WebSVN – FuelGauge – Blame – /trunk/Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_can.c

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

Subversion Repositories FuelGauge

(root)/trunk/Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_can.c – Rev 6