WebSVN – EDIS_Ignition – Blame – /trunk/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_can.c

Rev	Author	Line No.	Line
2	mjames	1	/**
		2	******************************************************************************
		3	* @file stm32f1xx_hal_can.c
		4	* @author MCD Application Team
		5	* @brief CAN HAL module driver.
		6	* This file provides firmware functions to manage the following
		7	* functionalities of the Controller Area Network (CAN) peripheral:
		8	* + Initialization and de-initialization functions
		9	* + Configuration functions
		10	* + Control functions
		11	* + Interrupts management
		12	* + Callbacks functions
		13	* + Peripheral State and Error functions
		14	*
		15	@verbatim
		16	==============================================================================
		17	##### How to use this driver #####
		18	==============================================================================
		19	[..]
		20	(#) Initialize the CAN low level resources by implementing the
		21	HAL_CAN_MspInit():
		22	(++) Enable the CAN interface clock using __HAL_RCC_CANx_CLK_ENABLE()
		23	(++) Configure CAN pins
		24	(+++) Enable the clock for the CAN GPIOs
		25	(+++) Configure CAN pins as alternate function open-drain
		26	(++) In case of using interrupts (e.g. HAL_CAN_ActivateNotification())
		27	(+++) Configure the CAN interrupt priority using
		28	HAL_NVIC_SetPriority()
		29	(+++) Enable the CAN IRQ handler using HAL_NVIC_EnableIRQ()
		30	(+++) In CAN IRQ handler, call HAL_CAN_IRQHandler()
		31
		32	(#) Initialize the CAN peripheral using HAL_CAN_Init() function. This
		33	function resorts to HAL_CAN_MspInit() for low-level initialization.
		34
		35	(#) Configure the reception filters using the following configuration
		36	functions:
		37	(++) HAL_CAN_ConfigFilter()
		38
		39	(#) Start the CAN module using HAL_CAN_Start() function. At this level
		40	the node is active on the bus: it receive messages, and can send
		41	messages.
		42
		43	(#) To manage messages transmission, the following Tx control functions
		44	can be used:
		45	(++) HAL_CAN_AddTxMessage() to request transmission of a new
		46	message.
		47	(++) HAL_CAN_AbortTxRequest() to abort transmission of a pending
		48	message.
		49	(++) HAL_CAN_GetTxMailboxesFreeLevel() to get the number of free Tx
		50	mailboxes.
		51	(++) HAL_CAN_IsTxMessagePending() to check if a message is pending
		52	in a Tx mailbox.
		53	(++) HAL_CAN_GetTxTimestamp() to get the timestamp of Tx message
		54	sent, if time triggered communication mode is enabled.
		55
		56	(#) When a message is received into the CAN Rx FIFOs, it can be retrieved
		57	using the HAL_CAN_GetRxMessage() function. The function
		58	HAL_CAN_GetRxFifoFillLevel() allows to know how many Rx message are
		59	stored in the Rx Fifo.
		60
		61	(#) Calling the HAL_CAN_Stop() function stops the CAN module.
		62
		63	(#) The deinitialization is achieved with HAL_CAN_DeInit() function.
		64
		65
		66	* Polling mode operation *
		67	==============================
		68	[..]
		69	(#) Reception:
		70	(++) Monitor reception of message using HAL_CAN_GetRxFifoFillLevel()
		71	until at least one message is received.
		72	(++) Then get the message using HAL_CAN_GetRxMessage().
		73
		74	(#) Transmission:
		75	(++) Monitor the Tx mailboxes availability until at least one Tx
		76	mailbox is free, using HAL_CAN_GetTxMailboxesFreeLevel().
		77	(++) Then request transmission of a message using
		78	HAL_CAN_AddTxMessage().
		79
		80
		81	* Interrupt mode operation *
		82	================================
		83	[..]
		84	(#) Notifications are activated using HAL_CAN_ActivateNotification()
		85	function. Then, the process can be controlled through the
		86	available user callbacks: HAL_CAN_xxxCallback(), using same APIs
		87	HAL_CAN_GetRxMessage() and HAL_CAN_AddTxMessage().
		88
		89	(#) Notifications can be deactivated using
		90	HAL_CAN_DeactivateNotification() function.
		91
		92	(#) Special care should be taken for CAN_IT_RX_FIFO0_MSG_PENDING and
		93	CAN_IT_RX_FIFO1_MSG_PENDING notifications. These notifications trig
		94	the callbacks HAL_CAN_RxFIFO0MsgPendingCallback() and
		95	HAL_CAN_RxFIFO1MsgPendingCallback(). User has two possible options
		96	here.
		97	(++) Directly get the Rx message in the callback, using
		98	HAL_CAN_GetRxMessage().
		99	(++) Or deactivate the notification in the callback without
		100	getting the Rx message. The Rx message can then be got later
		101	using HAL_CAN_GetRxMessage(). Once the Rx message have been
		102	read, the notification can be activated again.
		103
		104
		105	* Sleep mode *
		106	==================
		107	[..]
		108	(#) The CAN peripheral can be put in sleep mode (low power), using
		109	HAL_CAN_RequestSleep(). The sleep mode will be entered as soon as the
		110	current CAN activity (transmission or reception of a CAN frame) will
		111	be completed.
		112
		113	(#) A notification can be activated to be informed when the sleep mode
		114	will be entered.
		115
		116	(#) It can be checked if the sleep mode is entered using
		117	HAL_CAN_IsSleepActive().
		118	Note that the CAN state (accessible from the API HAL_CAN_GetState())
		119	is HAL_CAN_STATE_SLEEP_PENDING as soon as the sleep mode request is
		120	submitted (the sleep mode is not yet entered), and become
		121	HAL_CAN_STATE_SLEEP_ACTIVE when the sleep mode is effective.
		122
		123	(#) The wake-up from sleep mode can be triggered by two ways:
		124	(++) Using HAL_CAN_WakeUp(). When returning from this function,
		125	the sleep mode is exited (if return status is HAL_OK).
		126	(++) When a start of Rx CAN frame is detected by the CAN peripheral,
		127	if automatic wake up mode is enabled.
		128
		129	* Callback registration *
		130	=============================================
		131
		132	The compilation define USE_HAL_CAN_REGISTER_CALLBACKS when set to 1
		133	allows the user to configure dynamically the driver callbacks.
		134	Use Function @ref HAL_CAN_RegisterCallback() to register an interrupt callback.
		135
		136	Function @ref HAL_CAN_RegisterCallback() allows to register following callbacks:
		137	(+) TxMailbox0CompleteCallback : Tx Mailbox 0 Complete Callback.
		138	(+) TxMailbox1CompleteCallback : Tx Mailbox 1 Complete Callback.
		139	(+) TxMailbox2CompleteCallback : Tx Mailbox 2 Complete Callback.
		140	(+) TxMailbox0AbortCallback : Tx Mailbox 0 Abort Callback.
		141	(+) TxMailbox1AbortCallback : Tx Mailbox 1 Abort Callback.
		142	(+) TxMailbox2AbortCallback : Tx Mailbox 2 Abort Callback.
		143	(+) RxFifo0MsgPendingCallback : Rx Fifo 0 Message Pending Callback.
		144	(+) RxFifo0FullCallback : Rx Fifo 0 Full Callback.
		145	(+) RxFifo1MsgPendingCallback : Rx Fifo 1 Message Pending Callback.
		146	(+) RxFifo1FullCallback : Rx Fifo 1 Full Callback.
		147	(+) SleepCallback : Sleep Callback.
		148	(+) WakeUpFromRxMsgCallback : Wake Up From Rx Message Callback.
		149	(+) ErrorCallback : Error Callback.
		150	(+) MspInitCallback : CAN MspInit.
		151	(+) MspDeInitCallback : CAN MspDeInit.
		152	This function takes as parameters the HAL peripheral handle, the Callback ID
		153	and a pointer to the user callback function.
		154
		155	Use function @ref HAL_CAN_UnRegisterCallback() to reset a callback to the default
		156	weak function.
		157	@ref HAL_CAN_UnRegisterCallback takes as parameters the HAL peripheral handle,
		158	and the Callback ID.
		159	This function allows to reset following callbacks:
		160	(+) TxMailbox0CompleteCallback : Tx Mailbox 0 Complete Callback.
		161	(+) TxMailbox1CompleteCallback : Tx Mailbox 1 Complete Callback.
		162	(+) TxMailbox2CompleteCallback : Tx Mailbox 2 Complete Callback.
		163	(+) TxMailbox0AbortCallback : Tx Mailbox 0 Abort Callback.
		164	(+) TxMailbox1AbortCallback : Tx Mailbox 1 Abort Callback.
		165	(+) TxMailbox2AbortCallback : Tx Mailbox 2 Abort Callback.
		166	(+) RxFifo0MsgPendingCallback : Rx Fifo 0 Message Pending Callback.
		167	(+) RxFifo0FullCallback : Rx Fifo 0 Full Callback.
		168	(+) RxFifo1MsgPendingCallback : Rx Fifo 1 Message Pending Callback.
		169	(+) RxFifo1FullCallback : Rx Fifo 1 Full Callback.
		170	(+) SleepCallback : Sleep Callback.
		171	(+) WakeUpFromRxMsgCallback : Wake Up From Rx Message Callback.
		172	(+) ErrorCallback : Error Callback.
		173	(+) MspInitCallback : CAN MspInit.
		174	(+) MspDeInitCallback : CAN MspDeInit.
		175
		176	By default, after the @ref HAL_CAN_Init() and when the state is HAL_CAN_STATE_RESET,
		177	all callbacks are set to the corresponding weak functions:
		178	example @ref HAL_CAN_ErrorCallback().
		179	Exception done for MspInit and MspDeInit functions that are
		180	reset to the legacy weak function in the @ref HAL_CAN_Init()/ @ref HAL_CAN_DeInit() only when
		181	these callbacks are null (not registered beforehand).
		182	if not, MspInit or MspDeInit are not null, the @ref HAL_CAN_Init()/ @ref HAL_CAN_DeInit()
		183	keep and use the user MspInit/MspDeInit callbacks (registered beforehand)
		184
		185	Callbacks can be registered/unregistered in HAL_CAN_STATE_READY state only.
		186	Exception done MspInit/MspDeInit that can be registered/unregistered
		187	in HAL_CAN_STATE_READY or HAL_CAN_STATE_RESET state,
		188	thus registered (user) MspInit/DeInit callbacks can be used during the Init/DeInit.
		189	In that case first register the MspInit/MspDeInit user callbacks
		190	using @ref HAL_CAN_RegisterCallback() before calling @ref HAL_CAN_DeInit()
		191	or @ref HAL_CAN_Init() function.
		192
		193	When The compilation define USE_HAL_CAN_REGISTER_CALLBACKS is set to 0 or
		194	not defined, the callback registration feature is not available and all callbacks
		195	are set to the corresponding weak functions.
		196
		197	@endverbatim
		198	******************************************************************************
		199	* @attention
		200	*
		201	* <h2><center>© Copyright (c) 2016 STMicroelectronics.
		202	* All rights reserved.</center></h2>
		203	*
		204	* This software component is licensed by ST under BSD 3-Clause license,
		205	* the "License"; You may not use this file except in compliance with the
		206	* License. You may obtain a copy of the License at:
		207	* opensource.org/licenses/BSD-3-Clause
		208	*
		209	******************************************************************************
		210	*/
		211
		212	/* Includes ------------------------------------------------------------------*/
		213	#include "stm32f1xx_hal.h"
		214
		215	/** @addtogroup STM32F1xx_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
		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
		333	/* Request initialisation */
		334	SET_BIT(hcan->Instance->MCR, CAN_MCR_INRQ);
		335
		336	/* Get tick */
		337	tickstart = HAL_GetTick();
		338
		339	/* Wait initialisation acknowledge */
		340	while ((hcan->Instance->MSR & CAN_MSR_INAK) == 0U)
		341	{
		342	if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
		343	{
		344	/* Update error code */
		345	hcan->ErrorCode \|= HAL_CAN_ERROR_TIMEOUT;
		346
		347	/* Change CAN state */
		348	hcan->State = HAL_CAN_STATE_ERROR;
		349
		350	return HAL_ERROR;
		351	}
		352	}
		353
		354	/* Exit from sleep mode */
		355	CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
		356
		357	/* Get tick */
		358	tickstart = HAL_GetTick();
		359
		360	/* Check Sleep mode leave acknowledge */
		361	while ((hcan->Instance->MSR & CAN_MSR_SLAK) != 0U)
		362	{
		363	if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
		364	{
		365	/* Update error code */
		366	hcan->ErrorCode \|= HAL_CAN_ERROR_TIMEOUT;
		367
		368	/* Change CAN state */
		369	hcan->State = HAL_CAN_STATE_ERROR;
		370
		371	return HAL_ERROR;
		372	}
		373	}
		374
		375	/* Set the time triggered communication mode */
		376	if (hcan->Init.TimeTriggeredMode == ENABLE)
		377	{
		378	SET_BIT(hcan->Instance->MCR, CAN_MCR_TTCM);
		379	}
		380	else
		381	{
		382	CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_TTCM);
		383	}
		384
		385	/* Set the automatic bus-off management */
		386	if (hcan->Init.AutoBusOff == ENABLE)
		387	{
		388	SET_BIT(hcan->Instance->MCR, CAN_MCR_ABOM);
		389	}
		390	else
		391	{
		392	CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_ABOM);
		393	}
		394
		395	/* Set the automatic wake-up mode */
		396	if (hcan->Init.AutoWakeUp == ENABLE)
		397	{
		398	SET_BIT(hcan->Instance->MCR, CAN_MCR_AWUM);
		399	}
		400	else
		401	{
		402	CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_AWUM);
		403	}
		404
		405	/* Set the automatic retransmission */
		406	if (hcan->Init.AutoRetransmission == ENABLE)
		407	{
		408	CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_NART);
		409	}
		410	else
		411	{
		412	SET_BIT(hcan->Instance->MCR, CAN_MCR_NART);
		413	}
		414
		415	/* Set the receive FIFO locked mode */
		416	if (hcan->Init.ReceiveFifoLocked == ENABLE)
		417	{
		418	SET_BIT(hcan->Instance->MCR, CAN_MCR_RFLM);
		419	}
		420	else
		421	{
		422	CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_RFLM);
		423	}
		424
		425	/* Set the transmit FIFO priority */
		426	if (hcan->Init.TransmitFifoPriority == ENABLE)
		427	{
		428	SET_BIT(hcan->Instance->MCR, CAN_MCR_TXFP);
		429	}
		430	else
		431	{
		432	CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_TXFP);
		433	}
		434
		435	/* Set the bit timing register */
		436	WRITE_REG(hcan->Instance->BTR, (uint32_t)(hcan->Init.Mode \|
		437	hcan->Init.SyncJumpWidth \|
		438	hcan->Init.TimeSeg1 \|
		439	hcan->Init.TimeSeg2 \|
		440	(hcan->Init.Prescaler - 1U)));
		441
		442	/* Initialize the error code */
		443	hcan->ErrorCode = HAL_CAN_ERROR_NONE;
		444
		445	/* Initialize the CAN state */
		446	hcan->State = HAL_CAN_STATE_READY;
		447
		448	/* Return function status */
		449	return HAL_OK;
		450	}
		451
		452	/**
		453	* @brief Deinitializes the CAN peripheral registers to their default
		454	* reset values.
		455	* @param hcan pointer to a CAN_HandleTypeDef structure that contains
		456	* the configuration information for the specified CAN.
		457	* @retval HAL status
		458	*/
		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:
		540	* @arg @ref HAL_CAN_TX_MAILBOX0_COMPLETE_CB_ID Tx Mailbox 0 Complete callback ID
		541	* @arg @ref HAL_CAN_TX_MAILBOX1_COMPLETE_CB_ID Tx Mailbox 1 Complete callback ID
		542	* @arg @ref HAL_CAN_TX_MAILBOX2_COMPLETE_CB_ID Tx Mailbox 2 Complete callback ID
		543	* @arg @ref HAL_CAN_TX_MAILBOX0_ABORT_CB_ID Tx Mailbox 0 Abort callback ID
		544	* @arg @ref HAL_CAN_TX_MAILBOX1_ABORT_CB_ID Tx Mailbox 1 Abort callback ID
		545	* @arg @ref HAL_CAN_TX_MAILBOX2_ABORT_CB_ID Tx Mailbox 2 Abort callback ID
		546	* @arg @ref HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID Rx Fifo 0 message pending callback ID
		547	* @arg @ref HAL_CAN_RX_FIFO0_FULL_CB_ID Rx Fifo 0 full callback ID
		548	* @arg @ref HAL_CAN_RX_FIFO1_MSG_PENDING_CB_ID Rx Fifo 1 message pending callback ID
		549	* @arg @ref HAL_CAN_RX_FIFO1_FULL_CB_ID Rx Fifo 1 full callback ID
		550	* @arg @ref HAL_CAN_SLEEP_CB_ID Sleep callback ID
		551	* @arg @ref HAL_CAN_WAKEUP_FROM_RX_MSG_CB_ID Wake Up from Rx message callback ID
		552	* @arg @ref HAL_CAN_ERROR_CB_ID Error callback ID
		553	* @arg @ref HAL_CAN_MSPINIT_CB_ID MspInit callback ID
		554	* @arg @ref HAL_CAN_MSPDEINIT_CB_ID MspDeInit callback ID
		555	* @param pCallback pointer to the Callback function
		556	* @retval HAL status
		557	*/
		558	HAL_StatusTypeDef HAL_CAN_RegisterCallback(CAN_HandleTypeDef hcan, HAL_CAN_CallbackIDTypeDef CallbackID, void ( pCallback)(CAN_HandleTypeDef *_hcan))
		559	{
		560	HAL_StatusTypeDef status = HAL_OK;
		561
		562	if (pCallback == NULL)
		563	{
		564	/* Update the error code */
		565	hcan->ErrorCode \|= HAL_CAN_ERROR_INVALID_CALLBACK;
		566
		567	return HAL_ERROR;
		568	}
		569
		570	if (hcan->State == HAL_CAN_STATE_READY)
		571	{
		572	switch (CallbackID)
		573	{
		574	case HAL_CAN_TX_MAILBOX0_COMPLETE_CB_ID :
		575	hcan->TxMailbox0CompleteCallback = pCallback;
		576	break;
		577
		578	case HAL_CAN_TX_MAILBOX1_COMPLETE_CB_ID :
		579	hcan->TxMailbox1CompleteCallback = pCallback;
		580	break;
		581
		582	case HAL_CAN_TX_MAILBOX2_COMPLETE_CB_ID :
		583	hcan->TxMailbox2CompleteCallback = pCallback;
		584	break;
		585
		586	case HAL_CAN_TX_MAILBOX0_ABORT_CB_ID :
		587	hcan->TxMailbox0AbortCallback = pCallback;
		588	break;
		589
		590	case HAL_CAN_TX_MAILBOX1_ABORT_CB_ID :
		591	hcan->TxMailbox1AbortCallback = pCallback;
		592	break;
		593
		594	case HAL_CAN_TX_MAILBOX2_ABORT_CB_ID :
		595	hcan->TxMailbox2AbortCallback = pCallback;
		596	break;
		597
		598	case HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID :
		599	hcan->RxFifo0MsgPendingCallback = pCallback;
		600	break;
		601
		602	case HAL_CAN_RX_FIFO0_FULL_CB_ID :
		603	hcan->RxFifo0FullCallback = pCallback;
		604	break;
		605
		606	case HAL_CAN_RX_FIFO1_MSG_PENDING_CB_ID :
		607	hcan->RxFifo1MsgPendingCallback = pCallback;
		608	break;
		609
		610	case HAL_CAN_RX_FIFO1_FULL_CB_ID :
		611	hcan->RxFifo1FullCallback = pCallback;
		612	break;
		613
		614	case HAL_CAN_SLEEP_CB_ID :
		615	hcan->SleepCallback = pCallback;
		616	break;
		617
		618	case HAL_CAN_WAKEUP_FROM_RX_MSG_CB_ID :
		619	hcan->WakeUpFromRxMsgCallback = pCallback;
		620	break;
		621
		622	case HAL_CAN_ERROR_CB_ID :
		623	hcan->ErrorCallback = pCallback;
		624	break;
		625
		626	case HAL_CAN_MSPINIT_CB_ID :
		627	hcan->MspInitCallback = pCallback;
		628	break;
		629
		630	case HAL_CAN_MSPDEINIT_CB_ID :
		631	hcan->MspDeInitCallback = pCallback;
		632	break;
		633
		634	default :
		635	/* Update the error code */
		636	hcan->ErrorCode \|= HAL_CAN_ERROR_INVALID_CALLBACK;
		637
		638	/* Return error status */
		639	status = HAL_ERROR;
		640	break;
		641	}
		642	}
		643	else if (hcan->State == HAL_CAN_STATE_RESET)
		644	{
		645	switch (CallbackID)
		646	{
		647	case HAL_CAN_MSPINIT_CB_ID :
		648	hcan->MspInitCallback = pCallback;
		649	break;
		650
		651	case HAL_CAN_MSPDEINIT_CB_ID :
		652	hcan->MspDeInitCallback = pCallback;
		653	break;
		654
		655	default :
		656	/* Update the error code */
		657	hcan->ErrorCode \|= HAL_CAN_ERROR_INVALID_CALLBACK;
		658
		659	/* Return error status */
		660	status = HAL_ERROR;
		661	break;
		662	}
		663	}
		664	else
		665	{
		666	/* Update the error code */
		667	hcan->ErrorCode \|= HAL_CAN_ERROR_INVALID_CALLBACK;
		668
		669	/* Return error status */
		670	status = HAL_ERROR;
		671	}
		672
		673	return status;
		674	}
		675
		676	/**
		677	* @brief Unregister a CAN CallBack.
		678	* CAN callabck is redirected to the weak predefined callback
		679	* @param hcan pointer to a CAN_HandleTypeDef structure that contains
		680	* the configuration information for CAN module
		681	* @param CallbackID ID of the callback to be unregistered
		682	* This parameter can be one of the following values:
		683	* @arg @ref HAL_CAN_TX_MAILBOX0_COMPLETE_CB_ID Tx Mailbox 0 Complete callback ID
		684	* @arg @ref HAL_CAN_TX_MAILBOX1_COMPLETE_CB_ID Tx Mailbox 1 Complete callback ID
		685	* @arg @ref HAL_CAN_TX_MAILBOX2_COMPLETE_CB_ID Tx Mailbox 2 Complete callback ID
		686	* @arg @ref HAL_CAN_TX_MAILBOX0_ABORT_CB_ID Tx Mailbox 0 Abort callback ID
		687	* @arg @ref HAL_CAN_TX_MAILBOX1_ABORT_CB_ID Tx Mailbox 1 Abort callback ID
		688	* @arg @ref HAL_CAN_TX_MAILBOX2_ABORT_CB_ID Tx Mailbox 2 Abort callback ID
		689	* @arg @ref HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID Rx Fifo 0 message pending callback ID
		690	* @arg @ref HAL_CAN_RX_FIFO0_FULL_CB_ID Rx Fifo 0 full callback ID
		691	* @arg @ref HAL_CAN_RX_FIFO1_MSG_PENDING_CB_ID Rx Fifo 1 message pending callback ID
		692	* @arg @ref HAL_CAN_RX_FIFO1_FULL_CB_ID Rx Fifo 1 full callback ID
		693	* @arg @ref HAL_CAN_SLEEP_CB_ID Sleep callback ID
		694	* @arg @ref HAL_CAN_WAKEUP_FROM_RX_MSG_CB_ID Wake Up from Rx message callback ID
		695	* @arg @ref HAL_CAN_ERROR_CB_ID Error callback ID
		696	* @arg @ref HAL_CAN_MSPINIT_CB_ID MspInit callback ID
		697	* @arg @ref HAL_CAN_MSPDEINIT_CB_ID MspDeInit callback ID
		698	* @retval HAL status
		699	*/
		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	#if defined(CAN2)
		858	/* CAN1 and CAN2 are dual instances with 28 common filters banks */
		859	/* Select master instance to access the filter banks */
		860	can_ip = CAN1;
		861
		862	/* Check the parameters */
		863	assert_param(IS_CAN_FILTER_BANK_DUAL(sFilterConfig->FilterBank));
		864	assert_param(IS_CAN_FILTER_BANK_DUAL(sFilterConfig->SlaveStartFilterBank));
		865	#else
		866	/* CAN1 is single instance with 14 dedicated filters banks */
		867
		868	/* Check the parameters */
		869	assert_param(IS_CAN_FILTER_BANK_SINGLE(sFilterConfig->FilterBank));
		870	#endif
		871
		872	/* Initialisation mode for the filter */
		873	SET_BIT(can_ip->FMR, CAN_FMR_FINIT);
		874
		875	#if defined(CAN2)
		876	/* Select the start filter number of CAN2 slave instance */
		877	CLEAR_BIT(can_ip->FMR, CAN_FMR_CAN2SB);
		878	SET_BIT(can_ip->FMR, sFilterConfig->SlaveStartFilterBank << CAN_FMR_CAN2SB_Pos);
		879
		880	#endif
		881	/* Convert filter number into bit position */
		882	filternbrbitpos = (uint32_t)1 << (sFilterConfig->FilterBank & 0x1FU);
		883
		884	/* Filter Deactivation */
		885	CLEAR_BIT(can_ip->FA1R, filternbrbitpos);
		886
		887	/* Filter Scale */
		888	if (sFilterConfig->FilterScale == CAN_FILTERSCALE_16BIT)
		889	{
		890	/* 16-bit scale for the filter */
		891	CLEAR_BIT(can_ip->FS1R, filternbrbitpos);
		892
		893	/* First 16-bit identifier and First 16-bit mask */
		894	/* Or First 16-bit identifier and Second 16-bit identifier */
		895	can_ip->sFilterRegister[sFilterConfig->FilterBank].FR1 =
		896	((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdLow) << 16U) \|
		897	(0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdLow);
		898
		899	/* Second 16-bit identifier and Second 16-bit mask */
		900	/* Or Third 16-bit identifier and Fourth 16-bit identifier */
		901	can_ip->sFilterRegister[sFilterConfig->FilterBank].FR2 =
		902	((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16U) \|
		903	(0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdHigh);
		904	}
		905
		906	if (sFilterConfig->FilterScale == CAN_FILTERSCALE_32BIT)
		907	{
		908	/* 32-bit scale for the filter */
		909	SET_BIT(can_ip->FS1R, filternbrbitpos);
		910
		911	/* 32-bit identifier or First 32-bit identifier */
		912	can_ip->sFilterRegister[sFilterConfig->FilterBank].FR1 =
		913	((0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdHigh) << 16U) \|
		914	(0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdLow);
		915
		916	/* 32-bit mask or Second 32-bit identifier */
		917	can_ip->sFilterRegister[sFilterConfig->FilterBank].FR2 =
		918	((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16U) \|
		919	(0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdLow);
		920	}
		921
		922	/* Filter Mode */
		923	if (sFilterConfig->FilterMode == CAN_FILTERMODE_IDMASK)
		924	{
		925	/* Id/Mask mode for the filter*/
		926	CLEAR_BIT(can_ip->FM1R, filternbrbitpos);
		927	}
		928	else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */
		929	{
		930	/* Identifier list mode for the filter*/
		931	SET_BIT(can_ip->FM1R, filternbrbitpos);
		932	}
		933
		934	/* Filter FIFO assignment */
		935	if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO0)
		936	{
		937	/* FIFO 0 assignation for the filter */
		938	CLEAR_BIT(can_ip->FFA1R, filternbrbitpos);
		939	}
		940	else
		941	{
		942	/* FIFO 1 assignation for the filter */
		943	SET_BIT(can_ip->FFA1R, filternbrbitpos);
		944	}
		945
		946	/* Filter activation */
		947	if (sFilterConfig->FilterActivation == CAN_FILTER_ENABLE)
		948	{
		949	SET_BIT(can_ip->FA1R, filternbrbitpos);
		950	}
		951
		952	/* Leave the initialisation mode for the filter */
		953	CLEAR_BIT(can_ip->FMR, CAN_FMR_FINIT);
		954
		955	/* Return function status */
		956	return HAL_OK;
		957	}
		958	else
		959	{
		960	/* Update error code */
		961	hcan->ErrorCode \|= HAL_CAN_ERROR_NOT_INITIALIZED;
		962
		963	return HAL_ERROR;
		964	}
		965	}
		966
		967	/**
		968	* @}
		969	*/
		970
		971	/** @defgroup CAN_Exported_Functions_Group3 Control functions
		972	* @brief Control functions
		973	*
		974	@verbatim
		975	==============================================================================
		976	##### Control functions #####
		977	==============================================================================
		978	[..] This section provides functions allowing to:
		979	(+) HAL_CAN_Start : Start the CAN module
		980	(+) HAL_CAN_Stop : Stop the CAN module
		981	(+) HAL_CAN_RequestSleep : Request sleep mode entry.
		982	(+) HAL_CAN_WakeUp : Wake up from sleep mode.
		983	(+) HAL_CAN_IsSleepActive : Check is sleep mode is active.
		984	(+) HAL_CAN_AddTxMessage : Add a message to the Tx mailboxes
		985	and activate the corresponding
		986	transmission request
		987	(+) HAL_CAN_AbortTxRequest : Abort transmission request
		988	(+) HAL_CAN_GetTxMailboxesFreeLevel : Return Tx mailboxes free level
		989	(+) HAL_CAN_IsTxMessagePending : Check if a transmission request is
		990	pending on the selected Tx mailbox
		991	(+) HAL_CAN_GetRxMessage : Get a CAN frame from the Rx FIFO
		992	(+) HAL_CAN_GetRxFifoFillLevel : Return Rx FIFO fill level
		993
		994	@endverbatim
		995	* @{
		996	*/
		997
		998	/**
		999	* @brief Start the CAN module.
		1000	* @param hcan pointer to an CAN_HandleTypeDef structure that contains
		1001	* the configuration information for the specified CAN.
		1002	* @retval HAL status
		1003	*/
		1004	HAL_StatusTypeDef HAL_CAN_Start(CAN_HandleTypeDef *hcan)
		1005	{
		1006	uint32_t tickstart;
		1007
		1008	if (hcan->State == HAL_CAN_STATE_READY)
		1009	{
		1010	/* Change CAN peripheral state */
		1011	hcan->State = HAL_CAN_STATE_LISTENING;
		1012
		1013	/* Request leave initialisation */
		1014	CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_INRQ);
		1015
		1016	/* Get tick */
		1017	tickstart = HAL_GetTick();
		1018
		1019	/* Wait the acknowledge */
		1020	while ((hcan->Instance->MSR & CAN_MSR_INAK) != 0U)
		1021	{
		1022	/* Check for the Timeout */
		1023	if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
		1024	{
		1025	/* Update error code */
		1026	hcan->ErrorCode \|= HAL_CAN_ERROR_TIMEOUT;
		1027
		1028	/* Change CAN state */
		1029	hcan->State = HAL_CAN_STATE_ERROR;
		1030
		1031	return HAL_ERROR;
		1032	}
		1033	}
		1034
		1035	/* Reset the CAN ErrorCode */
		1036	hcan->ErrorCode = HAL_CAN_ERROR_NONE;
		1037
		1038	/* Return function status */
		1039	return HAL_OK;
		1040	}
		1041	else
		1042	{
		1043	/* Update error code */
		1044	hcan->ErrorCode \|= HAL_CAN_ERROR_NOT_READY;
		1045
		1046	return HAL_ERROR;
		1047	}
		1048	}
		1049
		1050	/**
		1051	* @brief Stop the CAN module and enable access to configuration registers.
		1052	* @param hcan pointer to an CAN_HandleTypeDef structure that contains
		1053	* the configuration information for the specified CAN.
		1054	* @retval HAL status
		1055	*/
		1056	HAL_StatusTypeDef HAL_CAN_Stop(CAN_HandleTypeDef *hcan)
		1057	{
		1058	uint32_t tickstart;
		1059
		1060	if (hcan->State == HAL_CAN_STATE_LISTENING)
		1061	{
		1062	/* Request initialisation */
		1063	SET_BIT(hcan->Instance->MCR, CAN_MCR_INRQ);
		1064
		1065	/* Get tick */
		1066	tickstart = HAL_GetTick();
		1067
		1068	/* Wait the acknowledge */
		1069	while ((hcan->Instance->MSR & CAN_MSR_INAK) == 0U)
		1070	{
		1071	/* Check for the Timeout */
		1072	if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
		1073	{
		1074	/* Update error code */
		1075	hcan->ErrorCode \|= HAL_CAN_ERROR_TIMEOUT;
		1076
		1077	/* Change CAN state */
		1078	hcan->State = HAL_CAN_STATE_ERROR;
		1079
		1080	return HAL_ERROR;
		1081	}
		1082	}
		1083
		1084	/* Exit from sleep mode */
		1085	CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
		1086
		1087	/* Change CAN peripheral state */
		1088	hcan->State = HAL_CAN_STATE_READY;
		1089
		1090	/* Return function status */
		1091	return HAL_OK;
		1092	}
		1093	else
		1094	{
		1095	/* Update error code */
		1096	hcan->ErrorCode \|= HAL_CAN_ERROR_NOT_STARTED;
		1097
		1098	return HAL_ERROR;
		1099	}
		1100	}
		1101
		1102	/**
		1103	* @brief Request the sleep mode (low power) entry.
		1104	* When returning from this function, Sleep mode will be entered
		1105	* as soon as the current CAN activity (transmission or reception
		1106	* of a CAN frame) has been completed.
		1107	* @param hcan pointer to a CAN_HandleTypeDef structure that contains
		1108	* the configuration information for the specified CAN.
		1109	* @retval HAL status.
		1110	*/
		1111	HAL_StatusTypeDef HAL_CAN_RequestSleep(CAN_HandleTypeDef *hcan)
		1112	{
		1113	HAL_CAN_StateTypeDef state = hcan->State;
		1114
		1115	if ((state == HAL_CAN_STATE_READY) \|\|
		1116	(state == HAL_CAN_STATE_LISTENING))
		1117	{
		1118	/* Request Sleep mode */
		1119	SET_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
		1120
		1121	/* Return function status */
		1122	return HAL_OK;
		1123	}
		1124	else
		1125	{
		1126	/* Update error code */
		1127	hcan->ErrorCode \|= HAL_CAN_ERROR_NOT_INITIALIZED;
		1128
		1129	/* Return function status */
		1130	return HAL_ERROR;
		1131	}
		1132	}
		1133
		1134	/**
		1135	* @brief Wake up from sleep mode.
		1136	* When returning with HAL_OK status from this function, Sleep mode
		1137	* is exited.
		1138	* @param hcan pointer to a CAN_HandleTypeDef structure that contains
		1139	* the configuration information for the specified CAN.
		1140	* @retval HAL status.
		1141	*/
		1142	HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef *hcan)
		1143	{
		1144	__IO uint32_t count = 0;
		1145	uint32_t timeout = 1000000U;
		1146	HAL_CAN_StateTypeDef state = hcan->State;
		1147
		1148	if ((state == HAL_CAN_STATE_READY) \|\|
		1149	(state == HAL_CAN_STATE_LISTENING))
		1150	{
		1151	/* Wake up request */
		1152	CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
		1153
		1154	/* Wait sleep mode is exited */
		1155	do
		1156	{
		1157	/* Increment counter */
		1158	count++;
		1159
		1160	/* Check if timeout is reached */
		1161	if (count > timeout)
		1162	{
		1163	/* Update error code */
		1164	hcan->ErrorCode \|= HAL_CAN_ERROR_TIMEOUT;
		1165
		1166	return HAL_ERROR;
		1167	}
		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	*/
		1191	uint32_t HAL_CAN_IsSleepActive(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	*/
		1222	HAL_StatusTypeDef HAL_CAN_AddTxMessage(CAN_HandleTypeDef hcan, CAN_TxHeaderTypeDef pHeader, uint8_t aData[], uint32_t *pTxMailbox)
		1223	{
		1224	uint32_t transmitmailbox;
		1225	HAL_CAN_StateTypeDef state = hcan->State;
		1226	uint32_t tsr = READ_REG(hcan->Instance->TSR);
		1227
		1228	/* Check the parameters */
		1229	assert_param(IS_CAN_IDTYPE(pHeader->IDE));
		1230	assert_param(IS_CAN_RTR(pHeader->RTR));
		1231	assert_param(IS_CAN_DLC(pHeader->DLC));
		1232	if (pHeader->IDE == CAN_ID_STD)
		1233	{
		1234	assert_param(IS_CAN_STDID(pHeader->StdId));
		1235	}
		1236	else
		1237	{
		1238	assert_param(IS_CAN_EXTID(pHeader->ExtId));
		1239	}
		1240	assert_param(IS_FUNCTIONAL_STATE(pHeader->TransmitGlobalTime));
		1241
		1242	if ((state == HAL_CAN_STATE_READY) \|\|
		1243	(state == HAL_CAN_STATE_LISTENING))
		1244	{
		1245	/* Check that all the Tx mailboxes are not full */
		1246	if (((tsr & CAN_TSR_TME0) != 0U) \|\|
		1247	((tsr & CAN_TSR_TME1) != 0U) \|\|
		1248	((tsr & CAN_TSR_TME2) != 0U))
		1249	{
		1250	/* Select an empty transmit mailbox */
		1251	transmitmailbox = (tsr & CAN_TSR_CODE) >> CAN_TSR_CODE_Pos;
		1252
		1253	/* Check transmit mailbox value */
		1254	if (transmitmailbox > 2U)
		1255	{
		1256	/* Update error code */
		1257	hcan->ErrorCode \|= HAL_CAN_ERROR_INTERNAL;
		1258
		1259	return HAL_ERROR;
		1260	}
		1261
		1262	/* Store the Tx mailbox */
		1263	*pTxMailbox = (uint32_t)1 << transmitmailbox;
		1264
		1265	/* Set up the Id */
		1266	if (pHeader->IDE == CAN_ID_STD)
		1267	{
		1268	hcan->Instance->sTxMailBox[transmitmailbox].TIR = ((pHeader->StdId << CAN_TI0R_STID_Pos) \|
		1269	pHeader->RTR);
		1270	}
		1271	else
		1272	{
		1273	hcan->Instance->sTxMailBox[transmitmailbox].TIR = ((pHeader->ExtId << CAN_TI0R_EXID_Pos) \|
		1274	pHeader->IDE \|
		1275	pHeader->RTR);
		1276	}
		1277
		1278	/* Set up the DLC */
		1279	hcan->Instance->sTxMailBox[transmitmailbox].TDTR = (pHeader->DLC);
		1280
		1281	/* Set up the Transmit Global Time mode */
		1282	if (pHeader->TransmitGlobalTime == ENABLE)
		1283	{
		1284	SET_BIT(hcan->Instance->sTxMailBox[transmitmailbox].TDTR, CAN_TDT0R_TGT);
		1285	}
		1286
		1287	/* Set up the data field */
		1288	WRITE_REG(hcan->Instance->sTxMailBox[transmitmailbox].TDHR,
		1289	((uint32_t)aData[7] << CAN_TDH0R_DATA7_Pos) \|
		1290	((uint32_t)aData[6] << CAN_TDH0R_DATA6_Pos) \|
		1291	((uint32_t)aData[5] << CAN_TDH0R_DATA5_Pos) \|
		1292	((uint32_t)aData[4] << CAN_TDH0R_DATA4_Pos));
		1293	WRITE_REG(hcan->Instance->sTxMailBox[transmitmailbox].TDLR,
		1294	((uint32_t)aData[3] << CAN_TDL0R_DATA3_Pos) \|
		1295	((uint32_t)aData[2] << CAN_TDL0R_DATA2_Pos) \|
		1296	((uint32_t)aData[1] << CAN_TDL0R_DATA1_Pos) \|
		1297	((uint32_t)aData[0] << CAN_TDL0R_DATA0_Pos));
		1298
		1299	/* Request transmission */
		1300	SET_BIT(hcan->Instance->sTxMailBox[transmitmailbox].TIR, CAN_TI0R_TXRQ);
		1301
		1302	/* Return function status */
		1303	return HAL_OK;
		1304	}
		1305	else
		1306	{
		1307	/* Update error code */
		1308	hcan->ErrorCode \|= HAL_CAN_ERROR_PARAM;
		1309
		1310	return HAL_ERROR;
		1311	}
		1312	}
		1313	else
		1314	{
		1315	/* Update error code */
		1316	hcan->ErrorCode \|= HAL_CAN_ERROR_NOT_INITIALIZED;
		1317
		1318	return HAL_ERROR;
		1319	}
		1320	}
		1321
		1322	/**
		1323	* @brief Abort transmission requests
		1324	* @param hcan pointer to an CAN_HandleTypeDef structure that contains
		1325	* the configuration information for the specified CAN.
		1326	* @param TxMailboxes List of the Tx Mailboxes to abort.
		1327	* This parameter can be any combination of @arg CAN_Tx_Mailboxes.
		1328	* @retval HAL status
		1329	*/
		1330	HAL_StatusTypeDef HAL_CAN_AbortTxRequest(CAN_HandleTypeDef *hcan, uint32_t TxMailboxes)
		1331	{
		1332	HAL_CAN_StateTypeDef state = hcan->State;
		1333
		1334	/* Check function parameters */
		1335	assert_param(IS_CAN_TX_MAILBOX_LIST(TxMailboxes));
		1336
		1337	if ((state == HAL_CAN_STATE_READY) \|\|
		1338	(state == HAL_CAN_STATE_LISTENING))
		1339	{
		1340	/* Check Tx Mailbox 0 */
		1341	if ((TxMailboxes & CAN_TX_MAILBOX0) != 0U)
		1342	{
		1343	/* Add cancellation request for Tx Mailbox 0 */
		1344	SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ0);
		1345	}
		1346
		1347	/* Check Tx Mailbox 1 */
		1348	if ((TxMailboxes & CAN_TX_MAILBOX1) != 0U)
		1349	{
		1350	/* Add cancellation request for Tx Mailbox 1 */
		1351	SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ1);
		1352	}
		1353
		1354	/* Check Tx Mailbox 2 */
		1355	if ((TxMailboxes & CAN_TX_MAILBOX2) != 0U)
		1356	{
		1357	/* Add cancellation request for Tx Mailbox 2 */
		1358	SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ2);
		1359	}
		1360
		1361	/* Return function status */
		1362	return HAL_OK;
		1363	}
		1364	else
		1365	{
		1366	/* Update error code */
		1367	hcan->ErrorCode \|= HAL_CAN_ERROR_NOT_INITIALIZED;
		1368
		1369	return HAL_ERROR;
		1370	}
		1371	}
		1372
		1373	/**
		1374	* @brief Return Tx Mailboxes free level: number of free Tx Mailboxes.
		1375	* @param hcan pointer to a CAN_HandleTypeDef structure that contains
		1376	* the configuration information for the specified CAN.
		1377	* @retval Number of free Tx Mailboxes.
		1378	*/
		1379	uint32_t HAL_CAN_GetTxMailboxesFreeLevel(CAN_HandleTypeDef *hcan)
		1380	{
		1381	uint32_t freelevel = 0U;
		1382	HAL_CAN_StateTypeDef state = hcan->State;
		1383
		1384	if ((state == HAL_CAN_STATE_READY) \|\|
		1385	(state == HAL_CAN_STATE_LISTENING))
		1386	{
		1387	/* Check Tx Mailbox 0 status */
		1388	if ((hcan->Instance->TSR & CAN_TSR_TME0) != 0U)
		1389	{
		1390	freelevel++;
		1391	}
		1392
		1393	/* Check Tx Mailbox 1 status */
		1394	if ((hcan->Instance->TSR & CAN_TSR_TME1) != 0U)
		1395	{
		1396	freelevel++;
		1397	}
		1398
		1399	/* Check Tx Mailbox 2 status */
		1400	if ((hcan->Instance->TSR & CAN_TSR_TME2) != 0U)
		1401	{
		1402	freelevel++;
		1403	}
		1404	}
		1405
		1406	/* Return Tx Mailboxes free level */
		1407	return freelevel;
		1408	}
		1409
		1410	/**
		1411	* @brief Check if a transmission request is pending on the selected Tx
		1412	* Mailboxes.
		1413	* @param hcan pointer to an CAN_HandleTypeDef structure that contains
		1414	* the configuration information for the specified CAN.
		1415	* @param TxMailboxes List of Tx Mailboxes to check.
		1416	* This parameter can be any combination of @arg CAN_Tx_Mailboxes.
		1417	* @retval Status
		1418	* - 0 : No pending transmission request on any selected Tx Mailboxes.
		1419	* - 1 : Pending transmission request on at least one of the selected
		1420	* Tx Mailbox.
		1421	*/
		1422	uint32_t HAL_CAN_IsTxMessagePending(CAN_HandleTypeDef *hcan, uint32_t TxMailboxes)
		1423	{
		1424	uint32_t status = 0U;
		1425	HAL_CAN_StateTypeDef state = hcan->State;
		1426
		1427	/* Check function parameters */
		1428	assert_param(IS_CAN_TX_MAILBOX_LIST(TxMailboxes));
		1429
		1430	if ((state == HAL_CAN_STATE_READY) \|\|
		1431	(state == HAL_CAN_STATE_LISTENING))
		1432	{
		1433	/* Check pending transmission request on the selected Tx Mailboxes */
		1434	if ((hcan->Instance->TSR & (TxMailboxes << CAN_TSR_TME0_Pos)) != (TxMailboxes << CAN_TSR_TME0_Pos))
		1435	{
		1436	status = 1U;
		1437	}
		1438	}
		1439
		1440	/* Return status */
		1441	return status;
		1442	}
		1443
		1444	/**
		1445	* @brief Return timestamp of Tx message sent, if time triggered communication
		1446	mode is enabled.
		1447	* @param hcan pointer to a CAN_HandleTypeDef structure that contains
		1448	* the configuration information for the specified CAN.
		1449	* @param TxMailbox Tx Mailbox where the timestamp of message sent will be
		1450	* read.
		1451	* This parameter can be one value of @arg CAN_Tx_Mailboxes.
		1452	* @retval Timestamp of message sent from Tx Mailbox.
		1453	*/
		1454	uint32_t HAL_CAN_GetTxTimestamp(CAN_HandleTypeDef *hcan, uint32_t TxMailbox)
		1455	{
		1456	uint32_t timestamp = 0U;
		1457	uint32_t transmitmailbox;
		1458	HAL_CAN_StateTypeDef state = hcan->State;
		1459
		1460	/* Check function parameters */
		1461	assert_param(IS_CAN_TX_MAILBOX(TxMailbox));
		1462
		1463	if ((state == HAL_CAN_STATE_READY) \|\|
		1464	(state == HAL_CAN_STATE_LISTENING))
		1465	{
		1466	/* Select the Tx mailbox */
		1467	transmitmailbox = POSITION_VAL(TxMailbox);
		1468
		1469	/* Get timestamp */
		1470	timestamp = (hcan->Instance->sTxMailBox[transmitmailbox].TDTR & CAN_TDT0R_TIME) >> CAN_TDT0R_TIME_Pos;
		1471	}
		1472
		1473	/* Return the timestamp */
		1474	return timestamp;
		1475	}
		1476
		1477	/**
		1478	* @brief Get an CAN frame from the Rx FIFO zone into the message RAM.
		1479	* @param hcan pointer to an CAN_HandleTypeDef structure that contains
		1480	* the configuration information for the specified CAN.
		1481	* @param RxFifo Fifo number of the received message to be read.
		1482	* This parameter can be a value of @arg CAN_receive_FIFO_number.
		1483	* @param pHeader pointer to a CAN_RxHeaderTypeDef structure where the header
		1484	* of the Rx frame will be stored.
		1485	* @param aData array where the payload of the Rx frame will be stored.
		1486	* @retval HAL status
		1487	*/
		1488	HAL_StatusTypeDef HAL_CAN_GetRxMessage(CAN_HandleTypeDef hcan, uint32_t RxFifo, CAN_RxHeaderTypeDef pHeader, uint8_t aData[])
		1489	{
		1490	HAL_CAN_StateTypeDef state = hcan->State;
		1491
		1492	assert_param(IS_CAN_RX_FIFO(RxFifo));
		1493
		1494	if ((state == HAL_CAN_STATE_READY) \|\|
		1495	(state == HAL_CAN_STATE_LISTENING))
		1496	{
		1497	/* Check the Rx FIFO */
		1498	if (RxFifo == CAN_RX_FIFO0) /* Rx element is assigned to Rx FIFO 0 */
		1499	{
		1500	/* Check that the Rx FIFO 0 is not empty */
		1501	if ((hcan->Instance->RF0R & CAN_RF0R_FMP0) == 0U)
		1502	{
		1503	/* Update error code */
		1504	hcan->ErrorCode \|= HAL_CAN_ERROR_PARAM;
		1505
		1506	return HAL_ERROR;
		1507	}
		1508	}
		1509	else /* Rx element is assigned to Rx FIFO 1 */
		1510	{
		1511	/* Check that the Rx FIFO 1 is not empty */
		1512	if ((hcan->Instance->RF1R & CAN_RF1R_FMP1) == 0U)
		1513	{
		1514	/* Update error code */
		1515	hcan->ErrorCode \|= HAL_CAN_ERROR_PARAM;
		1516
		1517	return HAL_ERROR;
		1518	}
		1519	}
		1520
		1521	/* Get the header */
		1522	pHeader->IDE = CAN_RI0R_IDE & hcan->Instance->sFIFOMailBox[RxFifo].RIR;
		1523	if (pHeader->IDE == CAN_ID_STD)
		1524	{
		1525	pHeader->StdId = (CAN_RI0R_STID & hcan->Instance->sFIFOMailBox[RxFifo].RIR) >> CAN_TI0R_STID_Pos;
		1526	}
		1527	else
		1528	{
		1529	pHeader->ExtId = ((CAN_RI0R_EXID \| CAN_RI0R_STID) & hcan->Instance->sFIFOMailBox[RxFifo].RIR) >> CAN_RI0R_EXID_Pos;
		1530	}
		1531	pHeader->RTR = (CAN_RI0R_RTR & hcan->Instance->sFIFOMailBox[RxFifo].RIR);
		1532	pHeader->DLC = (CAN_RDT0R_DLC & hcan->Instance->sFIFOMailBox[RxFifo].RDTR) >> CAN_RDT0R_DLC_Pos;
		1533	pHeader->FilterMatchIndex = (CAN_RDT0R_FMI & hcan->Instance->sFIFOMailBox[RxFifo].RDTR) >> CAN_RDT0R_FMI_Pos;
		1534	pHeader->Timestamp = (CAN_RDT0R_TIME & hcan->Instance->sFIFOMailBox[RxFifo].RDTR) >> CAN_RDT0R_TIME_Pos;
		1535
		1536	/* Get the data */
		1537	aData[0] = (uint8_t)((CAN_RDL0R_DATA0 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA0_Pos);
		1538	aData[1] = (uint8_t)((CAN_RDL0R_DATA1 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA1_Pos);
		1539	aData[2] = (uint8_t)((CAN_RDL0R_DATA2 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA2_Pos);
		1540	aData[3] = (uint8_t)((CAN_RDL0R_DATA3 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA3_Pos);
		1541	aData[4] = (uint8_t)((CAN_RDH0R_DATA4 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA4_Pos);
		1542	aData[5] = (uint8_t)((CAN_RDH0R_DATA5 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA5_Pos);
		1543	aData[6] = (uint8_t)((CAN_RDH0R_DATA6 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA6_Pos);
		1544	aData[7] = (uint8_t)((CAN_RDH0R_DATA7 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA7_Pos);
		1545
		1546	/* Release the FIFO */
		1547	if (RxFifo == CAN_RX_FIFO0) /* Rx element is assigned to Rx FIFO 0 */
		1548	{
		1549	/* Release RX FIFO 0 */
		1550	SET_BIT(hcan->Instance->RF0R, CAN_RF0R_RFOM0);
		1551	}
		1552	else /* Rx element is assigned to Rx FIFO 1 */
		1553	{
		1554	/* Release RX FIFO 1 */
		1555	SET_BIT(hcan->Instance->RF1R, CAN_RF1R_RFOM1);
		1556	}
		1557
		1558	/* Return function status */
		1559	return HAL_OK;
		1560	}
		1561	else
		1562	{
		1563	/* Update error code */
		1564	hcan->ErrorCode \|= HAL_CAN_ERROR_NOT_INITIALIZED;
		1565
		1566	return HAL_ERROR;
		1567	}
		1568	}
		1569
		1570	/**
		1571	* @brief Return Rx FIFO fill level.
		1572	* @param hcan pointer to an CAN_HandleTypeDef structure that contains
		1573	* the configuration information for the specified CAN.
		1574	* @param RxFifo Rx FIFO.
		1575	* This parameter can be a value of @arg CAN_receive_FIFO_number.
		1576	* @retval Number of messages available in Rx FIFO.
		1577	*/
		1578	uint32_t HAL_CAN_GetRxFifoFillLevel(CAN_HandleTypeDef *hcan, uint32_t RxFifo)
		1579	{
		1580	uint32_t filllevel = 0U;
		1581	HAL_CAN_StateTypeDef state = hcan->State;
		1582
		1583	/* Check function parameters */
		1584	assert_param(IS_CAN_RX_FIFO(RxFifo));
		1585
		1586	if ((state == HAL_CAN_STATE_READY) \|\|
		1587	(state == HAL_CAN_STATE_LISTENING))
		1588	{
		1589	if (RxFifo == CAN_RX_FIFO0)
		1590	{
		1591	filllevel = hcan->Instance->RF0R & CAN_RF0R_FMP0;
		1592	}
		1593	else /* RxFifo == CAN_RX_FIFO1 */
		1594	{
		1595	filllevel = hcan->Instance->RF1R & CAN_RF1R_FMP1;
		1596	}
		1597	}
		1598
		1599	/* Return Rx FIFO fill level */
		1600	return filllevel;
		1601	}
		1602
		1603	/**
		1604	* @}
		1605	*/
		1606
		1607	/** @defgroup CAN_Exported_Functions_Group4 Interrupts management
		1608	* @brief Interrupts management
		1609	*
		1610	@verbatim
		1611	==============================================================================
		1612	##### Interrupts management #####
		1613	==============================================================================
		1614	[..] This section provides functions allowing to:
		1615	(+) HAL_CAN_ActivateNotification : Enable interrupts
		1616	(+) HAL_CAN_DeactivateNotification : Disable interrupts
		1617	(+) HAL_CAN_IRQHandler : Handles CAN interrupt request
		1618
		1619	@endverbatim
		1620	* @{
		1621	*/
		1622
		1623	/**
		1624	* @brief Enable interrupts.
		1625	* @param hcan pointer to an CAN_HandleTypeDef structure that contains
		1626	* the configuration information for the specified CAN.
		1627	* @param ActiveITs indicates which interrupts will be enabled.
		1628	* This parameter can be any combination of @arg CAN_Interrupts.
		1629	* @retval HAL status
		1630	*/
		1631	HAL_StatusTypeDef HAL_CAN_ActivateNotification(CAN_HandleTypeDef *hcan, uint32_t ActiveITs)
		1632	{
		1633	HAL_CAN_StateTypeDef state = hcan->State;
		1634
		1635	/* Check function parameters */
		1636	assert_param(IS_CAN_IT(ActiveITs));
		1637
		1638	if ((state == HAL_CAN_STATE_READY) \|\|
		1639	(state == HAL_CAN_STATE_LISTENING))
		1640	{
		1641	/* Enable the selected interrupts */
		1642	__HAL_CAN_ENABLE_IT(hcan, ActiveITs);
		1643
		1644	/* Return function status */
		1645	return HAL_OK;
		1646	}
		1647	else
		1648	{
		1649	/* Update error code */
		1650	hcan->ErrorCode \|= HAL_CAN_ERROR_NOT_INITIALIZED;
		1651
		1652	return HAL_ERROR;
		1653	}
		1654	}
		1655
		1656	/**
		1657	* @brief Disable interrupts.
		1658	* @param hcan pointer to an CAN_HandleTypeDef structure that contains
		1659	* the configuration information for the specified CAN.
		1660	* @param InactiveITs indicates which interrupts will be disabled.
		1661	* This parameter can be any combination of @arg CAN_Interrupts.
		1662	* @retval HAL status
		1663	*/
		1664	HAL_StatusTypeDef HAL_CAN_DeactivateNotification(CAN_HandleTypeDef *hcan, uint32_t InactiveITs)
		1665	{
		1666	HAL_CAN_StateTypeDef state = hcan->State;
		1667
		1668	/* Check function parameters */
		1669	assert_param(IS_CAN_IT(InactiveITs));
		1670
		1671	if ((state == HAL_CAN_STATE_READY) \|\|
		1672	(state == HAL_CAN_STATE_LISTENING))
		1673	{
		1674	/* Disable the selected interrupts */
		1675	__HAL_CAN_DISABLE_IT(hcan, InactiveITs);
		1676
		1677	/* Return function status */
		1678	return HAL_OK;
		1679	}
		1680	else
		1681	{
		1682	/* Update error code */
		1683	hcan->ErrorCode \|= HAL_CAN_ERROR_NOT_INITIALIZED;
		1684
		1685	return HAL_ERROR;
		1686	}
		1687	}
		1688
		1689	/**
		1690	* @brief Handles CAN interrupt request
		1691	* @param hcan pointer to a CAN_HandleTypeDef structure that contains
		1692	* the configuration information for the specified CAN.
		1693	* @retval None
		1694	*/
		1695	void HAL_CAN_IRQHandler(CAN_HandleTypeDef *hcan)
		1696	{
		1697	uint32_t errorcode = HAL_CAN_ERROR_NONE;
		1698	uint32_t interrupts = READ_REG(hcan->Instance->IER);
		1699	uint32_t msrflags = READ_REG(hcan->Instance->MSR);
		1700	uint32_t tsrflags = READ_REG(hcan->Instance->TSR);
		1701	uint32_t rf0rflags = READ_REG(hcan->Instance->RF0R);
		1702	uint32_t rf1rflags = READ_REG(hcan->Instance->RF1R);
		1703	uint32_t esrflags = READ_REG(hcan->Instance->ESR);
		1704
		1705	/* Transmit Mailbox empty interrupt management *****************************/
		1706	if ((interrupts & CAN_IT_TX_MAILBOX_EMPTY) != 0U)
		1707	{
		1708	/* Transmit Mailbox 0 management *****************************************/
		1709	if ((tsrflags & CAN_TSR_RQCP0) != 0U)
		1710	{
		1711	/* Clear the Transmission Complete flag (and TXOK0,ALST0,TERR0 bits) */
		1712	__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_RQCP0);
		1713
		1714	if ((tsrflags & CAN_TSR_TXOK0) != 0U)
		1715	{
		1716	/* Transmission Mailbox 0 complete callback */
		1717	#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
		1718	/* Call registered callback*/
		1719	hcan->TxMailbox0CompleteCallback(hcan);
		1720	#else
		1721	/* Call weak (surcharged) callback */
		1722	HAL_CAN_TxMailbox0CompleteCallback(hcan);
		1723	#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
		1724	}
		1725	else
		1726	{
		1727	if ((tsrflags & CAN_TSR_ALST0) != 0U)
		1728	{
		1729	/* Update error code */
		1730	errorcode \|= HAL_CAN_ERROR_TX_ALST0;
		1731	}
		1732	else if ((tsrflags & CAN_TSR_TERR0) != 0U)
		1733	{
		1734	/* Update error code */
		1735	errorcode \|= HAL_CAN_ERROR_TX_TERR0;
		1736	}
		1737	else
		1738	{
		1739	/* Transmission Mailbox 0 abort callback */
		1740	#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
		1741	/* Call registered callback*/
		1742	hcan->TxMailbox0AbortCallback(hcan);
		1743	#else
		1744	/* Call weak (surcharged) callback */
		1745	HAL_CAN_TxMailbox0AbortCallback(hcan);
		1746	#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
		1747	}
		1748	}
		1749	}
		1750
		1751	/* Transmit Mailbox 1 management *****************************************/
		1752	if ((tsrflags & CAN_TSR_RQCP1) != 0U)
		1753	{
		1754	/* Clear the Transmission Complete flag (and TXOK1,ALST1,TERR1 bits) */
		1755	__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_RQCP1);
		1756
		1757	if ((tsrflags & CAN_TSR_TXOK1) != 0U)
		1758	{
		1759	/* Transmission Mailbox 1 complete callback */
		1760	#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
		1761	/* Call registered callback*/
		1762	hcan->TxMailbox1CompleteCallback(hcan);
		1763	#else
		1764	/* Call weak (surcharged) callback */
		1765	HAL_CAN_TxMailbox1CompleteCallback(hcan);
		1766	#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
		1767	}
		1768	else
		1769	{
		1770	if ((tsrflags & CAN_TSR_ALST1) != 0U)
		1771	{
		1772	/* Update error code */
		1773	errorcode \|= HAL_CAN_ERROR_TX_ALST1;
		1774	}
		1775	else if ((tsrflags & CAN_TSR_TERR1) != 0U)
		1776	{
		1777	/* Update error code */
		1778	errorcode \|= HAL_CAN_ERROR_TX_TERR1;
		1779	}
		1780	else
		1781	{
		1782	/* Transmission Mailbox 1 abort callback */
		1783	#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
		1784	/* Call registered callback*/
		1785	hcan->TxMailbox1AbortCallback(hcan);
		1786	#else
		1787	/* Call weak (surcharged) callback */
		1788	HAL_CAN_TxMailbox1AbortCallback(hcan);
		1789	#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
		1790	}
		1791	}
		1792	}
		1793
		1794	/* Transmit Mailbox 2 management *****************************************/
		1795	if ((tsrflags & CAN_TSR_RQCP2) != 0U)
		1796	{
		1797	/* Clear the Transmission Complete flag (and TXOK2,ALST2,TERR2 bits) */
		1798	__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_RQCP2);
		1799
		1800	if ((tsrflags & CAN_TSR_TXOK2) != 0U)
		1801	{
		1802	/* Transmission Mailbox 2 complete callback */
		1803	#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
		1804	/* Call registered callback*/
		1805	hcan->TxMailbox2CompleteCallback(hcan);
		1806	#else
		1807	/* Call weak (surcharged) callback */
		1808	HAL_CAN_TxMailbox2CompleteCallback(hcan);
		1809	#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
		1810	}
		1811	else
		1812	{
		1813	if ((tsrflags & CAN_TSR_ALST2) != 0U)
		1814	{
		1815	/* Update error code */
		1816	errorcode \|= HAL_CAN_ERROR_TX_ALST2;
		1817	}
		1818	else if ((tsrflags & CAN_TSR_TERR2) != 0U)
		1819	{
		1820	/* Update error code */
		1821	errorcode \|= HAL_CAN_ERROR_TX_TERR2;
		1822	}
		1823	else
		1824	{
		1825	/* Transmission Mailbox 2 abort callback */
		1826	#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
		1827	/* Call registered callback*/
		1828	hcan->TxMailbox2AbortCallback(hcan);
		1829	#else
		1830	/* Call weak (surcharged) callback */
		1831	HAL_CAN_TxMailbox2AbortCallback(hcan);
		1832	#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
		1833	}
		1834	}
		1835	}
		1836	}
		1837
		1838	/* Receive FIFO 0 overrun interrupt management *****************************/
		1839	if ((interrupts & CAN_IT_RX_FIFO0_OVERRUN) != 0U)
		1840	{
		1841	if ((rf0rflags & CAN_RF0R_FOVR0) != 0U)
		1842	{
		1843	/* Set CAN error code to Rx Fifo 0 overrun error */
		1844	errorcode \|= HAL_CAN_ERROR_RX_FOV0;
		1845
		1846	/* Clear FIFO0 Overrun Flag */
		1847	__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV0);
		1848	}
		1849	}
		1850
		1851	/* Receive FIFO 0 full interrupt management ********************************/
		1852	if ((interrupts & CAN_IT_RX_FIFO0_FULL) != 0U)
		1853	{
		1854	if ((rf0rflags & CAN_RF0R_FULL0) != 0U)
		1855	{
		1856	/* Clear FIFO 0 full Flag */
		1857	__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF0);
		1858
		1859	/* Receive FIFO 0 full Callback */
		1860	#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
		1861	/* Call registered callback*/
		1862	hcan->RxFifo0FullCallback(hcan);
		1863	#else
		1864	/* Call weak (surcharged) callback */
		1865	HAL_CAN_RxFifo0FullCallback(hcan);
		1866	#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
		1867	}
		1868	}
		1869
		1870	/* Receive FIFO 0 message pending interrupt management *********************/
		1871	if ((interrupts & CAN_IT_RX_FIFO0_MSG_PENDING) != 0U)
		1872	{
		1873	/* Check if message is still pending */
		1874	if ((hcan->Instance->RF0R & CAN_RF0R_FMP0) != 0U)
		1875	{
		1876	/* Receive FIFO 0 message pending Callback */
		1877	#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
		1878	/* Call registered callback*/
		1879	hcan->RxFifo0MsgPendingCallback(hcan);
		1880	#else
		1881	/* Call weak (surcharged) callback */
		1882	HAL_CAN_RxFifo0MsgPendingCallback(hcan);
		1883	#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
		1884	}
		1885	}
		1886
		1887	/* Receive FIFO 1 overrun interrupt management *****************************/
		1888	if ((interrupts & CAN_IT_RX_FIFO1_OVERRUN) != 0U)
		1889	{
		1890	if ((rf1rflags & CAN_RF1R_FOVR1) != 0U)
		1891	{
		1892	/* Set CAN error code to Rx Fifo 1 overrun error */
		1893	errorcode \|= HAL_CAN_ERROR_RX_FOV1;
		1894
		1895	/* Clear FIFO1 Overrun Flag */
		1896	__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV1);
		1897	}
		1898	}
		1899
		1900	/* Receive FIFO 1 full interrupt management ********************************/
		1901	if ((interrupts & CAN_IT_RX_FIFO1_FULL) != 0U)
		1902	{
		1903	if ((rf1rflags & CAN_RF1R_FULL1) != 0U)
		1904	{
		1905	/* Clear FIFO 1 full Flag */
		1906	__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF1);
		1907
		1908	/* Receive FIFO 1 full Callback */
		1909	#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
		1910	/* Call registered callback*/
		1911	hcan->RxFifo1FullCallback(hcan);
		1912	#else
		1913	/* Call weak (surcharged) callback */
		1914	HAL_CAN_RxFifo1FullCallback(hcan);
		1915	#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
		1916	}
		1917	}
		1918
		1919	/* Receive FIFO 1 message pending interrupt management *********************/
		1920	if ((interrupts & CAN_IT_RX_FIFO1_MSG_PENDING) != 0U)
		1921	{
		1922	/* Check if message is still pending */
		1923	if ((hcan->Instance->RF1R & CAN_RF1R_FMP1) != 0U)
		1924	{
		1925	/* Receive FIFO 1 message pending Callback */
		1926	#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
		1927	/* Call registered callback*/
		1928	hcan->RxFifo1MsgPendingCallback(hcan);
		1929	#else
		1930	/* Call weak (surcharged) callback */
		1931	HAL_CAN_RxFifo1MsgPendingCallback(hcan);
		1932	#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
		1933	}
		1934	}
		1935
		1936	/* Sleep interrupt management *********************************************/
		1937	if ((interrupts & CAN_IT_SLEEP_ACK) != 0U)
		1938	{
		1939	if ((msrflags & CAN_MSR_SLAKI) != 0U)
		1940	{
		1941	/* Clear Sleep interrupt Flag */
		1942	__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_SLAKI);
		1943
		1944	/* Sleep Callback */
		1945	#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
		1946	/* Call registered callback*/
		1947	hcan->SleepCallback(hcan);
		1948	#else
		1949	/* Call weak (surcharged) callback */
		1950	HAL_CAN_SleepCallback(hcan);
		1951	#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
		1952	}
		1953	}
		1954
		1955	/* WakeUp interrupt management *********************************************/
		1956	if ((interrupts & CAN_IT_WAKEUP) != 0U)
		1957	{
		1958	if ((msrflags & CAN_MSR_WKUI) != 0U)
		1959	{
		1960	/* Clear WakeUp Flag */
		1961	__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_WKU);
		1962
		1963	/* WakeUp Callback */
		1964	#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
		1965	/* Call registered callback*/
		1966	hcan->WakeUpFromRxMsgCallback(hcan);
		1967	#else
		1968	/* Call weak (surcharged) callback */
		1969	HAL_CAN_WakeUpFromRxMsgCallback(hcan);
		1970	#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
		1971	}
		1972	}
		1973
		1974	/* Error interrupts management *********************************************/
		1975	if ((interrupts & CAN_IT_ERROR) != 0U)
		1976	{
		1977	if ((msrflags & CAN_MSR_ERRI) != 0U)
		1978	{
		1979	/* Check Error Warning Flag */
		1980	if (((interrupts & CAN_IT_ERROR_WARNING) != 0U) &&
		1981	((esrflags & CAN_ESR_EWGF) != 0U))
		1982	{
		1983	/* Set CAN error code to Error Warning */
		1984	errorcode \|= HAL_CAN_ERROR_EWG;
		1985
		1986	/* No need for clear of Error Warning Flag as read-only */
		1987	}
		1988
		1989	/* Check Error Passive Flag */
		1990	if (((interrupts & CAN_IT_ERROR_PASSIVE) != 0U) &&
		1991	((esrflags & CAN_ESR_EPVF) != 0U))
		1992	{
		1993	/* Set CAN error code to Error Passive */
		1994	errorcode \|= HAL_CAN_ERROR_EPV;
		1995
		1996	/* No need for clear of Error Passive Flag as read-only */
		1997	}
		1998
		1999	/* Check Bus-off Flag */
		2000	if (((interrupts & CAN_IT_BUSOFF) != 0U) &&
		2001	((esrflags & CAN_ESR_BOFF) != 0U))
		2002	{
		2003	/* Set CAN error code to Bus-Off */
		2004	errorcode \|= HAL_CAN_ERROR_BOF;
		2005
		2006	/* No need for clear of Error Bus-Off as read-only */
		2007	}
		2008
		2009	/* Check Last Error Code Flag */
		2010	if (((interrupts & CAN_IT_LAST_ERROR_CODE) != 0U) &&
		2011	((esrflags & CAN_ESR_LEC) != 0U))
		2012	{
		2013	switch (esrflags & CAN_ESR_LEC)
		2014	{
		2015	case (CAN_ESR_LEC_0):
		2016	/* Set CAN error code to Stuff error */
		2017	errorcode \|= HAL_CAN_ERROR_STF;
		2018	break;
		2019	case (CAN_ESR_LEC_1):
		2020	/* Set CAN error code to Form error */
		2021	errorcode \|= HAL_CAN_ERROR_FOR;
		2022	break;
		2023	case (CAN_ESR_LEC_1 \| CAN_ESR_LEC_0):
		2024	/* Set CAN error code to Acknowledgement error */
		2025	errorcode \|= HAL_CAN_ERROR_ACK;
		2026	break;
		2027	case (CAN_ESR_LEC_2):
		2028	/* Set CAN error code to Bit recessive error */
		2029	errorcode \|= HAL_CAN_ERROR_BR;
		2030	break;
		2031	case (CAN_ESR_LEC_2 \| CAN_ESR_LEC_0):
		2032	/* Set CAN error code to Bit Dominant error */
		2033	errorcode \|= HAL_CAN_ERROR_BD;
		2034	break;
		2035	case (CAN_ESR_LEC_2 \| CAN_ESR_LEC_1):
		2036	/* Set CAN error code to CRC error */
		2037	errorcode \|= HAL_CAN_ERROR_CRC;
		2038	break;
		2039	default:
		2040	break;
		2041	}
		2042
		2043	/* Clear Last error code Flag */
		2044	CLEAR_BIT(hcan->Instance->ESR, CAN_ESR_LEC);
		2045	}
		2046	}
		2047
		2048	/* Clear ERRI Flag */
		2049	__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_ERRI);
		2050	}
		2051
		2052	/* Call the Error call Back in case of Errors */
		2053	if (errorcode != HAL_CAN_ERROR_NONE)
		2054	{
		2055	/* Update error code in handle */
		2056	hcan->ErrorCode \|= errorcode;
		2057
		2058	/* Call Error callback function */
		2059	#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
		2060	/* Call registered callback*/
		2061	hcan->ErrorCallback(hcan);
		2062	#else
		2063	/* Call weak (surcharged) callback */
		2064	HAL_CAN_ErrorCallback(hcan);
		2065	#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
		2066	}
		2067	}
		2068
		2069	/**
		2070	* @}
		2071	*/
		2072
		2073	/** @defgroup CAN_Exported_Functions_Group5 Callback functions
		2074	* @brief CAN Callback functions
		2075	*
		2076	@verbatim
		2077	==============================================================================
		2078	##### Callback functions #####
		2079	==============================================================================
		2080	[..]
		2081	This subsection provides the following callback functions:
		2082	(+) HAL_CAN_TxMailbox0CompleteCallback
		2083	(+) HAL_CAN_TxMailbox1CompleteCallback
		2084	(+) HAL_CAN_TxMailbox2CompleteCallback
		2085	(+) HAL_CAN_TxMailbox0AbortCallback
		2086	(+) HAL_CAN_TxMailbox1AbortCallback
		2087	(+) HAL_CAN_TxMailbox2AbortCallback
		2088	(+) HAL_CAN_RxFifo0MsgPendingCallback
		2089	(+) HAL_CAN_RxFifo0FullCallback
		2090	(+) HAL_CAN_RxFifo1MsgPendingCallback
		2091	(+) HAL_CAN_RxFifo1FullCallback
		2092	(+) HAL_CAN_SleepCallback
		2093	(+) HAL_CAN_WakeUpFromRxMsgCallback
		2094	(+) HAL_CAN_ErrorCallback
		2095
		2096	@endverbatim
		2097	* @{
		2098	*/
		2099
		2100	/**
		2101	* @brief Transmission Mailbox 0 complete callback.
		2102	* @param hcan pointer to a CAN_HandleTypeDef structure that contains
		2103	* the configuration information for the specified CAN.
		2104	* @retval None
		2105	*/
		2106	__weak void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan)
		2107	{
		2108	/* Prevent unused argument(s) compilation warning */
		2109	UNUSED(hcan);
		2110
		2111	/* NOTE : This function Should not be modified, when the callback is needed,
		2112	the HAL_CAN_TxMailbox0CompleteCallback could be implemented in the
		2113	user file
		2114	*/
		2115	}
		2116
		2117	/**
		2118	* @brief Transmission Mailbox 1 complete callback.
		2119	* @param hcan pointer to a CAN_HandleTypeDef structure that contains
		2120	* the configuration information for the specified CAN.
		2121	* @retval None
		2122	*/
		2123	__weak void HAL_CAN_TxMailbox1CompleteCallback(CAN_HandleTypeDef *hcan)
		2124	{
		2125	/* Prevent unused argument(s) compilation warning */
		2126	UNUSED(hcan);
		2127
		2128	/* NOTE : This function Should not be modified, when the callback is needed,
		2129	the HAL_CAN_TxMailbox1CompleteCallback could be implemented in the
		2130	user file
		2131	*/
		2132	}
		2133
		2134	/**
		2135	* @brief Transmission Mailbox 2 complete callback.
		2136	* @param hcan pointer to a CAN_HandleTypeDef structure that contains
		2137	* the configuration information for the specified CAN.
		2138	* @retval None
		2139	*/
		2140	__weak void HAL_CAN_TxMailbox2CompleteCallback(CAN_HandleTypeDef *hcan)
		2141	{
		2142	/* Prevent unused argument(s) compilation warning */
		2143	UNUSED(hcan);
		2144
		2145	/* NOTE : This function Should not be modified, when the callback is needed,
		2146	the HAL_CAN_TxMailbox2CompleteCallback could be implemented in the
		2147	user file
		2148	*/
		2149	}
		2150
		2151	/**
		2152	* @brief Transmission Mailbox 0 Cancellation callback.
		2153	* @param hcan pointer to an CAN_HandleTypeDef structure that contains
		2154	* the configuration information for the specified CAN.
		2155	* @retval None
		2156	*/
		2157	__weak void HAL_CAN_TxMailbox0AbortCallback(CAN_HandleTypeDef *hcan)
		2158	{
		2159	/* Prevent unused argument(s) compilation warning */
		2160	UNUSED(hcan);
		2161
		2162	/* NOTE : This function Should not be modified, when the callback is needed,
		2163	the HAL_CAN_TxMailbox0AbortCallback could be implemented in the
		2164	user file
		2165	*/
		2166	}
		2167
		2168	/**
		2169	* @brief Transmission Mailbox 1 Cancellation callback.
		2170	* @param hcan pointer to an CAN_HandleTypeDef structure that contains
		2171	* the configuration information for the specified CAN.
		2172	* @retval None
		2173	*/
		2174	__weak void HAL_CAN_TxMailbox1AbortCallback(CAN_HandleTypeDef *hcan)
		2175	{
		2176	/* Prevent unused argument(s) compilation warning */
		2177	UNUSED(hcan);
		2178
		2179	/* NOTE : This function Should not be modified, when the callback is needed,
		2180	the HAL_CAN_TxMailbox1AbortCallback could be implemented in the
		2181	user file
		2182	*/
		2183	}
		2184
		2185	/**
		2186	* @brief Transmission Mailbox 2 Cancellation callback.
		2187	* @param hcan pointer to an CAN_HandleTypeDef structure that contains
		2188	* the configuration information for the specified CAN.
		2189	* @retval None
		2190	*/
		2191	__weak void HAL_CAN_TxMailbox2AbortCallback(CAN_HandleTypeDef *hcan)
		2192	{
		2193	/* Prevent unused argument(s) compilation warning */
		2194	UNUSED(hcan);
		2195
		2196	/* NOTE : This function Should not be modified, when the callback is needed,
		2197	the HAL_CAN_TxMailbox2AbortCallback could be implemented in the
		2198	user file
		2199	*/
		2200	}
		2201
		2202	/**
		2203	* @brief Rx FIFO 0 message pending callback.
		2204	* @param hcan pointer to a CAN_HandleTypeDef structure that contains
		2205	* the configuration information for the specified CAN.
		2206	* @retval None
		2207	*/
		2208	__weak void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
		2209	{
		2210	/* Prevent unused argument(s) compilation warning */
		2211	UNUSED(hcan);
		2212
		2213	/* NOTE : This function Should not be modified, when the callback is needed,
		2214	the HAL_CAN_RxFifo0MsgPendingCallback could be implemented in the
		2215	user file
		2216	*/
		2217	}
		2218
		2219	/**
		2220	* @brief Rx FIFO 0 full callback.
		2221	* @param hcan pointer to a CAN_HandleTypeDef structure that contains
		2222	* the configuration information for the specified CAN.
		2223	* @retval None
		2224	*/
		2225	__weak void HAL_CAN_RxFifo0FullCallback(CAN_HandleTypeDef *hcan)
		2226	{
		2227	/* Prevent unused argument(s) compilation warning */
		2228	UNUSED(hcan);
		2229
		2230	/* NOTE : This function Should not be modified, when the callback is needed,
		2231	the HAL_CAN_RxFifo0FullCallback could be implemented in the user
		2232	file
		2233	*/
		2234	}
		2235
		2236	/**
		2237	* @brief Rx FIFO 1 message pending callback.
		2238	* @param hcan pointer to a CAN_HandleTypeDef structure that contains
		2239	* the configuration information for the specified CAN.
		2240	* @retval None
		2241	*/
		2242	__weak void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan)
		2243	{
		2244	/* Prevent unused argument(s) compilation warning */
		2245	UNUSED(hcan);
		2246
		2247	/* NOTE : This function Should not be modified, when the callback is needed,
		2248	the HAL_CAN_RxFifo1MsgPendingCallback could be implemented in the
		2249	user file
		2250	*/
		2251	}
		2252
		2253	/**
		2254	* @brief Rx FIFO 1 full callback.
		2255	* @param hcan pointer to a CAN_HandleTypeDef structure that contains
		2256	* the configuration information for the specified CAN.
		2257	* @retval None
		2258	*/
		2259	__weak void HAL_CAN_RxFifo1FullCallback(CAN_HandleTypeDef *hcan)
		2260	{
		2261	/* Prevent unused argument(s) compilation warning */
		2262	UNUSED(hcan);
		2263
		2264	/* NOTE : This function Should not be modified, when the callback is needed,
		2265	the HAL_CAN_RxFifo1FullCallback could be implemented in the user
		2266	file
		2267	*/
		2268	}
		2269
		2270	/**
		2271	* @brief Sleep callback.
		2272	* @param hcan pointer to a CAN_HandleTypeDef structure that contains
		2273	* the configuration information for the specified CAN.
		2274	* @retval None
		2275	*/
		2276	__weak void HAL_CAN_SleepCallback(CAN_HandleTypeDef *hcan)
		2277	{
		2278	/* Prevent unused argument(s) compilation warning */
		2279	UNUSED(hcan);
		2280
		2281	/* NOTE : This function Should not be modified, when the callback is needed,
		2282	the HAL_CAN_SleepCallback could be implemented in the user file
		2283	*/
		2284	}
		2285
		2286	/**
		2287	* @brief WakeUp from Rx message callback.
		2288	* @param hcan pointer to a CAN_HandleTypeDef structure that contains
		2289	* the configuration information for the specified CAN.
		2290	* @retval None
		2291	*/
		2292	__weak void HAL_CAN_WakeUpFromRxMsgCallback(CAN_HandleTypeDef *hcan)
		2293	{
		2294	/* Prevent unused argument(s) compilation warning */
		2295	UNUSED(hcan);
		2296
		2297	/* NOTE : This function Should not be modified, when the callback is needed,
		2298	the HAL_CAN_WakeUpFromRxMsgCallback could be implemented in the
		2299	user file
		2300	*/
		2301	}
		2302
		2303	/**
		2304	* @brief Error CAN callback.
		2305	* @param hcan pointer to a CAN_HandleTypeDef structure that contains
		2306	* the configuration information for the specified CAN.
		2307	* @retval None
		2308	*/
		2309	__weak void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan)
		2310	{
		2311	/* Prevent unused argument(s) compilation warning */
		2312	UNUSED(hcan);
		2313
		2314	/* NOTE : This function Should not be modified, when the callback is needed,
		2315	the HAL_CAN_ErrorCallback could be implemented in the user file
		2316	*/
		2317	}
		2318
		2319	/**
		2320	* @}
		2321	*/
		2322
		2323	/** @defgroup CAN_Exported_Functions_Group6 Peripheral State and Error functions
		2324	* @brief CAN Peripheral State functions
		2325	*
		2326	@verbatim
		2327	==============================================================================
		2328	##### Peripheral State and Error functions #####
		2329	==============================================================================
		2330	[..]
		2331	This subsection provides functions allowing to :
		2332	(+) HAL_CAN_GetState() : Return the CAN state.
		2333	(+) HAL_CAN_GetError() : Return the CAN error codes if any.
		2334	(+) HAL_CAN_ResetError(): Reset the CAN error codes if any.
		2335
		2336	@endverbatim
		2337	* @{
		2338	*/
		2339
		2340	/**
		2341	* @brief Return the CAN state.
		2342	* @param hcan pointer to a CAN_HandleTypeDef structure that contains
		2343	* the configuration information for the specified CAN.
		2344	* @retval HAL state
		2345	*/
		2346	HAL_CAN_StateTypeDef HAL_CAN_GetState(CAN_HandleTypeDef *hcan)
		2347	{
		2348	HAL_CAN_StateTypeDef state = hcan->State;
		2349
		2350	if ((state == HAL_CAN_STATE_READY) \|\|
		2351	(state == HAL_CAN_STATE_LISTENING))
		2352	{
		2353	/* Check sleep mode acknowledge flag */
		2354	if ((hcan->Instance->MSR & CAN_MSR_SLAK) != 0U)
		2355	{
		2356	/* Sleep mode is active */
		2357	state = HAL_CAN_STATE_SLEEP_ACTIVE;
		2358	}
		2359	/* Check sleep mode request flag */
		2360	else if ((hcan->Instance->MCR & CAN_MCR_SLEEP) != 0U)
		2361	{
		2362	/* Sleep mode request is pending */
		2363	state = HAL_CAN_STATE_SLEEP_PENDING;
		2364	}
		2365	else
		2366	{
		2367	/* Neither sleep mode request nor sleep mode acknowledge */
		2368	}
		2369	}
		2370
		2371	/* Return CAN state */
		2372	return state;
		2373	}
		2374
		2375	/**
		2376	* @brief Return the CAN error code.
		2377	* @param hcan pointer to a CAN_HandleTypeDef structure that contains
		2378	* the configuration information for the specified CAN.
		2379	* @retval CAN Error Code
		2380	*/
		2381	uint32_t HAL_CAN_GetError(CAN_HandleTypeDef *hcan)
		2382	{
		2383	/* Return CAN error code */
		2384	return hcan->ErrorCode;
		2385	}
		2386
		2387	/**
		2388	* @brief Reset the CAN error code.
		2389	* @param hcan pointer to a CAN_HandleTypeDef structure that contains
		2390	* the configuration information for the specified CAN.
		2391	* @retval HAL status
		2392	*/
		2393	HAL_StatusTypeDef HAL_CAN_ResetError(CAN_HandleTypeDef *hcan)
		2394	{
		2395	HAL_StatusTypeDef status = HAL_OK;
		2396	HAL_CAN_StateTypeDef state = hcan->State;
		2397
		2398	if ((state == HAL_CAN_STATE_READY) \|\|
		2399	(state == HAL_CAN_STATE_LISTENING))
		2400	{
		2401	/* Reset CAN error code */
		2402	hcan->ErrorCode = 0U;
		2403	}
		2404	else
		2405	{
		2406	/* Update error code */
		2407	hcan->ErrorCode \|= HAL_CAN_ERROR_NOT_INITIALIZED;
		2408
		2409	status = HAL_ERROR;
		2410	}
		2411
		2412	/* Return the status */
		2413	return status;
		2414	}
		2415
		2416	/**
		2417	* @}
		2418	*/
		2419
		2420	/**
		2421	* @}
		2422	*/
		2423
		2424	#endif /* HAL_CAN_MODULE_ENABLED */
		2425
		2426	/**
		2427	* @}
		2428	*/
		2429
		2430	#endif /* CAN1 */
		2431
		2432	/**
		2433	* @}
		2434	*/
		2435
		2436	/********************** (C) COPYRIGHT STMicroelectronics *END OF FILE**/

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(root)/trunk/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_can.c – Rev 2