo].RIR) >> CAN_RI0R_EXID_Pos;
1508 }
1509 pHeader->RTR = (CAN_RI0R_RTR & hcan->Instance->sFIFOMailBox[RxFifo].RIR);
1510 if (((CAN_RDT0R_DLC & hcan->Instance->sFIFOMailBox[RxFifo].RDTR) >> CAN_RDT0R_DLC_Pos) >= 8U)
1511 {
1512 /* Truncate DLC to 8 if received field is over range */
1513 pHeader->DLC = 8U;
1514 }
1515 else
1516 {
1517 pHeader->DLC = (CAN_RDT0R_DLC & hcan->Instance->sFIFOMailBox[RxFifo].RDTR) >> CAN_RDT0R_DLC_Pos;
1518 }
1519 pHeader->FilterMatchIndex = (CAN_RDT0R_FMI & hcan->Instance->sFIFOMailBox[RxFifo].RDTR) >> CAN_RDT0R_FMI_Pos;
1520 pHeader->Timestamp = (CAN_RDT0R_TIME & hcan->Instance->sFIFOMailBox[RxFifo].RDTR) >> CAN_RDT0R_TIME_Pos;
1521
1522 /* Get the data */
1523 aData[0] = (uint8_t)((CAN_RDL0R_DATA0 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA0_Pos);
1524 aData[1] = (uint8_t)((CAN_RDL0R_DATA1 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA1_Pos);
1525 aData[2] = (uint8_t)((CAN_RDL0R_DATA2 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA2_Pos);
1526 aData[3] = (uint8_t)((CAN_RDL0R_DATA3 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA3_Pos);
1527 aData[4] = (uint8_t)((CAN_RDH0R_DATA4 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA4_Pos);
1528 aData[5] = (uint8_t)((CAN_RDH0R_DATA5 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA5_Pos);
1529 aData[6] = (uint8_t)((CAN_RDH0R_DATA6 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA6_Pos);
1530 aData[7] = (uint8_t)((CAN_RDH0R_DATA7 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA7_Pos);
1531
1532 /* Release the FIFO */
1533 if (RxFifo == CAN_RX_FIFO0) /* Rx element is assigned to Rx FIFO 0 */
1534 {
1535 /* Release RX FIFO 0 */
1536 SET_BIT(hcan->Instance->RF0R, CAN_RF0R_RFOM0);
1537 }
1538 else /* Rx element is assigned to Rx FIFO 1 */
1539 {
1540 /* Release RX FIFO 1 */
1541 SET_BIT(hcan->Instance->RF1R, CAN_RF1R_RFOM1);
1542 }
1543
1544 /* Return function status */
1545 return HAL_OK;
1546 }
1547 else
1548 {
1549 /* Update error code */
1550 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
1551
1552 return HAL_ERROR;
1553 }
1554 }
1555
1556 /**
1557 * @brief Return Rx FIFO fill level.
1558 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
1559 * the configuration information for the specified CAN.
1560 * @param RxFifo Rx FIFO.
1561 * This parameter can be a value of @arg CAN_receive_FIFO_number.
1562 * @retval Number of messages available in Rx FIFO.
1563 */
HAL_CAN_GetRxFifoFillLevel(const CAN_HandleTypeDef * hcan,uint32_t RxFifo)1564 uint32_t HAL_CAN_GetRxFifoFillLevel(const CAN_HandleTypeDef *hcan, uint32_t RxFifo)
1565 {
1566 uint32_t filllevel = 0U;
1567 HAL_CAN_StateTypeDef state = hcan->State;
1568
1569 /* Check function parameters */
1570 assert_param(IS_CAN_RX_FIFO(RxFifo));
1571
1572 if ((state == HAL_CAN_STATE_READY) ||
1573 (state == HAL_CAN_STATE_LISTENING))
1574 {
1575 if (RxFifo == CAN_RX_FIFO0)
1576 {
1577 filllevel = hcan->Instance->RF0R & CAN_RF0R_FMP0;
1578 }
1579 else /* RxFifo == CAN_RX_FIFO1 */
1580 {
1581 filllevel = hcan->Instance->RF1R & CAN_RF1R_FMP1;
1582 }
1583 }
1584
1585 /* Return Rx FIFO fill level */
1586 return filllevel;
1587 }
1588
1589 /**
1590 * @}
1591 */
1592
1593 /** @defgroup CAN_Exported_Functions_Group4 Interrupts management
1594 * @brief Interrupts management
1595 *
1596 @verbatim
1597 ==============================================================================
1598 ##### Interrupts management #####
1599 ==============================================================================
1600 [..] This section provides functions allowing to:
1601 (+) HAL_CAN_ActivateNotification : Enable interrupts
1602 (+) HAL_CAN_DeactivateNotification : Disable interrupts
1603 (+) HAL_CAN_IRQHandler : Handles CAN interrupt request
1604
1605 @endverbatim
1606 * @{
1607 */
1608
1609 /**
1610 * @brief Enable interrupts.
1611 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
1612 * the configuration information for the specified CAN.
1613 * @param ActiveITs indicates which interrupts will be enabled.
1614 * This parameter can be any combination of @arg CAN_Interrupts.
1615 * @retval HAL status
1616 */
HAL_CAN_ActivateNotification(CAN_HandleTypeDef * hcan,uint32_t ActiveITs)1617 HAL_StatusTypeDef HAL_CAN_ActivateNotification(CAN_HandleTypeDef *hcan, uint32_t ActiveITs)
1618 {
1619 HAL_CAN_StateTypeDef state = hcan->State;
1620
1621 /* Check function parameters */
1622 assert_param(IS_CAN_IT(ActiveITs));
1623
1624 if ((state == HAL_CAN_STATE_READY) ||
1625 (state == HAL_CAN_STATE_LISTENING))
1626 {
1627 /* Enable the selected interrupts */
1628 __HAL_CAN_ENABLE_IT(hcan, ActiveITs);
1629
1630 /* Return function status */
1631 return HAL_OK;
1632 }
1633 else
1634 {
1635 /* Update error code */
1636 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
1637
1638 return HAL_ERROR;
1639 }
1640 }
1641
1642 /**
1643 * @brief Disable interrupts.
1644 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
1645 * the configuration information for the specified CAN.
1646 * @param InactiveITs indicates which interrupts will be disabled.
1647 * This parameter can be any combination of @arg CAN_Interrupts.
1648 * @retval HAL status
1649 */
HAL_CAN_DeactivateNotification(CAN_HandleTypeDef * hcan,uint32_t InactiveITs)1650 HAL_StatusTypeDef HAL_CAN_DeactivateNotification(CAN_HandleTypeDef *hcan, uint32_t InactiveITs)
1651 {
1652 HAL_CAN_StateTypeDef state = hcan->State;
1653
1654 /* Check function parameters */
1655 assert_param(IS_CAN_IT(InactiveITs));
1656
1657 if ((state == HAL_CAN_STATE_READY) ||
1658 (state == HAL_CAN_STATE_LISTENING))
1659 {
1660 /* Disable the selected interrupts */
1661 __HAL_CAN_DISABLE_IT(hcan, InactiveITs);
1662
1663 /* Return function status */
1664 return HAL_OK;
1665 }
1666 else
1667 {
1668 /* Update error code */
1669 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
1670
1671 return HAL_ERROR;
1672 }
1673 }
1674
1675 /**
1676 * @brief Handles CAN interrupt request
1677 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
1678 * the configuration information for the specified CAN.
1679 * @retval None
1680 */
HAL_CAN_IRQHandler(CAN_HandleTypeDef * hcan)1681 void HAL_CAN_IRQHandler(CAN_HandleTypeDef *hcan)
1682 {
1683 uint32_t errorcode = HAL_CAN_ERROR_NONE;
1684 uint32_t interrupts = READ_REG(hcan->Instance->IER);
1685 uint32_t msrflags = READ_REG(hcan->Instance->MSR);
1686 uint32_t tsrflags = READ_REG(hcan->Instance->TSR);
1687 uint32_t rf0rflags = READ_REG(hcan->Instance->RF0R);
1688 uint32_t rf1rflags = READ_REG(hcan->Instance->RF1R);
1689 uint32_t esrflags = READ_REG(hcan->Instance->ESR);
1690
1691 /* Transmit Mailbox empty interrupt management *****************************/
1692 if ((interrupts & CAN_IT_TX_MAILBOX_EMPTY) != 0U)
1693 {
1694 /* Transmit Mailbox 0 management *****************************************/
1695 if ((tsrflags & CAN_TSR_RQCP0) != 0U)
1696 {
1697 /* Clear the Transmission Complete flag (and TXOK0,ALST0,TERR0 bits) */
1698 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_RQCP0);
1699
1700 if ((tsrflags & CAN_TSR_TXOK0) != 0U)
1701 {
1702 /* Transmission Mailbox 0 complete callback */
1703 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1704 /* Call registered callback*/
1705 hcan->TxMailbox0CompleteCallback(hcan);
1706 #else
1707 /* Call weak (surcharged) callback */
1708 HAL_CAN_TxMailbox0CompleteCallback(hcan);
1709 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1710 }
1711 else
1712 {
1713 if ((tsrflags & CAN_TSR_ALST0) != 0U)
1714 {
1715 /* Update error code */
1716 errorcode |= HAL_CAN_ERROR_TX_ALST0;
1717 }
1718 else if ((tsrflags & CAN_TSR_TERR0) != 0U)
1719 {
1720 /* Update error code */
1721 errorcode |= HAL_CAN_ERROR_TX_TERR0;
1722 }
1723 else
1724 {
1725 /* Transmission Mailbox 0 abort callback */
1726 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1727 /* Call registered callback*/
1728 hcan->TxMailbox0AbortCallback(hcan);
1729 #else
1730 /* Call weak (surcharged) callback */
1731 HAL_CAN_TxMailbox0AbortCallback(hcan);
1732 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1733 }
1734 }
1735 }
1736
1737 /* Transmit Mailbox 1 management *****************************************/
1738 if ((tsrflags & CAN_TSR_RQCP1) != 0U)
1739 {
1740 /* Clear the Transmission Complete flag (and TXOK1,ALST1,TERR1 bits) */
1741 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_RQCP1);
1742
1743 if ((tsrflags & CAN_TSR_TXOK1) != 0U)
1744 {
1745 /* Transmission Mailbox 1 complete callback */
1746 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1747 /* Call registered callback*/
1748 hcan->TxMailbox1CompleteCallback(hcan);
1749 #else
1750 /* Call weak (surcharged) callback */
1751 HAL_CAN_TxMailbox1CompleteCallback(hcan);
1752 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1753 }
1754 else
1755 {
1756 if ((tsrflags & CAN_TSR_ALST1) != 0U)
1757 {
1758 /* Update error code */
1759 errorcode |= HAL_CAN_ERROR_TX_ALST1;
1760 }
1761 else if ((tsrflags & CAN_TSR_TERR1) != 0U)
1762 {
1763 /* Update error code */
1764 errorcode |= HAL_CAN_ERROR_TX_TERR1;
1765 }
1766 else
1767 {
1768 /* Transmission Mailbox 1 abort callback */
1769 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1770 /* Call registered callback*/
1771 hcan->TxMailbox1AbortCallback(hcan);
1772 #else
1773 /* Call weak (surcharged) callback */
1774 HAL_CAN_TxMailbox1AbortCallback(hcan);
1775 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1776 }
1777 }
1778 }
1779
1780 /* Transmit Mailbox 2 management *****************************************/
1781 if ((tsrflags & CAN_TSR_RQCP2) != 0U)
1782 {
1783 /* Clear the Transmission Complete flag (and TXOK2,ALST2,TERR2 bits) */
1784 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_RQCP2);
1785
1786 if ((tsrflags & CAN_TSR_TXOK2) != 0U)
1787 {
1788 /* Transmission Mailbox 2 complete callback */
1789 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1790 /* Call registered callback*/
1791 hcan->TxMailbox2CompleteCallback(hcan);
1792 #else
1793 /* Call weak (surcharged) callback */
1794 HAL_CAN_TxMailbox2CompleteCallback(hcan);
1795 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1796 }
1797 else
1798 {
1799 if ((tsrflags & CAN_TSR_ALST2) != 0U)
1800 {
1801 /* Update error code */
1802 errorcode |= HAL_CAN_ERROR_TX_ALST2;
1803 }
1804 else if ((tsrflags & CAN_TSR_TERR2) != 0U)
1805 {
1806 /* Update error code */
1807 errorcode |= HAL_CAN_ERROR_TX_TERR2;
1808 }
1809 else
1810 {
1811 /* Transmission Mailbox 2 abort callback */
1812 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1813 /* Call registered callback*/
1814 hcan->TxMailbox2AbortCallback(hcan);
1815 #else
1816 /* Call weak (surcharged) callback */
1817 HAL_CAN_TxMailbox2AbortCallback(hcan);
1818 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1819 }
1820 }
1821 }
1822 }
1823
1824 /* Receive FIFO 0 overrun interrupt management *****************************/
1825 if ((interrupts & CAN_IT_RX_FIFO0_OVERRUN) != 0U)
1826 {
1827 if ((rf0rflags & CAN_RF0R_FOVR0) != 0U)
1828 {
1829 /* Set CAN error code to Rx Fifo 0 overrun error */
1830 errorcode |= HAL_CAN_ERROR_RX_FOV0;
1831
1832 /* Clear FIFO0 Overrun Flag */
1833 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV0);
1834 }
1835 }
1836
1837 /* Receive FIFO 0 full interrupt management ********************************/
1838 if ((interrupts & CAN_IT_RX_FIFO0_FULL) != 0U)
1839 {
1840 if ((rf0rflags & CAN_RF0R_FULL0) != 0U)
1841 {
1842 /* Clear FIFO 0 full Flag */
1843 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF0);
1844
1845 /* Receive FIFO 0 full Callback */
1846 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1847 /* Call registered callback*/
1848 hcan->RxFifo0FullCallback(hcan);
1849 #else
1850 /* Call weak (surcharged) callback */
1851 HAL_CAN_RxFifo0FullCallback(hcan);
1852 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1853 }
1854 }
1855
1856 /* Receive FIFO 0 message pending interrupt management *********************/
1857 if ((interrupts & CAN_IT_RX_FIFO0_MSG_PENDING) != 0U)
1858 {
1859 /* Check if message is still pending */
1860 if ((hcan->Instance->RF0R & CAN_RF0R_FMP0) != 0U)
1861 {
1862 /* Receive FIFO 0 message pending Callback */
1863 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1864 /* Call registered callback*/
1865 hcan->RxFifo0MsgPendingCallback(hcan);
1866 #else
1867 /* Call weak (surcharged) callback */
1868 HAL_CAN_RxFifo0MsgPendingCallback(hcan);
1869 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1870 }
1871 }
1872
1873 /* Receive FIFO 1 overrun interrupt management *****************************/
1874 if ((interrupts & CAN_IT_RX_FIFO1_OVERRUN) != 0U)
1875 {
1876 if ((rf1rflags & CAN_RF1R_FOVR1) != 0U)
1877 {
1878 /* Set CAN error code to Rx Fifo 1 overrun error */
1879 errorcode |= HAL_CAN_ERROR_RX_FOV1;
1880
1881 /* Clear FIFO1 Overrun Flag */
1882 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV1);
1883 }
1884 }
1885
1886 /* Receive FIFO 1 full interrupt management ********************************/
1887 if ((interrupts & CAN_IT_RX_FIFO1_FULL) != 0U)
1888 {
1889 if ((rf1rflags & CAN_RF1R_FULL1) != 0U)
1890 {
1891 /* Clear FIFO 1 full Flag */
1892 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF1);
1893
1894 /* Receive FIFO 1 full Callback */
1895 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1896 /* Call registered callback*/
1897 hcan->RxFifo1FullCallback(hcan);
1898 #else
1899 /* Call weak (surcharged) callback */
1900 HAL_CAN_RxFifo1FullCallback(hcan);
1901 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1902 }
1903 }
1904
1905 /* Receive FIFO 1 message pending interrupt management *********************/
1906 if ((interrupts & CAN_IT_RX_FIFO1_MSG_PENDING) != 0U)
1907 {
1908 /* Check if message is still pending */
1909 if ((hcan->Instance->RF1R & CAN_RF1R_FMP1) != 0U)
1910 {
1911 /* Receive FIFO 1 message pending Callback */
1912 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1913 /* Call registered callback*/
1914 hcan->RxFifo1MsgPendingCallback(hcan);
1915 #else
1916 /* Call weak (surcharged) callback */
1917 HAL_CAN_RxFifo1MsgPendingCallback(hcan);
1918 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1919 }
1920 }
1921
1922 /* Sleep interrupt management *********************************************/
1923 if ((interrupts & CAN_IT_SLEEP_ACK) != 0U)
1924 {
1925 if ((msrflags & CAN_MSR_SLAKI) != 0U)
1926 {
1927 /* Clear Sleep interrupt Flag */
1928 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_SLAKI);
1929
1930 /* Sleep Callback */
1931 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1932 /* Call registered callback*/
1933 hcan->SleepCallback(hcan);
1934 #else
1935 /* Call weak (surcharged) callback */
1936 HAL_CAN_SleepCallback(hcan);
1937 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1938 }
1939 }
1940
1941 /* WakeUp interrupt management *********************************************/
1942 if ((interrupts & CAN_IT_WAKEUP) != 0U)
1943 {
1944 if ((msrflags & CAN_MSR_WKUI) != 0U)
1945 {
1946 /* Clear WakeUp Flag */
1947 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_WKU);
1948
1949 /* WakeUp Callback */
1950 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1951 /* Call registered callback*/
1952 hcan->WakeUpFromRxMsgCallback(hcan);
1953 #else
1954 /* Call weak (surcharged) callback */
1955 HAL_CAN_WakeUpFromRxMsgCallback(hcan);
1956 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1957 }
1958 }
1959
1960 /* Error interrupts management *********************************************/
1961 if ((interrupts & CAN_IT_ERROR) != 0U)
1962 {
1963 if ((msrflags & CAN_MSR_ERRI) != 0U)
1964 {
1965 /* Check Error Warning Flag */
1966 if (((interrupts & CAN_IT_ERROR_WARNING) != 0U) &&
1967 ((esrflags & CAN_ESR_EWGF) != 0U))
1968 {
1969 /* Set CAN error code to Error Warning */
1970 errorcode |= HAL_CAN_ERROR_EWG;
1971
1972 /* No need for clear of Error Warning Flag as read-only */
1973 }
1974
1975 /* Check Error Passive Flag */
1976 if (((interrupts & CAN_IT_ERROR_PASSIVE) != 0U) &&
1977 ((esrflags & CAN_ESR_EPVF) != 0U))
1978 {
1979 /* Set CAN error code to Error Passive */
1980 errorcode |= HAL_CAN_ERROR_EPV;
1981
1982 /* No need for clear of Error Passive Flag as read-only */
1983 }
1984
1985 /* Check Bus-off Flag */
1986 if (((interrupts & CAN_IT_BUSOFF) != 0U) &&
1987 ((esrflags & CAN_ESR_BOFF) != 0U))
1988 {
1989 /* Set CAN error code to Bus-Off */
1990 errorcode |= HAL_CAN_ERROR_BOF;
1991
1992 /* No need for clear of Error Bus-Off as read-only */
1993 }
1994
1995 /* Check Last Error Code Flag */
1996 if (((interrupts & CAN_IT_LAST_ERROR_CODE) != 0U) &&
1997 ((esrflags & CAN_ESR_LEC) != 0U))
1998 {
1999 switch (esrflags & CAN_ESR_LEC)
2000 {
2001 case (CAN_ESR_LEC_0):
2002 /* Set CAN error code to Stuff error */
2003 errorcode |= HAL_CAN_ERROR_STF;
2004 break;
2005 case (CAN_ESR_LEC_1):
2006 /* Set CAN error code to Form error */
2007 errorcode |= HAL_CAN_ERROR_FOR;
2008 break;
2009 case (CAN_ESR_LEC_1 | CAN_ESR_LEC_0):
2010 /* Set CAN error code to Acknowledgement error */
2011 errorcode |= HAL_CAN_ERROR_ACK;
2012 break;
2013 case (CAN_ESR_LEC_2):
2014 /* Set CAN error code to Bit recessive error */
2015 errorcode |= HAL_CAN_ERROR_BR;
2016 break;
2017 case (CAN_ESR_LEC_2 | CAN_ESR_LEC_0):
2018 /* Set CAN error code to Bit Dominant error */
2019 errorcode |= HAL_CAN_ERROR_BD;
2020 break;
2021 case (CAN_ESR_LEC_2 | CAN_ESR_LEC_1):
2022 /* Set CAN error code to CRC error */
2023 errorcode |= HAL_CAN_ERROR_CRC;
2024 break;
2025 default:
2026 break;
2027 }
2028
2029 /* Clear Last error code Flag */
2030 CLEAR_BIT(hcan->Instance->ESR, CAN_ESR_LEC);
2031 }
2032 }
2033
2034 /* Clear ERRI Flag */
2035 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_ERRI);
2036 }
2037
2038 /* Call the Error call Back in case of Errors */
2039 if (errorcode != HAL_CAN_ERROR_NONE)
2040 {
2041 /* Update error code in handle */
2042 hcan->ErrorCode |= errorcode;
2043
2044 /* Call Error callback function */
2045 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
2046 /* Call registered callback*/
2047 hcan->ErrorCallback(hcan);
2048 #else
2049 /* Call weak (surcharged) callback */
2050 HAL_CAN_ErrorCallback(hcan);
2051 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
2052 }
2053 }
2054
2055 /**
2056 * @}
2057 */
2058
2059 /** @defgroup CAN_Exported_Functions_Group5 Callback functions
2060 * @brief CAN Callback functions
2061 *
2062 @verbatim
2063 ==============================================================================
2064 ##### Callback functions #####
2065 ==============================================================================
2066 [..]
2067 This subsection provides the following callback functions:
2068 (+) HAL_CAN_TxMailbox0CompleteCallback
2069 (+) HAL_CAN_TxMailbox1CompleteCallback
2070 (+) HAL_CAN_TxMailbox2CompleteCallback
2071 (+) HAL_CAN_TxMailbox0AbortCallback
2072 (+) HAL_CAN_TxMailbox1AbortCallback
2073 (+) HAL_CAN_TxMailbox2AbortCallback
2074 (+) HAL_CAN_RxFifo0MsgPendingCallback
2075 (+) HAL_CAN_RxFifo0FullCallback
2076 (+) HAL_CAN_RxFifo1MsgPendingCallback
2077 (+) HAL_CAN_RxFifo1FullCallback
2078 (+) HAL_CAN_SleepCallback
2079 (+) HAL_CAN_WakeUpFromRxMsgCallback
2080 (+) HAL_CAN_ErrorCallback
2081
2082 @endverbatim
2083 * @{
2084 */
2085
2086 /**
2087 * @brief Transmission Mailbox 0 complete callback.
2088 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2089 * the configuration information for the specified CAN.
2090 * @retval None
2091 */
HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef * hcan)2092 __weak void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan)
2093 {
2094 /* Prevent unused argument(s) compilation warning */
2095 UNUSED(hcan);
2096
2097 /* NOTE : This function Should not be modified, when the callback is needed,
2098 the HAL_CAN_TxMailbox0CompleteCallback could be implemented in the
2099 user file
2100 */
2101 }
2102
2103 /**
2104 * @brief Transmission Mailbox 1 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_TxMailbox1CompleteCallback(CAN_HandleTypeDef * hcan)2109 __weak void HAL_CAN_TxMailbox1CompleteCallback(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_TxMailbox1CompleteCallback could be implemented in the
2116 user file
2117 */
2118 }
2119
2120 /**
2121 * @brief Transmission Mailbox 2 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_TxMailbox2CompleteCallback(CAN_HandleTypeDef * hcan)2126 __weak void HAL_CAN_TxMailbox2CompleteCallback(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_TxMailbox2CompleteCallback could be implemented in the
2133 user file
2134 */
2135 }
2136
2137 /**
2138 * @brief Transmission Mailbox 0 Cancellation callback.
2139 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
2140 * the configuration information for the specified CAN.
2141 * @retval None
2142 */
HAL_CAN_TxMailbox0AbortCallback(CAN_HandleTypeDef * hcan)2143 __weak void HAL_CAN_TxMailbox0AbortCallback(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_TxMailbox0AbortCallback could be implemented in the
2150 user file
2151 */
2152 }
2153
2154 /**
2155 * @brief Transmission Mailbox 1 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_TxMailbox1AbortCallback(CAN_HandleTypeDef * hcan)2160 __weak void HAL_CAN_TxMailbox1AbortCallback(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_TxMailbox1AbortCallback could be implemented in the
2167 user file
2168 */
2169 }
2170
2171 /**
2172 * @brief Transmission Mailbox 2 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_TxMailbox2AbortCallback(CAN_HandleTypeDef * hcan)2177 __weak void HAL_CAN_TxMailbox2AbortCallback(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_TxMailbox2AbortCallback could be implemented in the
2184 user file
2185 */
2186 }
2187
2188 /**
2189 * @brief Rx FIFO 0 message pending callback.
2190 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2191 * the configuration information for the specified CAN.
2192 * @retval None
2193 */
HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef * hcan)2194 __weak void HAL_CAN_RxFifo0MsgPendingCallback(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_RxFifo0MsgPendingCallback could be implemented in the
2201 user file
2202 */
2203 }
2204
2205 /**
2206 * @brief Rx FIFO 0 full 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_RxFifo0FullCallback(CAN_HandleTypeDef * hcan)2211 __weak void HAL_CAN_RxFifo0FullCallback(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_RxFifo0FullCallback could be implemented in the user
2218 file
2219 */
2220 }
2221
2222 /**
2223 * @brief Rx FIFO 1 message pending 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_RxFifo1MsgPendingCallback(CAN_HandleTypeDef * hcan)2228 __weak void HAL_CAN_RxFifo1MsgPendingCallback(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_RxFifo1MsgPendingCallback could be implemented in the
2235 user file
2236 */
2237 }
2238
2239 /**
2240 * @brief Rx FIFO 1 full 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_RxFifo1FullCallback(CAN_HandleTypeDef * hcan)2245 __weak void HAL_CAN_RxFifo1FullCallback(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_RxFifo1FullCallback could be implemented in the user
2252 file
2253 */
2254 }
2255
2256 /**
2257 * @brief Sleep 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_SleepCallback(CAN_HandleTypeDef * hcan)2262 __weak void HAL_CAN_SleepCallback(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_SleepCallback could be implemented in the user file
2269 */
2270 }
2271
2272 /**
2273 * @brief WakeUp from Rx message callback.
2274 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2275 * the configuration information for the specified CAN.
2276 * @retval None
2277 */
HAL_CAN_WakeUpFromRxMsgCallback(CAN_HandleTypeDef * hcan)2278 __weak void HAL_CAN_WakeUpFromRxMsgCallback(CAN_HandleTypeDef *hcan)
2279 {
2280 /* Prevent unused argument(s) compilation warning */
2281 UNUSED(hcan);
2282
2283 /* NOTE : This function Should not be modified, when the callback is needed,
2284 the HAL_CAN_WakeUpFromRxMsgCallback could be implemented in the
2285 user file
2286 */
2287 }
2288
2289 /**
2290 * @brief Error CAN 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_ErrorCallback(CAN_HandleTypeDef * hcan)2295 __weak void HAL_CAN_ErrorCallback(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_ErrorCallback could be implemented in the user file
2302 */
2303 }
2304
2305 /**
2306 * @}
2307 */
2308
2309 /** @defgroup CAN_Exported_Functions_Group6 Peripheral State and Error functions
2310 * @brief CAN Peripheral State functions
2311 *
2312 @verbatim
2313 ==============================================================================
2314 ##### Peripheral State and Error functions #####
2315 ==============================================================================
2316 [..]
2317 This subsection provides functions allowing to :
2318 (+) HAL_CAN_GetState() : Return the CAN state.
2319 (+) HAL_CAN_GetError() : Return the CAN error codes if any.
2320 (+) HAL_CAN_ResetError(): Reset the CAN error codes if any.
2321
2322 @endverbatim
2323 * @{
2324 */
2325
2326 /**
2327 * @brief Return the CAN state.
2328 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2329 * the configuration information for the specified CAN.
2330 * @retval HAL state
2331 */
HAL_CAN_GetState(const CAN_HandleTypeDef * hcan)2332 HAL_CAN_StateTypeDef HAL_CAN_GetState(const CAN_HandleTypeDef *hcan)
2333 {
2334 HAL_CAN_StateTypeDef state = hcan->State;
2335
2336 if ((state == HAL_CAN_STATE_READY) ||
2337 (state == HAL_CAN_STATE_LISTENING))
2338 {
2339 /* Check sleep mode acknowledge flag */
2340 if ((hcan->Instance->MSR & CAN_MSR_SLAK) != 0U)
2341 {
2342 /* Sleep mode is active */
2343 state = HAL_CAN_STATE_SLEEP_ACTIVE;
2344 }
2345 /* Check sleep mode request flag */
2346 else if ((hcan->Instance->MCR & CAN_MCR_SLEEP) != 0U)
2347 {
2348 /* Sleep mode request is pending */
2349 state = HAL_CAN_STATE_SLEEP_PENDING;
2350 }
2351 else
2352 {
2353 /* Neither sleep mode request nor sleep mode acknowledge */
2354 }
2355 }
2356
2357 /* Return CAN state */
2358 return state;
2359 }
2360
2361 /**
2362 * @brief Return the CAN error code.
2363 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2364 * the configuration information for the specified CAN.
2365 * @retval CAN Error Code
2366 */
HAL_CAN_GetError(const CAN_HandleTypeDef * hcan)2367 uint32_t HAL_CAN_GetError(const CAN_HandleTypeDef *hcan)
2368 {
2369 /* Return CAN error code */
2370 return hcan->ErrorCode;
2371 }
2372
2373 /**
2374 * @brief Reset the CAN error code.
2375 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2376 * the configuration information for the specified CAN.
2377 * @retval HAL status
2378 */
HAL_CAN_ResetError(CAN_HandleTypeDef * hcan)2379 HAL_StatusTypeDef HAL_CAN_ResetError(CAN_HandleTypeDef *hcan)
2380 {
2381 HAL_StatusTypeDef status = HAL_OK;
2382 HAL_CAN_StateTypeDef state = hcan->State;
2383
2384 if ((state == HAL_CAN_STATE_READY) ||
2385 (state == HAL_CAN_STATE_LISTENING))
2386 {
2387 /* Reset CAN error code */
2388 hcan->ErrorCode = 0U;
2389 }
2390 else
2391 {
2392 /* Update error code */
2393 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
2394
2395 status = HAL_ERROR;
2396 }
2397
2398 /* Return the status */
2399 return status;
2400 }
2401
2402 /**
2403 * @}
2404 */
2405
2406 /**
2407 * @}
2408 */
2409
2410 #endif /* HAL_CAN_MODULE_ENABLED */
2411
2412 /**
2413 * @}
2414 */
2415
2416 #endif /* CAN */
2417
2418 /**
2419 * @}
2420 */
2421
