1 /**
2 ******************************************************************************
3 * @file stm32l4xx_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) 2017 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 "stm32l4xx_hal.h"
214
215 /** @addtogroup STM32L4xx_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 #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 #if defined(CAN2)
860 /* CAN1 and CAN2 are dual instances with 28 common filters banks */
861 /* Select master instance to access the filter banks */
862 can_ip = CAN1;
863
864 /* Check the parameters */
865 assert_param(IS_CAN_FILTER_BANK_DUAL(sFilterConfig->FilterBank));
866 assert_param(IS_CAN_FILTER_BANK_DUAL(sFilterConfig->SlaveStartFilterBank));
867 #else
868 /* CAN1 is single instance with 14 dedicated filters banks */
869
870 /* Check the parameters */
871 assert_param(IS_CAN_FILTER_BANK_SINGLE(sFilterConfig->FilterBank));
872 #endif /* CAN3 */
873
874 /* Initialisation mode for the filter */
875 SET_BIT(can_ip->FMR, CAN_FMR_FINIT);
876
877 #if defined(CAN2)
878 /* Select the start filter number of CAN2 slave instance */
879 CLEAR_BIT(can_ip->FMR, CAN_FMR_CAN2SB);
880 SET_BIT(can_ip->FMR, sFilterConfig->SlaveStartFilterBank << CAN_FMR_CAN2SB_Pos);
881
882 #endif /* CAN3 */
883 /* Convert filter number into bit position */
884 filternbrbitpos = (uint32_t)1 << (sFilterConfig->FilterBank & 0x1FU);
885
886 /* Filter Deactivation */
887 CLEAR_BIT(can_ip->FA1R, filternbrbitpos);
888
889 /* Filter Scale */
890 if (sFilterConfig->FilterScale == CAN_FILTERSCALE_16BIT)
891 {
892 /* 16-bit scale for the filter */
893 CLEAR_BIT(can_ip->FS1R, filternbrbitpos);
894
895 /* First 16-bit identifier and First 16-bit mask */
896 /* Or First 16-bit identifier and Second 16-bit identifier */
897 can_ip->sFilterRegister[sFilterConfig->FilterBank].FR1 =
898 ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdLow) << 16U) |
899 (0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdLow);
900
901 /* Second 16-bit identifier and Second 16-bit mask */
902 /* Or Third 16-bit identifier and Fourth 16-bit identifier */
903 can_ip->sFilterRegister[sFilterConfig->FilterBank].FR2 =
904 ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16U) |
905 (0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdHigh);
906 }
907
908 if (sFilterConfig->FilterScale == CAN_FILTERSCALE_32BIT)
909 {
910 /* 32-bit scale for the filter */
911 SET_BIT(can_ip->FS1R, filternbrbitpos);
912
913 /* 32-bit identifier or First 32-bit identifier */
914 can_ip->sFilterRegister[sFilterConfig->FilterBank].FR1 =
915 ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdHigh) << 16U) |
916 (0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdLow);
917
918 /* 32-bit mask or Second 32-bit identifier */
919 can_ip->sFilterRegister[sFilterConfig->FilterBank].FR2 =
920 ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16U) |
921 (0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdLow);
922 }
923
924 /* Filter Mode */
925 if (sFilterConfig->FilterMode == CAN_FILTERMODE_IDMASK)
926 {
927 /* Id/Mask mode for the filter*/
928 CLEAR_BIT(can_ip->FM1R, filternbrbitpos);
929 }
930 else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */
931 {
932 /* Identifier list mode for the filter*/
933 SET_BIT(can_ip->FM1R, filternbrbitpos);
934 }
935
936 /* Filter FIFO assignment */
937 if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO0)
938 {
939 /* FIFO 0 assignation for the filter */
940 CLEAR_BIT(can_ip->FFA1R, filternbrbitpos);
941 }
942 else
943 {
944 /* FIFO 1 assignation for the filter */
945 SET_BIT(can_ip->FFA1R, filternbrbitpos);
946 }
947
948 /* Filter activation */
949 if (sFilterConfig->FilterActivation == CAN_FILTER_ENABLE)
950 {
951 SET_BIT(can_ip->FA1R, filternbrbitpos);
952 }
953
954 /* Leave the initialisation mode for the filter */
955 CLEAR_BIT(can_ip->FMR, CAN_FMR_FINIT);
956
957 /* Return function status */
958 return HAL_OK;
959 }
960 else
961 {
962 /* Update error code */
963 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
964
965 return HAL_ERROR;
966 }
967 }
968
969 /**
970 * @}
971 */
972
973 /** @defgroup CAN_Exported_Functions_Group3 Control functions
974 * @brief Control functions
975 *
976 @verbatim
977 ==============================================================================
978 ##### Control functions #####
979 ==============================================================================
980 [..] This section provides functions allowing to:
981 (+) HAL_CAN_Start : Start the CAN module
982 (+) HAL_CAN_Stop : Stop the CAN module
983 (+) HAL_CAN_RequestSleep : Request sleep mode entry.
984 (+) HAL_CAN_WakeUp : Wake up from sleep mode.
985 (+) HAL_CAN_IsSleepActive : Check is sleep mode is active.
986 (+) HAL_CAN_AddTxMessage : Add a message to the Tx mailboxes
987 and activate the corresponding
988 transmission request
989 (+) HAL_CAN_AbortTxRequest : Abort transmission request
990 (+) HAL_CAN_GetTxMailboxesFreeLevel : Return Tx mailboxes free level
991 (+) HAL_CAN_IsTxMessagePending : Check if a transmission request is
992 pending on the selected Tx mailbox
993 (+) HAL_CAN_GetRxMessage : Get a CAN frame from the Rx FIFO
994 (+) HAL_CAN_GetRxFifoFillLevel : Return Rx FIFO fill level
995
996 @endverbatim
997 * @{
998 */
999
1000 /**
1001 * @brief Start the CAN module.
1002 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
1003 * the configuration information for the specified CAN.
1004 * @retval HAL status
1005 */
HAL_CAN_Start(CAN_HandleTypeDef * hcan)1006 HAL_StatusTypeDef HAL_CAN_Start(CAN_HandleTypeDef *hcan)
1007 {
1008 uint32_t tickstart;
1009
1010 if (hcan->State == HAL_CAN_STATE_READY)
1011 {
1012 /* Change CAN peripheral state */
1013 hcan->State = HAL_CAN_STATE_LISTENING;
1014
1015 /* Request leave initialisation */
1016 CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_INRQ);
1017
1018 /* Get tick */
1019 tickstart = HAL_GetTick();
1020
1021 /* Wait the acknowledge */
1022 while ((hcan->Instance->MSR & CAN_MSR_INAK) != 0U)
1023 {
1024 /* Check for the Timeout */
1025 if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
1026 {
1027 /* Update error code */
1028 hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;
1029
1030 /* Change CAN state */
1031 hcan->State = HAL_CAN_STATE_ERROR;
1032
1033 return HAL_ERROR;
1034 }
1035 }
1036
1037 /* Reset the CAN ErrorCode */
1038 hcan->ErrorCode = HAL_CAN_ERROR_NONE;
1039
1040 /* Return function status */
1041 return HAL_OK;
1042 }
1043 else
1044 {
1045 /* Update error code */
1046 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_READY;
1047
1048 return HAL_ERROR;
1049 }
1050 }
1051
1052 /**
1053 * @brief Stop the CAN module and enable access to configuration registers.
1054 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
1055 * the configuration information for the specified CAN.
1056 * @retval HAL status
1057 */
HAL_CAN_Stop(CAN_HandleTypeDef * hcan)1058 HAL_StatusTypeDef HAL_CAN_Stop(CAN_HandleTypeDef *hcan)
1059 {
1060 uint32_t tickstart;
1061
1062 if (hcan->State == HAL_CAN_STATE_LISTENING)
1063 {
1064 /* Request initialisation */
1065 SET_BIT(hcan->Instance->MCR, CAN_MCR_INRQ);
1066
1067 /* Get tick */
1068 tickstart = HAL_GetTick();
1069
1070 /* Wait the acknowledge */
1071 while ((hcan->Instance->MSR & CAN_MSR_INAK) == 0U)
1072 {
1073 /* Check for the Timeout */
1074 if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
1075 {
1076 /* Update error code */
1077 hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;
1078
1079 /* Change CAN state */
1080 hcan->State = HAL_CAN_STATE_ERROR;
1081
1082 return HAL_ERROR;
1083 }
1084 }
1085
1086 /* Exit from sleep mode */
1087 CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
1088
1089 /* Change CAN peripheral state */
1090 hcan->State = HAL_CAN_STATE_READY;
1091
1092 /* Return function status */
1093 return HAL_OK;
1094 }
1095 else
1096 {
1097 /* Update error code */
1098 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_STARTED;
1099
1100 return HAL_ERROR;
1101 }
1102 }
1103
1104 /**
1105 * @brief Request the sleep mode (low power) entry.
1106 * When returning from this function, Sleep mode will be entered
1107 * as soon as the current CAN activity (transmission or reception
1108 * of a CAN frame) has been completed.
1109 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
1110 * the configuration information for the specified CAN.
1111 * @retval HAL status.
1112 */
HAL_CAN_RequestSleep(CAN_HandleTypeDef * hcan)1113 HAL_StatusTypeDef HAL_CAN_RequestSleep(CAN_HandleTypeDef *hcan)
1114 {
1115 HAL_CAN_StateTypeDef state = hcan->State;
1116
1117 if ((state == HAL_CAN_STATE_READY) ||
1118 (state == HAL_CAN_STATE_LISTENING))
1119 {
1120 /* Request Sleep mode */
1121 SET_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
1122
1123 /* Return function status */
1124 return HAL_OK;
1125 }
1126 else
1127 {
1128 /* Update error code */
1129 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
1130
1131 /* Return function status */
1132 return HAL_ERROR;
1133 }
1134 }
1135
1136 /**
1137 * @brief Wake up from sleep mode.
1138 * When returning with HAL_OK status from this function, Sleep mode
1139 * is exited.
1140 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
1141 * the configuration information for the specified CAN.
1142 * @retval HAL status.
1143 */
HAL_CAN_WakeUp(CAN_HandleTypeDef * hcan)1144 HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef *hcan)
1145 {
1146 __IO uint32_t count = 0;
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 > CAN_WAKEUP_TIMEOUT_COUNTER)
1163 {
1164 /* Update error code */
1165 hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;
1166
1167 return HAL_ERROR;
1168 }
1169 } while ((hcan->Instance->MSR & CAN_MSR_SLAK) != 0U);
1170
1171 /* Return function status */
1172 return HAL_OK;
1173 }
1174 else
1175 {
1176 /* Update error code */
1177 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
1178
1179 return HAL_ERROR;
1180 }
1181 }
1182
1183 /**
1184 * @brief Check is sleep mode is active.
1185 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
1186 * the configuration information for the specified CAN.
1187 * @retval Status
1188 * - 0 : Sleep mode is not active.
1189 * - 1 : Sleep mode is active.
1190 */
HAL_CAN_IsSleepActive(const CAN_HandleTypeDef * hcan)1191 uint32_t HAL_CAN_IsSleepActive(const CAN_HandleTypeDef *hcan)
1192 {
1193 uint32_t status = 0U;
1194 HAL_CAN_StateTypeDef state = hcan->State;
1195
1196 if ((state == HAL_CAN_STATE_READY) ||
1197 (state == HAL_CAN_STATE_LISTENING))
1198 {
1199 /* Check Sleep mode */
1200 if ((hcan->Instance->MSR & CAN_MSR_SLAK) != 0U)
1201 {
1202 status = 1U;
1203 }
1204 }
1205
1206 /* Return function status */
1207 return status;
1208 }
1209
1210 /**
1211 * @brief Add a message to the first free Tx mailbox and activate the
1212 * corresponding transmission request.
1213 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
1214 * the configuration information for the specified CAN.
1215 * @param pHeader pointer to a CAN_TxHeaderTypeDef structure.
1216 * @param aData array containing the payload of the Tx frame.
1217 * @param pTxMailbox pointer to a variable where the function will return
1218 * the TxMailbox used to store the Tx message.
1219 * This parameter can be a value of @arg CAN_Tx_Mailboxes.
1220 * @retval HAL status
1221 */
HAL_CAN_AddTxMessage(CAN_HandleTypeDef * hcan,const CAN_TxHeaderTypeDef * pHeader,const uint8_t aData[],uint32_t * pTxMailbox)1222 HAL_StatusTypeDef HAL_CAN_AddTxMessage(CAN_HandleTypeDef *hcan, const CAN_TxHeaderTypeDef *pHeader,
1223 const uint8_t aData[], uint32_t *pTxMailbox)
1224 {
1225 uint32_t transmitmailbox;
1226 HAL_CAN_StateTypeDef state = hcan->State;
1227 uint32_t tsr = READ_REG(hcan->Instance->TSR);
1228
1229 /* Check the parameters */
1230 assert_param(IS_CAN_IDTYPE(pHeader->IDE));
1231 assert_param(IS_CAN_RTR(pHeader->RTR));
1232 assert_param(IS_CAN_DLC(pHeader->DLC));
1233 if (pHeader->IDE == CAN_ID_STD)
1234 {
1235 assert_param(IS_CAN_STDID(pHeader->StdId));
1236 }
1237 else
1238 {
1239 assert_param(IS_CAN_EXTID(pHeader->ExtId));
1240 }
1241 assert_param(IS_FUNCTIONAL_STATE(pHeader->TransmitGlobalTime));
1242
1243 if ((state == HAL_CAN_STATE_READY) ||
1244 (state == HAL_CAN_STATE_LISTENING))
1245 {
1246 /* Check that all the Tx mailboxes are not full */
1247 if (((tsr & CAN_TSR_TME0) != 0U) ||
1248 ((tsr & CAN_TSR_TME1) != 0U) ||
1249 ((tsr & CAN_TSR_TME2) != 0U))
1250 {
1251 /* Select an empty transmit mailbox */
1252 transmitmailbox = (tsr & CAN_TSR_CODE) >> CAN_TSR_CODE_Pos;
1253
1254 /* Store the Tx mailbox */
1255 *pTxMailbox = (uint32_t)1 << transmitmailbox;
1256
1257 /* Set up the Id */
1258 if (pHeader->IDE == CAN_ID_STD)
1259 {
1260 hcan->Instance->sTxMailBox[transmitmailbox].TIR = ((pHeader->StdId << CAN_TI0R_STID_Pos) |
1261 pHeader->RTR);
1262 }
1263 else
1264 {
1265 hcan->Instance->sTxMailBox[transmitmailbox].TIR = ((pHeader->ExtId << CAN_TI0R_EXID_Pos) |
1266 pHeader->IDE |
1267 pHeader->RTR);
1268 }
1269
1270 /* Set up the DLC */
1271 hcan->Instance->sTxMailBox[transmitmailbox].TDTR = (pHeader->DLC);
1272
1273 /* Set up the Transmit Global Time mode */
1274 if (pHeader->TransmitGlobalTime == ENABLE)
1275 {
1276 SET_BIT(hcan->Instance->sTxMailBox[transmitmailbox].TDTR, CAN_TDT0R_TGT);
1277 }
1278
1279 /* Set up the data field */
1280 WRITE_REG(hcan->Instance->sTxMailBox[transmitmailbox].TDHR,
1281 ((uint32_t)aData[7] << CAN_TDH0R_DATA7_Pos) |
1282 ((uint32_t)aData[6] << CAN_TDH0R_DATA6_Pos) |
1283 ((uint32_t)aData[5] << CAN_TDH0R_DATA5_Pos) |
1284 ((uint32_t)aData[4] << CAN_TDH0R_DATA4_Pos));
1285 WRITE_REG(hcan->Instance->sTxMailBox[transmitmailbox].TDLR,
1286 ((uint32_t)aData[3] << CAN_TDL0R_DATA3_Pos) |
1287 ((uint32_t)aData[2] << CAN_TDL0R_DATA2_Pos) |
1288 ((uint32_t)aData[1] << CAN_TDL0R_DATA1_Pos) |
1289 ((uint32_t)aData[0] << CAN_TDL0R_DATA0_Pos));
1290
1291 /* Request transmission */
1292 SET_BIT(hcan->Instance->sTxMailBox[transmitmailbox].TIR, CAN_TI0R_TXRQ);
1293
1294 /* Return function status */
1295 return HAL_OK;
1296 }
1297 else
1298 {
1299 /* Update error code */
1300 hcan->ErrorCode |= HAL_CAN_ERROR_PARAM;
1301
1302 return HAL_ERROR;
1303 }
1304 }
1305 else
1306 {
1307 /* Update error code */
1308 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
1309
1310 return HAL_ERROR;
1311 }
1312 }
1313
1314 /**
1315 * @brief Abort transmission requests
1316 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
1317 * the configuration information for the specified CAN.
1318 * @param TxMailboxes List of the Tx Mailboxes to abort.
1319 * This parameter can be any combination of @arg CAN_Tx_Mailboxes.
1320 * @retval HAL status
1321 */
HAL_CAN_AbortTxRequest(CAN_HandleTypeDef * hcan,uint32_t TxMailboxes)1322 HAL_StatusTypeDef HAL_CAN_AbortTxRequest(CAN_HandleTypeDef *hcan, uint32_t TxMailboxes)
1323 {
1324 HAL_CAN_StateTypeDef state = hcan->State;
1325
1326 /* Check function parameters */
1327 assert_param(IS_CAN_TX_MAILBOX_LIST(TxMailboxes));
1328
1329 if ((state == HAL_CAN_STATE_READY) ||
1330 (state == HAL_CAN_STATE_LISTENING))
1331 {
1332 /* Check Tx Mailbox 0 */
1333 if ((TxMailboxes & CAN_TX_MAILBOX0) != 0U)
1334 {
1335 /* Add cancellation request for Tx Mailbox 0 */
1336 SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ0);
1337 }
1338
1339 /* Check Tx Mailbox 1 */
1340 if ((TxMailboxes & CAN_TX_MAILBOX1) != 0U)
1341 {
1342 /* Add cancellation request for Tx Mailbox 1 */
1343 SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ1);
1344 }
1345
1346 /* Check Tx Mailbox 2 */
1347 if ((TxMailboxes & CAN_TX_MAILBOX2) != 0U)
1348 {
1349 /* Add cancellation request for Tx Mailbox 2 */
1350 SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ2);
1351 }
1352
1353 /* Return function status */
1354 return HAL_OK;
1355 }
1356 else
1357 {
1358 /* Update error code */
1359 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
1360
1361 return HAL_ERROR;
1362 }
1363 }
1364
1365 /**
1366 * @brief Return Tx Mailboxes free level: number of free Tx Mailboxes.
1367 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
1368 * the configuration information for the specified CAN.
1369 * @retval Number of free Tx Mailboxes.
1370 */
HAL_CAN_GetTxMailboxesFreeLevel(const CAN_HandleTypeDef * hcan)1371 uint32_t HAL_CAN_GetTxMailboxesFreeLevel(const CAN_HandleTypeDef *hcan)
1372 {
1373 uint32_t freelevel = 0U;
1374 HAL_CAN_StateTypeDef state = hcan->State;
1375
1376 if ((state == HAL_CAN_STATE_READY) ||
1377 (state == HAL_CAN_STATE_LISTENING))
1378 {
1379 /* Check Tx Mailbox 0 status */
1380 if ((hcan->Instance->TSR & CAN_TSR_TME0) != 0U)
1381 {
1382 freelevel++;
1383 }
1384
1385 /* Check Tx Mailbox 1 status */
1386 if ((hcan->Instance->TSR & CAN_TSR_TME1) != 0U)
1387 {
1388 freelevel++;
1389 }
1390
1391 /* Check Tx Mailbox 2 status */
1392 if ((hcan->Instance->TSR & CAN_TSR_TME2) != 0U)
1393 {
1394 freelevel++;
1395 }
1396 }
1397
1398 /* Return Tx Mailboxes free level */
1399 return freelevel;
1400 }
1401
1402 /**
1403 * @brief Check if a transmission request is pending on the selected Tx
1404 * Mailboxes.
1405 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
1406 * the configuration information for the specified CAN.
1407 * @param TxMailboxes List of Tx Mailboxes to check.
1408 * This parameter can be any combination of @arg CAN_Tx_Mailboxes.
1409 * @retval Status
1410 * - 0 : No pending transmission request on any selected Tx Mailboxes.
1411 * - 1 : Pending transmission request on at least one of the selected
1412 * Tx Mailbox.
1413 */
HAL_CAN_IsTxMessagePending(const CAN_HandleTypeDef * hcan,uint32_t TxMailboxes)1414 uint32_t HAL_CAN_IsTxMessagePending(const CAN_HandleTypeDef *hcan, uint32_t TxMailboxes)
1415 {
1416 uint32_t status = 0U;
1417 HAL_CAN_StateTypeDef state = hcan->State;
1418
1419 /* Check function parameters */
1420 assert_param(IS_CAN_TX_MAILBOX_LIST(TxMailboxes));
1421
1422 if ((state == HAL_CAN_STATE_READY) ||
1423 (state == HAL_CAN_STATE_LISTENING))
1424 {
1425 /* Check pending transmission request on the selected Tx Mailboxes */
1426 if ((hcan->Instance->TSR & (TxMailboxes << CAN_TSR_TME0_Pos)) != (TxMailboxes << CAN_TSR_TME0_Pos))
1427 {
1428 status = 1U;
1429 }
1430 }
1431
1432 /* Return status */
1433 return status;
1434 }
1435
1436 /**
1437 * @brief Return timestamp of Tx message sent, if time triggered communication
1438 mode is enabled.
1439 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
1440 * the configuration information for the specified CAN.
1441 * @param TxMailbox Tx Mailbox where the timestamp of message sent will be
1442 * read.
1443 * This parameter can be one value of @arg CAN_Tx_Mailboxes.
1444 * @retval Timestamp of message sent from Tx Mailbox.
1445 */
HAL_CAN_GetTxTimestamp(const CAN_HandleTypeDef * hcan,uint32_t TxMailbox)1446 uint32_t HAL_CAN_GetTxTimestamp(const CAN_HandleTypeDef *hcan, uint32_t TxMailbox)
1447 {
1448 uint32_t timestamp = 0U;
1449 uint32_t transmitmailbox;
1450 HAL_CAN_StateTypeDef state = hcan->State;
1451
1452 /* Check function parameters */
1453 assert_param(IS_CAN_TX_MAILBOX(TxMailbox));
1454
1455 if ((state == HAL_CAN_STATE_READY) ||
1456 (state == HAL_CAN_STATE_LISTENING))
1457 {
1458 /* Select the Tx mailbox */
1459 transmitmailbox = POSITION_VAL(TxMailbox);
1460
1461 /* Get timestamp */
1462 timestamp = (hcan->Instance->sTxMailBox[transmitmailbox].TDTR & CAN_TDT0R_TIME) >> CAN_TDT0R_TIME_Pos;
1463 }
1464
1465 /* Return the timestamp */
1466 return timestamp;
1467 }
1468
1469 /**
1470 * @brief Get an CAN frame from the Rx FIFO zone into the message RAM.
1471 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
1472 * the configuration information for the specified CAN.
1473 * @param RxFifo Fifo number of the received message to be read.
1474 * This parameter can be a value of @arg CAN_receive_FIFO_number.
1475 * @param pHeader pointer to a CAN_RxHeaderTypeDef structure where the header
1476 * of the Rx frame will be stored.
1477 * @param aData array where the payload of the Rx frame will be stored.
1478 * @retval HAL status
1479 */
HAL_CAN_GetRxMessage(CAN_HandleTypeDef * hcan,uint32_t RxFifo,CAN_RxHeaderTypeDef * pHeader,uint8_t aData[])1480 HAL_StatusTypeDef HAL_CAN_GetRxMessage(CAN_HandleTypeDef *hcan, uint32_t RxFifo,
1481 CAN_RxHeaderTypeDef *pHeader, uint8_t aData[])
1482 {
1483 HAL_CAN_StateTypeDef state = hcan->State;
1484
1485 assert_param(IS_CAN_RX_FIFO(RxFifo));
1486
1487 if ((state == HAL_CAN_STATE_READY) ||
1488 (state == HAL_CAN_STATE_LISTENING))
1489 {
1490 /* Check the Rx FIFO */
1491 if (RxFifo == CAN_RX_FIFO0) /* Rx element is assigned to Rx FIFO 0 */
1492 {
1493 /* Check that the Rx FIFO 0 is not empty */
1494 if ((hcan->Instance->RF0R & CAN_RF0R_FMP0) == 0U)
1495 {
1496 /* Update error code */
1497 hcan->ErrorCode |= HAL_CAN_ERROR_PARAM;
1498
1499 return HAL_ERROR;
1500 }
1501 }
1502 else /* Rx element is assigned to Rx FIFO 1 */
1503 {
1504 /* Check that the Rx FIFO 1 is not empty */
1505 if ((hcan->Instance->RF1R & CAN_RF1R_FMP1) == 0U)
1506 {
1507 /* Update error code */
1508 hcan->ErrorCode |= HAL_CAN_ERROR_PARAM;
1509
1510 return HAL_ERROR;
1511 }
1512 }
1513
1514 /* Get the header */
1515 pHeader->IDE = CAN_RI0R_IDE & hcan->Instance->sFIFOMailBox[RxFifo].RIR;
1516 if (pHeader->IDE == CAN_ID_STD)
1517 {
1518 pHeader->StdId = (CAN_RI0R_STID & hcan->Instance->sFIFOMailBox[RxFifo].RIR) >> CAN_TI0R_STID_Pos;
1519 }
1520 else
1521 {
1522 pHeader->ExtId = ((CAN_RI0R_EXID | CAN_RI0R_STID) &
1523 hcan->Instance->sFIFOMailBox[RxFifo].RIR) >> CAN_RI0R_EXID_Pos;
1524 }
1525 pHeader->RTR = (CAN_RI0R_RTR & hcan->Instance->sFIFOMailBox[RxFifo].RIR);
1526 if (((CAN_RDT0R_DLC & hcan->Instance->sFIFOMailBox[RxFifo].RDTR) >> CAN_RDT0R_DLC_Pos) >= 8U)
1527 {
1528 /* Truncate DLC to 8 if received field is over range */
1529 pHeader->DLC = 8U;
1530 }
1531 else
1532 {
1533 pHeader->DLC = (CAN_RDT0R_DLC & hcan->Instance->sFIFOMailBox[RxFifo].RDTR) >> CAN_RDT0R_DLC_Pos;
1534 }
1535 pHeader->FilterMatchIndex = (CAN_RDT0R_FMI & hcan->Instance->sFIFOMailBox[RxFifo].RDTR) >> CAN_RDT0R_FMI_Pos;
1536 pHeader->Timestamp = (CAN_RDT0R_TIME & hcan->Instance->sFIFOMailBox[RxFifo].RDTR) >> CAN_RDT0R_TIME_Pos;
1537
1538 /* Get the data */
1539 aData[0] = (uint8_t)((CAN_RDL0R_DATA0 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA0_Pos);
1540 aData[1] = (uint8_t)((CAN_RDL0R_DATA1 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA1_Pos);
1541 aData[2] = (uint8_t)((CAN_RDL0R_DATA2 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA2_Pos);
1542 aData[3] = (uint8_t)((CAN_RDL0R_DATA3 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA3_Pos);
1543 aData[4] = (uint8_t)((CAN_RDH0R_DATA4 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA4_Pos);
1544 aData[5] = (uint8_t)((CAN_RDH0R_DATA5 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA5_Pos);
1545 aData[6] = (uint8_t)((CAN_RDH0R_DATA6 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA6_Pos);
1546 aData[7] = (uint8_t)((CAN_RDH0R_DATA7 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA7_Pos);
1547
1548 /* Release the FIFO */
1549 if (RxFifo == CAN_RX_FIFO0) /* Rx element is assigned to Rx FIFO 0 */
1550 {
1551 /* Release RX FIFO 0 */
1552 SET_BIT(hcan->Instance->RF0R, CAN_RF0R_RFOM0);
1553 }
1554 else /* Rx element is assigned to Rx FIFO 1 */
1555 {
1556 /* Release RX FIFO 1 */
1557 SET_BIT(hcan->Instance->RF1R, CAN_RF1R_RFOM1);
1558 }
1559
1560 /* Return function status */
1561 return HAL_OK;
1562 }
1563 else
1564 {
1565 /* Update error code */
1566 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
1567
1568 return HAL_ERROR;
1569 }
1570 }
1571
1572 /**
1573 * @brief Return Rx FIFO fill level.
1574 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
1575 * the configuration information for the specified CAN.
1576 * @param RxFifo Rx FIFO.
1577 * This parameter can be a value of @arg CAN_receive_FIFO_number.
1578 * @retval Number of messages available in Rx FIFO.
1579 */
HAL_CAN_GetRxFifoFillLevel(const CAN_HandleTypeDef * hcan,uint32_t RxFifo)1580 uint32_t HAL_CAN_GetRxFifoFillLevel(const CAN_HandleTypeDef *hcan, uint32_t RxFifo)
1581 {
1582 uint32_t filllevel = 0U;
1583 HAL_CAN_StateTypeDef state = hcan->State;
1584
1585 /* Check function parameters */
1586 assert_param(IS_CAN_RX_FIFO(RxFifo));
1587
1588 if ((state == HAL_CAN_STATE_READY) ||
1589 (state == HAL_CAN_STATE_LISTENING))
1590 {
1591 if (RxFifo == CAN_RX_FIFO0)
1592 {
1593 filllevel = hcan->Instance->RF0R & CAN_RF0R_FMP0;
1594 }
1595 else /* RxFifo == CAN_RX_FIFO1 */
1596 {
1597 filllevel = hcan->Instance->RF1R & CAN_RF1R_FMP1;
1598 }
1599 }
1600
1601 /* Return Rx FIFO fill level */
1602 return filllevel;
1603 }
1604
1605 /**
1606 * @}
1607 */
1608
1609 /** @defgroup CAN_Exported_Functions_Group4 Interrupts management
1610 * @brief Interrupts management
1611 *
1612 @verbatim
1613 ==============================================================================
1614 ##### Interrupts management #####
1615 ==============================================================================
1616 [..] This section provides functions allowing to:
1617 (+) HAL_CAN_ActivateNotification : Enable interrupts
1618 (+) HAL_CAN_DeactivateNotification : Disable interrupts
1619 (+) HAL_CAN_IRQHandler : Handles CAN interrupt request
1620
1621 @endverbatim
1622 * @{
1623 */
1624
1625 /**
1626 * @brief Enable interrupts.
1627 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
1628 * the configuration information for the specified CAN.
1629 * @param ActiveITs indicates which interrupts will be enabled.
1630 * This parameter can be any combination of @arg CAN_Interrupts.
1631 * @retval HAL status
1632 */
HAL_CAN_ActivateNotification(CAN_HandleTypeDef * hcan,uint32_t ActiveITs)1633 HAL_StatusTypeDef HAL_CAN_ActivateNotification(CAN_HandleTypeDef *hcan, uint32_t ActiveITs)
1634 {
1635 HAL_CAN_StateTypeDef state = hcan->State;
1636
1637 /* Check function parameters */
1638 assert_param(IS_CAN_IT(ActiveITs));
1639
1640 if ((state == HAL_CAN_STATE_READY) ||
1641 (state == HAL_CAN_STATE_LISTENING))
1642 {
1643 /* Enable the selected interrupts */
1644 __HAL_CAN_ENABLE_IT(hcan, ActiveITs);
1645
1646 /* Return function status */
1647 return HAL_OK;
1648 }
1649 else
1650 {
1651 /* Update error code */
1652 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
1653
1654 return HAL_ERROR;
1655 }
1656 }
1657
1658 /**
1659 * @brief Disable interrupts.
1660 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
1661 * the configuration information for the specified CAN.
1662 * @param InactiveITs indicates which interrupts will be disabled.
1663 * This parameter can be any combination of @arg CAN_Interrupts.
1664 * @retval HAL status
1665 */
HAL_CAN_DeactivateNotification(CAN_HandleTypeDef * hcan,uint32_t InactiveITs)1666 HAL_StatusTypeDef HAL_CAN_DeactivateNotification(CAN_HandleTypeDef *hcan, uint32_t InactiveITs)
1667 {
1668 HAL_CAN_StateTypeDef state = hcan->State;
1669
1670 /* Check function parameters */
1671 assert_param(IS_CAN_IT(InactiveITs));
1672
1673 if ((state == HAL_CAN_STATE_READY) ||
1674 (state == HAL_CAN_STATE_LISTENING))
1675 {
1676 /* Disable the selected interrupts */
1677 __HAL_CAN_DISABLE_IT(hcan, InactiveITs);
1678
1679 /* Return function status */
1680 return HAL_OK;
1681 }
1682 else
1683 {
1684 /* Update error code */
1685 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
1686
1687 return HAL_ERROR;
1688 }
1689 }
1690
1691 /**
1692 * @brief Handles CAN interrupt request
1693 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
1694 * the configuration information for the specified CAN.
1695 * @retval None
1696 */
HAL_CAN_IRQHandler(CAN_HandleTypeDef * hcan)1697 void HAL_CAN_IRQHandler(CAN_HandleTypeDef *hcan)
1698 {
1699 uint32_t errorcode = HAL_CAN_ERROR_NONE;
1700 uint32_t interrupts = READ_REG(hcan->Instance->IER);
1701 uint32_t msrflags = READ_REG(hcan->Instance->MSR);
1702 uint32_t tsrflags = READ_REG(hcan->Instance->TSR);
1703 uint32_t rf0rflags = READ_REG(hcan->Instance->RF0R);
1704 uint32_t rf1rflags = READ_REG(hcan->Instance->RF1R);
1705 uint32_t esrflags = READ_REG(hcan->Instance->ESR);
1706
1707 /* Transmit Mailbox empty interrupt management *****************************/
1708 if ((interrupts & CAN_IT_TX_MAILBOX_EMPTY) != 0U)
1709 {
1710 /* Transmit Mailbox 0 management *****************************************/
1711 if ((tsrflags & CAN_TSR_RQCP0) != 0U)
1712 {
1713 /* Clear the Transmission Complete flag (and TXOK0,ALST0,TERR0 bits) */
1714 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_RQCP0);
1715
1716 if ((tsrflags & CAN_TSR_TXOK0) != 0U)
1717 {
1718 /* Transmission Mailbox 0 complete callback */
1719 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1720 /* Call registered callback*/
1721 hcan->TxMailbox0CompleteCallback(hcan);
1722 #else
1723 /* Call weak (surcharged) callback */
1724 HAL_CAN_TxMailbox0CompleteCallback(hcan);
1725 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1726 }
1727 else
1728 {
1729 if ((tsrflags & CAN_TSR_ALST0) != 0U)
1730 {
1731 /* Update error code */
1732 errorcode |= HAL_CAN_ERROR_TX_ALST0;
1733 }
1734 else if ((tsrflags & CAN_TSR_TERR0) != 0U)
1735 {
1736 /* Update error code */
1737 errorcode |= HAL_CAN_ERROR_TX_TERR0;
1738 }
1739 else
1740 {
1741 /* Transmission Mailbox 0 abort callback */
1742 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1743 /* Call registered callback*/
1744 hcan->TxMailbox0AbortCallback(hcan);
1745 #else
1746 /* Call weak (surcharged) callback */
1747 HAL_CAN_TxMailbox0AbortCallback(hcan);
1748 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1749 }
1750 }
1751 }
1752
1753 /* Transmit Mailbox 1 management *****************************************/
1754 if ((tsrflags & CAN_TSR_RQCP1) != 0U)
1755 {
1756 /* Clear the Transmission Complete flag (and TXOK1,ALST1,TERR1 bits) */
1757 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_RQCP1);
1758
1759 if ((tsrflags & CAN_TSR_TXOK1) != 0U)
1760 {
1761 /* Transmission Mailbox 1 complete callback */
1762 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1763 /* Call registered callback*/
1764 hcan->TxMailbox1CompleteCallback(hcan);
1765 #else
1766 /* Call weak (surcharged) callback */
1767 HAL_CAN_TxMailbox1CompleteCallback(hcan);
1768 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1769 }
1770 else
1771 {
1772 if ((tsrflags & CAN_TSR_ALST1) != 0U)
1773 {
1774 /* Update error code */
1775 errorcode |= HAL_CAN_ERROR_TX_ALST1;
1776 }
1777 else if ((tsrflags & CAN_TSR_TERR1) != 0U)
1778 {
1779 /* Update error code */
1780 errorcode |= HAL_CAN_ERROR_TX_TERR1;
1781 }
1782 else
1783 {
1784 /* Transmission Mailbox 1 abort callback */
1785 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1786 /* Call registered callback*/
1787 hcan->TxMailbox1AbortCallback(hcan);
1788 #else
1789 /* Call weak (surcharged) callback */
1790 HAL_CAN_TxMailbox1AbortCallback(hcan);
1791 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1792 }
1793 }
1794 }
1795
1796 /* Transmit Mailbox 2 management *****************************************/
1797 if ((tsrflags & CAN_TSR_RQCP2) != 0U)
1798 {
1799 /* Clear the Transmission Complete flag (and TXOK2,ALST2,TERR2 bits) */
1800 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_RQCP2);
1801
1802 if ((tsrflags & CAN_TSR_TXOK2) != 0U)
1803 {
1804 /* Transmission Mailbox 2 complete callback */
1805 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1806 /* Call registered callback*/
1807 hcan->TxMailbox2CompleteCallback(hcan);
1808 #else
1809 /* Call weak (surcharged) callback */
1810 HAL_CAN_TxMailbox2CompleteCallback(hcan);
1811 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1812 }
1813 else
1814 {
1815 if ((tsrflags & CAN_TSR_ALST2) != 0U)
1816 {
1817 /* Update error code */
1818 errorcode |= HAL_CAN_ERROR_TX_ALST2;
1819 }
1820 else if ((tsrflags & CAN_TSR_TERR2) != 0U)
1821 {
1822 /* Update error code */
1823 errorcode |= HAL_CAN_ERROR_TX_TERR2;
1824 }
1825 else
1826 {
1827 /* Transmission Mailbox 2 abort callback */
1828 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1829 /* Call registered callback*/
1830 hcan->TxMailbox2AbortCallback(hcan);
1831 #else
1832 /* Call weak (surcharged) callback */
1833 HAL_CAN_TxMailbox2AbortCallback(hcan);
1834 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1835 }
1836 }
1837 }
1838 }
1839
1840 /* Receive FIFO 0 overrun interrupt management *****************************/
1841 if ((interrupts & CAN_IT_RX_FIFO0_OVERRUN) != 0U)
1842 {
1843 if ((rf0rflags & CAN_RF0R_FOVR0) != 0U)
1844 {
1845 /* Set CAN error code to Rx Fifo 0 overrun error */
1846 errorcode |= HAL_CAN_ERROR_RX_FOV0;
1847
1848 /* Clear FIFO0 Overrun Flag */
1849 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV0);
1850 }
1851 }
1852
1853 /* Receive FIFO 0 full interrupt management ********************************/
1854 if ((interrupts & CAN_IT_RX_FIFO0_FULL) != 0U)
1855 {
1856 if ((rf0rflags & CAN_RF0R_FULL0) != 0U)
1857 {
1858 /* Clear FIFO 0 full Flag */
1859 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF0);
1860
1861 /* Receive FIFO 0 full Callback */
1862 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1863 /* Call registered callback*/
1864 hcan->RxFifo0FullCallback(hcan);
1865 #else
1866 /* Call weak (surcharged) callback */
1867 HAL_CAN_RxFifo0FullCallback(hcan);
1868 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1869 }
1870 }
1871
1872 /* Receive FIFO 0 message pending interrupt management *********************/
1873 if ((interrupts & CAN_IT_RX_FIFO0_MSG_PENDING) != 0U)
1874 {
1875 /* Check if message is still pending */
1876 if ((hcan->Instance->RF0R & CAN_RF0R_FMP0) != 0U)
1877 {
1878 /* Receive FIFO 0 message pending Callback */
1879 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1880 /* Call registered callback*/
1881 hcan->RxFifo0MsgPendingCallback(hcan);
1882 #else
1883 /* Call weak (surcharged) callback */
1884 HAL_CAN_RxFifo0MsgPendingCallback(hcan);
1885 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1886 }
1887 }
1888
1889 /* Receive FIFO 1 overrun interrupt management *****************************/
1890 if ((interrupts & CAN_IT_RX_FIFO1_OVERRUN) != 0U)
1891 {
1892 if ((rf1rflags & CAN_RF1R_FOVR1) != 0U)
1893 {
1894 /* Set CAN error code to Rx Fifo 1 overrun error */
1895 errorcode |= HAL_CAN_ERROR_RX_FOV1;
1896
1897 /* Clear FIFO1 Overrun Flag */
1898 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV1);
1899 }
1900 }
1901
1902 /* Receive FIFO 1 full interrupt management ********************************/
1903 if ((interrupts & CAN_IT_RX_FIFO1_FULL) != 0U)
1904 {
1905 if ((rf1rflags & CAN_RF1R_FULL1) != 0U)
1906 {
1907 /* Clear FIFO 1 full Flag */
1908 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF1);
1909
1910 /* Receive FIFO 1 full Callback */
1911 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1912 /* Call registered callback*/
1913 hcan->RxFifo1FullCallback(hcan);
1914 #else
1915 /* Call weak (surcharged) callback */
1916 HAL_CAN_RxFifo1FullCallback(hcan);
1917 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1918 }
1919 }
1920
1921 /* Receive FIFO 1 message pending interrupt management *********************/
1922 if ((interrupts & CAN_IT_RX_FIFO1_MSG_PENDING) != 0U)
1923 {
1924 /* Check if message is still pending */
1925 if ((hcan->Instance->RF1R & CAN_RF1R_FMP1) != 0U)
1926 {
1927 /* Receive FIFO 1 message pending Callback */
1928 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1929 /* Call registered callback*/
1930 hcan->RxFifo1MsgPendingCallback(hcan);
1931 #else
1932 /* Call weak (surcharged) callback */
1933 HAL_CAN_RxFifo1MsgPendingCallback(hcan);
1934 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1935 }
1936 }
1937
1938 /* Sleep interrupt management *********************************************/
1939 if ((interrupts & CAN_IT_SLEEP_ACK) != 0U)
1940 {
1941 if ((msrflags & CAN_MSR_SLAKI) != 0U)
1942 {
1943 /* Clear Sleep interrupt Flag */
1944 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_SLAKI);
1945
1946 /* Sleep Callback */
1947 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1948 /* Call registered callback*/
1949 hcan->SleepCallback(hcan);
1950 #else
1951 /* Call weak (surcharged) callback */
1952 HAL_CAN_SleepCallback(hcan);
1953 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1954 }
1955 }
1956
1957 /* WakeUp interrupt management *********************************************/
1958 if ((interrupts & CAN_IT_WAKEUP) != 0U)
1959 {
1960 if ((msrflags & CAN_MSR_WKUI) != 0U)
1961 {
1962 /* Clear WakeUp Flag */
1963 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_WKU);
1964
1965 /* WakeUp Callback */
1966 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
1967 /* Call registered callback*/
1968 hcan->WakeUpFromRxMsgCallback(hcan);
1969 #else
1970 /* Call weak (surcharged) callback */
1971 HAL_CAN_WakeUpFromRxMsgCallback(hcan);
1972 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
1973 }
1974 }
1975
1976 /* Error interrupts management *********************************************/
1977 if ((interrupts & CAN_IT_ERROR) != 0U)
1978 {
1979 if ((msrflags & CAN_MSR_ERRI) != 0U)
1980 {
1981 /* Check Error Warning Flag */
1982 if (((interrupts & CAN_IT_ERROR_WARNING) != 0U) &&
1983 ((esrflags & CAN_ESR_EWGF) != 0U))
1984 {
1985 /* Set CAN error code to Error Warning */
1986 errorcode |= HAL_CAN_ERROR_EWG;
1987
1988 /* No need for clear of Error Warning Flag as read-only */
1989 }
1990
1991 /* Check Error Passive Flag */
1992 if (((interrupts & CAN_IT_ERROR_PASSIVE) != 0U) &&
1993 ((esrflags & CAN_ESR_EPVF) != 0U))
1994 {
1995 /* Set CAN error code to Error Passive */
1996 errorcode |= HAL_CAN_ERROR_EPV;
1997
1998 /* No need for clear of Error Passive Flag as read-only */
1999 }
2000
2001 /* Check Bus-off Flag */
2002 if (((interrupts & CAN_IT_BUSOFF) != 0U) &&
2003 ((esrflags & CAN_ESR_BOFF) != 0U))
2004 {
2005 /* Set CAN error code to Bus-Off */
2006 errorcode |= HAL_CAN_ERROR_BOF;
2007
2008 /* No need for clear of Error Bus-Off as read-only */
2009 }
2010
2011 /* Check Last Error Code Flag */
2012 if (((interrupts & CAN_IT_LAST_ERROR_CODE) != 0U) &&
2013 ((esrflags & CAN_ESR_LEC) != 0U))
2014 {
2015 switch (esrflags & CAN_ESR_LEC)
2016 {
2017 case (CAN_ESR_LEC_0):
2018 /* Set CAN error code to Stuff error */
2019 errorcode |= HAL_CAN_ERROR_STF;
2020 break;
2021 case (CAN_ESR_LEC_1):
2022 /* Set CAN error code to Form error */
2023 errorcode |= HAL_CAN_ERROR_FOR;
2024 break;
2025 case (CAN_ESR_LEC_1 | CAN_ESR_LEC_0):
2026 /* Set CAN error code to Acknowledgement error */
2027 errorcode |= HAL_CAN_ERROR_ACK;
2028 break;
2029 case (CAN_ESR_LEC_2):
2030 /* Set CAN error code to Bit recessive error */
2031 errorcode |= HAL_CAN_ERROR_BR;
2032 break;
2033 case (CAN_ESR_LEC_2 | CAN_ESR_LEC_0):
2034 /* Set CAN error code to Bit Dominant error */
2035 errorcode |= HAL_CAN_ERROR_BD;
2036 break;
2037 case (CAN_ESR_LEC_2 | CAN_ESR_LEC_1):
2038 /* Set CAN error code to CRC error */
2039 errorcode |= HAL_CAN_ERROR_CRC;
2040 break;
2041 default:
2042 break;
2043 }
2044
2045 /* Clear Last error code Flag */
2046 CLEAR_BIT(hcan->Instance->ESR, CAN_ESR_LEC);
2047 }
2048 }
2049
2050 /* Clear ERRI Flag */
2051 __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_ERRI);
2052 }
2053
2054 /* Call the Error call Back in case of Errors */
2055 if (errorcode != HAL_CAN_ERROR_NONE)
2056 {
2057 /* Update error code in handle */
2058 hcan->ErrorCode |= errorcode;
2059
2060 /* Call Error callback function */
2061 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
2062 /* Call registered callback*/
2063 hcan->ErrorCallback(hcan);
2064 #else
2065 /* Call weak (surcharged) callback */
2066 HAL_CAN_ErrorCallback(hcan);
2067 #endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
2068 }
2069 }
2070
2071 /**
2072 * @}
2073 */
2074
2075 /** @defgroup CAN_Exported_Functions_Group5 Callback functions
2076 * @brief CAN Callback functions
2077 *
2078 @verbatim
2079 ==============================================================================
2080 ##### Callback functions #####
2081 ==============================================================================
2082 [..]
2083 This subsection provides the following callback functions:
2084 (+) HAL_CAN_TxMailbox0CompleteCallback
2085 (+) HAL_CAN_TxMailbox1CompleteCallback
2086 (+) HAL_CAN_TxMailbox2CompleteCallback
2087 (+) HAL_CAN_TxMailbox0AbortCallback
2088 (+) HAL_CAN_TxMailbox1AbortCallback
2089 (+) HAL_CAN_TxMailbox2AbortCallback
2090 (+) HAL_CAN_RxFifo0MsgPendingCallback
2091 (+) HAL_CAN_RxFifo0FullCallback
2092 (+) HAL_CAN_RxFifo1MsgPendingCallback
2093 (+) HAL_CAN_RxFifo1FullCallback
2094 (+) HAL_CAN_SleepCallback
2095 (+) HAL_CAN_WakeUpFromRxMsgCallback
2096 (+) HAL_CAN_ErrorCallback
2097
2098 @endverbatim
2099 * @{
2100 */
2101
2102 /**
2103 * @brief Transmission Mailbox 0 complete callback.
2104 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2105 * the configuration information for the specified CAN.
2106 * @retval None
2107 */
HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef * hcan)2108 __weak void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan)
2109 {
2110 /* Prevent unused argument(s) compilation warning */
2111 UNUSED(hcan);
2112
2113 /* NOTE : This function Should not be modified, when the callback is needed,
2114 the HAL_CAN_TxMailbox0CompleteCallback could be implemented in the
2115 user file
2116 */
2117 }
2118
2119 /**
2120 * @brief Transmission Mailbox 1 complete callback.
2121 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2122 * the configuration information for the specified CAN.
2123 * @retval None
2124 */
HAL_CAN_TxMailbox1CompleteCallback(CAN_HandleTypeDef * hcan)2125 __weak void HAL_CAN_TxMailbox1CompleteCallback(CAN_HandleTypeDef *hcan)
2126 {
2127 /* Prevent unused argument(s) compilation warning */
2128 UNUSED(hcan);
2129
2130 /* NOTE : This function Should not be modified, when the callback is needed,
2131 the HAL_CAN_TxMailbox1CompleteCallback could be implemented in the
2132 user file
2133 */
2134 }
2135
2136 /**
2137 * @brief Transmission Mailbox 2 complete callback.
2138 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2139 * the configuration information for the specified CAN.
2140 * @retval None
2141 */
HAL_CAN_TxMailbox2CompleteCallback(CAN_HandleTypeDef * hcan)2142 __weak void HAL_CAN_TxMailbox2CompleteCallback(CAN_HandleTypeDef *hcan)
2143 {
2144 /* Prevent unused argument(s) compilation warning */
2145 UNUSED(hcan);
2146
2147 /* NOTE : This function Should not be modified, when the callback is needed,
2148 the HAL_CAN_TxMailbox2CompleteCallback could be implemented in the
2149 user file
2150 */
2151 }
2152
2153 /**
2154 * @brief Transmission Mailbox 0 Cancellation callback.
2155 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
2156 * the configuration information for the specified CAN.
2157 * @retval None
2158 */
HAL_CAN_TxMailbox0AbortCallback(CAN_HandleTypeDef * hcan)2159 __weak void HAL_CAN_TxMailbox0AbortCallback(CAN_HandleTypeDef *hcan)
2160 {
2161 /* Prevent unused argument(s) compilation warning */
2162 UNUSED(hcan);
2163
2164 /* NOTE : This function Should not be modified, when the callback is needed,
2165 the HAL_CAN_TxMailbox0AbortCallback could be implemented in the
2166 user file
2167 */
2168 }
2169
2170 /**
2171 * @brief Transmission Mailbox 1 Cancellation callback.
2172 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
2173 * the configuration information for the specified CAN.
2174 * @retval None
2175 */
HAL_CAN_TxMailbox1AbortCallback(CAN_HandleTypeDef * hcan)2176 __weak void HAL_CAN_TxMailbox1AbortCallback(CAN_HandleTypeDef *hcan)
2177 {
2178 /* Prevent unused argument(s) compilation warning */
2179 UNUSED(hcan);
2180
2181 /* NOTE : This function Should not be modified, when the callback is needed,
2182 the HAL_CAN_TxMailbox1AbortCallback could be implemented in the
2183 user file
2184 */
2185 }
2186
2187 /**
2188 * @brief Transmission Mailbox 2 Cancellation callback.
2189 * @param hcan pointer to an CAN_HandleTypeDef structure that contains
2190 * the configuration information for the specified CAN.
2191 * @retval None
2192 */
HAL_CAN_TxMailbox2AbortCallback(CAN_HandleTypeDef * hcan)2193 __weak void HAL_CAN_TxMailbox2AbortCallback(CAN_HandleTypeDef *hcan)
2194 {
2195 /* Prevent unused argument(s) compilation warning */
2196 UNUSED(hcan);
2197
2198 /* NOTE : This function Should not be modified, when the callback is needed,
2199 the HAL_CAN_TxMailbox2AbortCallback could be implemented in the
2200 user file
2201 */
2202 }
2203
2204 /**
2205 * @brief Rx FIFO 0 message pending callback.
2206 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2207 * the configuration information for the specified CAN.
2208 * @retval None
2209 */
HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef * hcan)2210 __weak void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
2211 {
2212 /* Prevent unused argument(s) compilation warning */
2213 UNUSED(hcan);
2214
2215 /* NOTE : This function Should not be modified, when the callback is needed,
2216 the HAL_CAN_RxFifo0MsgPendingCallback could be implemented in the
2217 user file
2218 */
2219 }
2220
2221 /**
2222 * @brief Rx FIFO 0 full callback.
2223 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2224 * the configuration information for the specified CAN.
2225 * @retval None
2226 */
HAL_CAN_RxFifo0FullCallback(CAN_HandleTypeDef * hcan)2227 __weak void HAL_CAN_RxFifo0FullCallback(CAN_HandleTypeDef *hcan)
2228 {
2229 /* Prevent unused argument(s) compilation warning */
2230 UNUSED(hcan);
2231
2232 /* NOTE : This function Should not be modified, when the callback is needed,
2233 the HAL_CAN_RxFifo0FullCallback could be implemented in the user
2234 file
2235 */
2236 }
2237
2238 /**
2239 * @brief Rx FIFO 1 message pending callback.
2240 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2241 * the configuration information for the specified CAN.
2242 * @retval None
2243 */
HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef * hcan)2244 __weak void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan)
2245 {
2246 /* Prevent unused argument(s) compilation warning */
2247 UNUSED(hcan);
2248
2249 /* NOTE : This function Should not be modified, when the callback is needed,
2250 the HAL_CAN_RxFifo1MsgPendingCallback could be implemented in the
2251 user file
2252 */
2253 }
2254
2255 /**
2256 * @brief Rx FIFO 1 full callback.
2257 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2258 * the configuration information for the specified CAN.
2259 * @retval None
2260 */
HAL_CAN_RxFifo1FullCallback(CAN_HandleTypeDef * hcan)2261 __weak void HAL_CAN_RxFifo1FullCallback(CAN_HandleTypeDef *hcan)
2262 {
2263 /* Prevent unused argument(s) compilation warning */
2264 UNUSED(hcan);
2265
2266 /* NOTE : This function Should not be modified, when the callback is needed,
2267 the HAL_CAN_RxFifo1FullCallback could be implemented in the user
2268 file
2269 */
2270 }
2271
2272 /**
2273 * @brief Sleep 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_SleepCallback(CAN_HandleTypeDef * hcan)2278 __weak void HAL_CAN_SleepCallback(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_SleepCallback could be implemented in the user file
2285 */
2286 }
2287
2288 /**
2289 * @brief WakeUp from Rx message callback.
2290 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2291 * the configuration information for the specified CAN.
2292 * @retval None
2293 */
HAL_CAN_WakeUpFromRxMsgCallback(CAN_HandleTypeDef * hcan)2294 __weak void HAL_CAN_WakeUpFromRxMsgCallback(CAN_HandleTypeDef *hcan)
2295 {
2296 /* Prevent unused argument(s) compilation warning */
2297 UNUSED(hcan);
2298
2299 /* NOTE : This function Should not be modified, when the callback is needed,
2300 the HAL_CAN_WakeUpFromRxMsgCallback could be implemented in the
2301 user file
2302 */
2303 }
2304
2305 /**
2306 * @brief Error CAN callback.
2307 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2308 * the configuration information for the specified CAN.
2309 * @retval None
2310 */
HAL_CAN_ErrorCallback(CAN_HandleTypeDef * hcan)2311 __weak void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan)
2312 {
2313 /* Prevent unused argument(s) compilation warning */
2314 UNUSED(hcan);
2315
2316 /* NOTE : This function Should not be modified, when the callback is needed,
2317 the HAL_CAN_ErrorCallback could be implemented in the user file
2318 */
2319 }
2320
2321 /**
2322 * @}
2323 */
2324
2325 /** @defgroup CAN_Exported_Functions_Group6 Peripheral State and Error functions
2326 * @brief CAN Peripheral State functions
2327 *
2328 @verbatim
2329 ==============================================================================
2330 ##### Peripheral State and Error functions #####
2331 ==============================================================================
2332 [..]
2333 This subsection provides functions allowing to :
2334 (+) HAL_CAN_GetState() : Return the CAN state.
2335 (+) HAL_CAN_GetError() : Return the CAN error codes if any.
2336 (+) HAL_CAN_ResetError(): Reset the CAN error codes if any.
2337
2338 @endverbatim
2339 * @{
2340 */
2341
2342 /**
2343 * @brief Return the CAN state.
2344 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2345 * the configuration information for the specified CAN.
2346 * @retval HAL state
2347 */
HAL_CAN_GetState(const CAN_HandleTypeDef * hcan)2348 HAL_CAN_StateTypeDef HAL_CAN_GetState(const CAN_HandleTypeDef *hcan)
2349 {
2350 HAL_CAN_StateTypeDef state = hcan->State;
2351
2352 if ((state == HAL_CAN_STATE_READY) ||
2353 (state == HAL_CAN_STATE_LISTENING))
2354 {
2355 /* Check sleep mode acknowledge flag */
2356 if ((hcan->Instance->MSR & CAN_MSR_SLAK) != 0U)
2357 {
2358 /* Sleep mode is active */
2359 state = HAL_CAN_STATE_SLEEP_ACTIVE;
2360 }
2361 /* Check sleep mode request flag */
2362 else if ((hcan->Instance->MCR & CAN_MCR_SLEEP) != 0U)
2363 {
2364 /* Sleep mode request is pending */
2365 state = HAL_CAN_STATE_SLEEP_PENDING;
2366 }
2367 else
2368 {
2369 /* Neither sleep mode request nor sleep mode acknowledge */
2370 }
2371 }
2372
2373 /* Return CAN state */
2374 return state;
2375 }
2376
2377 /**
2378 * @brief Return the CAN error code.
2379 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2380 * the configuration information for the specified CAN.
2381 * @retval CAN Error Code
2382 */
HAL_CAN_GetError(const CAN_HandleTypeDef * hcan)2383 uint32_t HAL_CAN_GetError(const CAN_HandleTypeDef *hcan)
2384 {
2385 /* Return CAN error code */
2386 return hcan->ErrorCode;
2387 }
2388
2389 /**
2390 * @brief Reset the CAN error code.
2391 * @param hcan pointer to a CAN_HandleTypeDef structure that contains
2392 * the configuration information for the specified CAN.
2393 * @retval HAL status
2394 */
HAL_CAN_ResetError(CAN_HandleTypeDef * hcan)2395 HAL_StatusTypeDef HAL_CAN_ResetError(CAN_HandleTypeDef *hcan)
2396 {
2397 HAL_StatusTypeDef status = HAL_OK;
2398 HAL_CAN_StateTypeDef state = hcan->State;
2399
2400 if ((state == HAL_CAN_STATE_READY) ||
2401 (state == HAL_CAN_STATE_LISTENING))
2402 {
2403 /* Reset CAN error code */
2404 hcan->ErrorCode = 0U;
2405 }
2406 else
2407 {
2408 /* Update error code */
2409 hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
2410
2411 status = HAL_ERROR;
2412 }
2413
2414 /* Return the status */
2415 return status;
2416 }
2417
2418 /**
2419 * @}
2420 */
2421
2422 /**
2423 * @}
2424 */
2425
2426 #endif /* HAL_CAN_MODULE_ENABLED */
2427
2428 /**
2429 * @}
2430 */
2431
2432 #endif /* CAN1 */
2433
2434 /**
2435 * @}
2436 */
2437
