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

 /**
   ******************************************************************************
   * @file    stm32f1xx_hal_can.c
   * @author  MCD Application Team
   * @brief   CAN HAL module driver.
   *          This file provides firmware functions to manage the following
   *          functionalities of the Controller Area Network (CAN) peripheral:
   *           + Initialization and de-initialization functions
   *           + Configuration functions
   *           + Control functions
   *           + Interrupts management
   *           + Callbacks functions
   *           + Peripheral State and Error functions
   *
-  @verbatim
+  ******************************************************************************
-  ==============================================================================
+  * @attention
-                        ##### How to use this driver #####
+  *
-  ==============================================================================
+  * Copyright (c) 2016 STMicroelectronics.
-    [..]
+  * All rights reserved.
-      (#) Initialize the CAN low level resources by implementing the
+  *
-          HAL_CAN_MspInit():
+  * This software is licensed under terms that can be found in the LICENSE file
-         (++) Enable the CAN interface clock using __HAL_RCC_CANx_CLK_ENABLE()
+  * in the root directory of this software component.
-         (++) Configure CAN pins
+  * If no LICENSE file comes with this software, it is provided AS-IS.
-             (+++) Enable the clock for the CAN GPIOs
+  *
-             (+++) Configure CAN pins as alternate function open-drain
+  ******************************************************************************
-         (++) In case of using interrupts (e.g. HAL_CAN_ActivateNotification())
+  @verbatim
-             (+++) Configure the CAN interrupt priority using
+  ==============================================================================
-                   HAL_NVIC_SetPriority()
+                        ##### How to use this driver #####
-             (+++) Enable the CAN IRQ handler using HAL_NVIC_EnableIRQ()
+  ==============================================================================
-             (+++) In CAN IRQ handler, call HAL_CAN_IRQHandler()
+    [..]
+      (#) Initialize the CAN low level resources by implementing the
-      (#) Initialize the CAN peripheral using HAL_CAN_Init() function. This
+          HAL_CAN_MspInit():
-          function resorts to HAL_CAN_MspInit() for low-level initialization.
+         (++) Enable the CAN interface clock using __HAL_RCC_CANx_CLK_ENABLE()
+         (++) Configure CAN pins
-      (#) Configure the reception filters using the following configuration
+             (+++) Enable the clock for the CAN GPIOs
-          functions:
+             (+++) Configure CAN pins as alternate function open-drain
-            (++) HAL_CAN_ConfigFilter()
+         (++) In case of using interrupts (e.g. HAL_CAN_ActivateNotification())
+             (+++) Configure the CAN interrupt priority using
-      (#) Start the CAN module using HAL_CAN_Start() function. At this level
+                   HAL_NVIC_SetPriority()
-          the node is active on the bus: it receive messages, and can send
+             (+++) Enable the CAN IRQ handler using HAL_NVIC_EnableIRQ()
-          messages.
+             (+++) In CAN IRQ handler, call HAL_CAN_IRQHandler()
-      (#) To manage messages transmission, the following Tx control functions
+      (#) Initialize the CAN peripheral using HAL_CAN_Init() function. This
-          can be used:
+          function resorts to HAL_CAN_MspInit() for low-level initialization.
-            (++) HAL_CAN_AddTxMessage() to request transmission of a new
-                 message.
+      (#) Configure the reception filters using the following configuration
-            (++) HAL_CAN_AbortTxRequest() to abort transmission of a pending
+          functions:
-                 message.
+            (++) HAL_CAN_ConfigFilter()
-            (++) HAL_CAN_GetTxMailboxesFreeLevel() to get the number of free Tx
-                 mailboxes.
+      (#) Start the CAN module using HAL_CAN_Start() function. At this level
-            (++) HAL_CAN_IsTxMessagePending() to check if a message is pending
+          the node is active on the bus: it receive messages, and can send
-                 in a Tx mailbox.
+          messages.
-            (++) HAL_CAN_GetTxTimestamp() to get the timestamp of Tx message
-                 sent, if time triggered communication mode is enabled.
+      (#) To manage messages transmission, the following Tx control functions
+          can be used:
-      (#) When a message is received into the CAN Rx FIFOs, it can be retrieved
+            (++) HAL_CAN_AddTxMessage() to request transmission of a new
-          using the HAL_CAN_GetRxMessage() function. The function
+                 message.
-          HAL_CAN_GetRxFifoFillLevel() allows to know how many Rx message are
+            (++) HAL_CAN_AbortTxRequest() to abort transmission of a pending
-          stored in the Rx Fifo.
+                 message.
+            (++) HAL_CAN_GetTxMailboxesFreeLevel() to get the number of free Tx
-      (#) Calling the HAL_CAN_Stop() function stops the CAN module.
+                 mailboxes.
+            (++) HAL_CAN_IsTxMessagePending() to check if a message is pending
-      (#) The deinitialization is achieved with HAL_CAN_DeInit() function.
+                 in a Tx mailbox.
+            (++) HAL_CAN_GetTxTimestamp() to get the timestamp of Tx message
+                 sent, if time triggered communication mode is enabled.
-      *** Polling mode operation ***
-      ==============================
+      (#) When a message is received into the CAN Rx FIFOs, it can be retrieved
-    [..]
+          using the HAL_CAN_GetRxMessage() function. The function
-      (#) Reception:
+          HAL_CAN_GetRxFifoFillLevel() allows to know how many Rx message are
-            (++) Monitor reception of message using HAL_CAN_GetRxFifoFillLevel()
+          stored in the Rx Fifo.
-                 until at least one message is received.
-            (++) Then get the message using HAL_CAN_GetRxMessage().
+      (#) Calling the HAL_CAN_Stop() function stops the CAN module.
-      (#) Transmission:
+      (#) The deinitialization is achieved with HAL_CAN_DeInit() function.
-            (++) Monitor the Tx mailboxes availability until at least one Tx
-                 mailbox is free, using HAL_CAN_GetTxMailboxesFreeLevel().
-            (++) Then request transmission of a message using
+      *** Polling mode operation ***
-                 HAL_CAN_AddTxMessage().
+      ==============================
+    [..]
+      (#) Reception:
-      *** Interrupt mode operation ***
+            (++) Monitor reception of message using HAL_CAN_GetRxFifoFillLevel()
-      ================================
+                 until at least one message is received.
-    [..]
+            (++) Then get the message using HAL_CAN_GetRxMessage().
-      (#) Notifications are activated using HAL_CAN_ActivateNotification()
-          function. Then, the process can be controlled through the
+      (#) Transmission:
-          available user callbacks: HAL_CAN_xxxCallback(), using same APIs
+            (++) Monitor the Tx mailboxes availability until at least one Tx
-          HAL_CAN_GetRxMessage() and HAL_CAN_AddTxMessage().
+                 mailbox is free, using HAL_CAN_GetTxMailboxesFreeLevel().
+            (++) Then request transmission of a message using
-      (#) Notifications can be deactivated using
+                 HAL_CAN_AddTxMessage().
-          HAL_CAN_DeactivateNotification() function.
-      (#) Special care should be taken for CAN_IT_RX_FIFO0_MSG_PENDING and
+      *** Interrupt mode operation ***
-          CAN_IT_RX_FIFO1_MSG_PENDING notifications. These notifications trig
+      ================================
-          the callbacks HAL_CAN_RxFIFO0MsgPendingCallback() and
+    [..]
-          HAL_CAN_RxFIFO1MsgPendingCallback(). User has two possible options
+      (#) Notifications are activated using HAL_CAN_ActivateNotification()
-          here.
+          function. Then, the process can be controlled through the
-            (++) Directly get the Rx message in the callback, using
+          available user callbacks: HAL_CAN_xxxCallback(), using same APIs
-                 HAL_CAN_GetRxMessage().
+          HAL_CAN_GetRxMessage() and HAL_CAN_AddTxMessage().
-            (++) Or deactivate the notification in the callback without
-                 getting the Rx message. The Rx message can then be got later
+      (#) Notifications can be deactivated using
-                 using HAL_CAN_GetRxMessage(). Once the Rx message have been
+          HAL_CAN_DeactivateNotification() function.
-                 read, the notification can be activated again.
+      (#) Special care should be taken for CAN_IT_RX_FIFO0_MSG_PENDING and
+          CAN_IT_RX_FIFO1_MSG_PENDING notifications. These notifications trig
-      *** Sleep mode ***
+          the callbacks HAL_CAN_RxFIFO0MsgPendingCallback() and
-      ==================
+          HAL_CAN_RxFIFO1MsgPendingCallback(). User has two possible options
-    [..]
+          here.
-      (#) The CAN peripheral can be put in sleep mode (low power), using
+            (++) Directly get the Rx message in the callback, using
-          HAL_CAN_RequestSleep(). The sleep mode will be entered as soon as the
+                 HAL_CAN_GetRxMessage().
-          current CAN activity (transmission or reception of a CAN frame) will
+            (++) Or deactivate the notification in the callback without
-          be completed.
+                 getting the Rx message. The Rx message can then be got later
+                 using HAL_CAN_GetRxMessage(). Once the Rx message have been
-      (#) A notification can be activated to be informed when the sleep mode
+                 read, the notification can be activated again.
-          will be entered.
-      (#) It can be checked if the sleep mode is entered using
+      *** Sleep mode ***
-          HAL_CAN_IsSleepActive().
+      ==================
-          Note that the CAN state (accessible from the API HAL_CAN_GetState())
+    [..]
-          is HAL_CAN_STATE_SLEEP_PENDING as soon as the sleep mode request is
+      (#) The CAN peripheral can be put in sleep mode (low power), using
-          submitted (the sleep mode is not yet entered), and become
+          HAL_CAN_RequestSleep(). The sleep mode will be entered as soon as the
-          HAL_CAN_STATE_SLEEP_ACTIVE when the sleep mode is effective.
+          current CAN activity (transmission or reception of a CAN frame) will
+          be completed.
-      (#) The wake-up from sleep mode can be triggered by two ways:
-            (++) Using HAL_CAN_WakeUp(). When returning from this function,
+      (#) A notification can be activated to be informed when the sleep mode
-                 the sleep mode is exited (if return status is HAL_OK).
+          will be entered.
-            (++) When a start of Rx CAN frame is detected by the CAN peripheral,
-                 if automatic wake up mode is enabled.
+      (#) It can be checked if the sleep mode is entered using
+          HAL_CAN_IsSleepActive().
-  *** Callback registration ***
+          Note that the CAN state (accessible from the API HAL_CAN_GetState())
-  =============================================
+          is HAL_CAN_STATE_SLEEP_PENDING as soon as the sleep mode request is
+          submitted (the sleep mode is not yet entered), and become
-  The compilation define  USE_HAL_CAN_REGISTER_CALLBACKS when set to 1
+          HAL_CAN_STATE_SLEEP_ACTIVE when the sleep mode is effective.
-  allows the user to configure dynamically the driver callbacks.
-  Use Function @ref HAL_CAN_RegisterCallback() to register an interrupt callback.
+      (#) The wake-up from sleep mode can be triggered by two ways:
+            (++) Using HAL_CAN_WakeUp(). When returning from this function,
-  Function @ref HAL_CAN_RegisterCallback() allows to register following callbacks:
+                 the sleep mode is exited (if return status is HAL_OK).
-    (+) TxMailbox0CompleteCallback   : Tx Mailbox 0 Complete Callback.
+            (++) When a start of Rx CAN frame is detected by the CAN peripheral,
-    (+) TxMailbox1CompleteCallback   : Tx Mailbox 1 Complete Callback.
+                 if automatic wake up mode is enabled.
-    (+) TxMailbox2CompleteCallback   : Tx Mailbox 2 Complete Callback.
-    (+) TxMailbox0AbortCallback      : Tx Mailbox 0 Abort Callback.
+  *** Callback registration ***
-    (+) TxMailbox1AbortCallback      : Tx Mailbox 1 Abort Callback.
+  =============================================
-    (+) TxMailbox2AbortCallback      : Tx Mailbox 2 Abort Callback.
-    (+) RxFifo0MsgPendingCallback    : Rx Fifo 0 Message Pending Callback.
+  The compilation define  USE_HAL_CAN_REGISTER_CALLBACKS when set to 1
-    (+) RxFifo0FullCallback          : Rx Fifo 0 Full Callback.
+  allows the user to configure dynamically the driver callbacks.
-    (+) RxFifo1MsgPendingCallback    : Rx Fifo 1 Message Pending Callback.
+  Use Function HAL_CAN_RegisterCallback() to register an interrupt callback.
-    (+) RxFifo1FullCallback          : Rx Fifo 1 Full Callback.
-    (+) SleepCallback                : Sleep Callback.
+  Function HAL_CAN_RegisterCallback() allows to register following callbacks:
-    (+) WakeUpFromRxMsgCallback      : Wake Up From Rx Message Callback.
+    (+) TxMailbox0CompleteCallback   : Tx Mailbox 0 Complete Callback.
-    (+) ErrorCallback                : Error Callback.
+    (+) TxMailbox1CompleteCallback   : Tx Mailbox 1 Complete Callback.
-    (+) MspInitCallback              : CAN MspInit.
+    (+) TxMailbox2CompleteCallback   : Tx Mailbox 2 Complete Callback.
-    (+) MspDeInitCallback            : CAN MspDeInit.
+    (+) TxMailbox0AbortCallback      : Tx Mailbox 0 Abort Callback.
-  This function takes as parameters the HAL peripheral handle, the Callback ID
+    (+) TxMailbox1AbortCallback      : Tx Mailbox 1 Abort Callback.
-  and a pointer to the user callback function.
+    (+) TxMailbox2AbortCallback      : Tx Mailbox 2 Abort Callback.
+    (+) RxFifo0MsgPendingCallback    : Rx Fifo 0 Message Pending Callback.
-  Use function @ref HAL_CAN_UnRegisterCallback() to reset a callback to the default
+    (+) RxFifo0FullCallback          : Rx Fifo 0 Full Callback.
-  weak function.
+    (+) RxFifo1MsgPendingCallback    : Rx Fifo 1 Message Pending Callback.
-  @ref HAL_CAN_UnRegisterCallback takes as parameters the HAL peripheral handle,
+    (+) RxFifo1FullCallback          : Rx Fifo 1 Full Callback.
-  and the Callback ID.
+    (+) SleepCallback                : Sleep Callback.
-  This function allows to reset following callbacks:
+    (+) WakeUpFromRxMsgCallback      : Wake Up From Rx Message Callback.
-    (+) TxMailbox0CompleteCallback   : Tx Mailbox 0 Complete Callback.
+    (+) ErrorCallback                : Error Callback.
-    (+) TxMailbox1CompleteCallback   : Tx Mailbox 1 Complete Callback.
+    (+) MspInitCallback              : CAN MspInit.
-    (+) TxMailbox2CompleteCallback   : Tx Mailbox 2 Complete Callback.
+    (+) MspDeInitCallback            : CAN MspDeInit.
-    (+) TxMailbox0AbortCallback      : Tx Mailbox 0 Abort Callback.
+  This function takes as parameters the HAL peripheral handle, the Callback ID
-    (+) TxMailbox1AbortCallback      : Tx Mailbox 1 Abort Callback.
+  and a pointer to the user callback function.
-    (+) TxMailbox2AbortCallback      : Tx Mailbox 2 Abort Callback.
-    (+) RxFifo0MsgPendingCallback    : Rx Fifo 0 Message Pending Callback.
+  Use function HAL_CAN_UnRegisterCallback() to reset a callback to the default
-    (+) RxFifo0FullCallback          : Rx Fifo 0 Full Callback.
+  weak function.
-    (+) RxFifo1MsgPendingCallback    : Rx Fifo 1 Message Pending Callback.
+  HAL_CAN_UnRegisterCallback takes as parameters the HAL peripheral handle,
-    (+) RxFifo1FullCallback          : Rx Fifo 1 Full Callback.
+  and the Callback ID.
-    (+) SleepCallback                : Sleep Callback.
+  This function allows to reset following callbacks:
-    (+) WakeUpFromRxMsgCallback      : Wake Up From Rx Message Callback.
+    (+) TxMailbox0CompleteCallback   : Tx Mailbox 0 Complete Callback.
-    (+) ErrorCallback                : Error Callback.
+    (+) TxMailbox1CompleteCallback   : Tx Mailbox 1 Complete Callback.
-    (+) MspInitCallback              : CAN MspInit.
+    (+) TxMailbox2CompleteCallback   : Tx Mailbox 2 Complete Callback.
-    (+) MspDeInitCallback            : CAN MspDeInit.
+    (+) TxMailbox0AbortCallback      : Tx Mailbox 0 Abort Callback.
+    (+) TxMailbox1AbortCallback      : Tx Mailbox 1 Abort Callback.
-  By default, after the @ref HAL_CAN_Init() and when the state is HAL_CAN_STATE_RESET,
+    (+) TxMailbox2AbortCallback      : Tx Mailbox 2 Abort Callback.
-  all callbacks are set to the corresponding weak functions:
+    (+) RxFifo0MsgPendingCallback    : Rx Fifo 0 Message Pending Callback.
-  example @ref HAL_CAN_ErrorCallback().
+    (+) RxFifo0FullCallback          : Rx Fifo 0 Full Callback.
-  Exception done for MspInit and MspDeInit functions that are
+    (+) RxFifo1MsgPendingCallback    : Rx Fifo 1 Message Pending Callback.
-  reset to the legacy weak function in the @ref HAL_CAN_Init()/ @ref HAL_CAN_DeInit() only when
+    (+) RxFifo1FullCallback          : Rx Fifo 1 Full Callback.
-  these callbacks are null (not registered beforehand).
+    (+) SleepCallback                : Sleep Callback.
-  if not, MspInit or MspDeInit are not null, the @ref HAL_CAN_Init()/ @ref HAL_CAN_DeInit()
+    (+) WakeUpFromRxMsgCallback      : Wake Up From Rx Message Callback.
-  keep and use the user MspInit/MspDeInit callbacks (registered beforehand)
+    (+) ErrorCallback                : Error Callback.
+    (+) MspInitCallback              : CAN MspInit.
-  Callbacks can be registered/unregistered in HAL_CAN_STATE_READY state only.
+    (+) MspDeInitCallback            : CAN MspDeInit.
-  Exception done MspInit/MspDeInit that can be registered/unregistered
-  in HAL_CAN_STATE_READY or HAL_CAN_STATE_RESET state,
+  By default, after the HAL_CAN_Init() and when the state is HAL_CAN_STATE_RESET,
-  thus registered (user) MspInit/DeInit callbacks can be used during the Init/DeInit.
+  all callbacks are set to the corresponding weak functions:
-  In that case first register the MspInit/MspDeInit user callbacks
+  example HAL_CAN_ErrorCallback().
-  using @ref HAL_CAN_RegisterCallback() before calling @ref HAL_CAN_DeInit()
+  Exception done for MspInit and MspDeInit functions that are
-  or @ref HAL_CAN_Init() function.
+  reset to the legacy weak function in the HAL_CAN_Init()/ HAL_CAN_DeInit() only when
+  these callbacks are null (not registered beforehand).
-  When The compilation define USE_HAL_CAN_REGISTER_CALLBACKS is set to 0 or
+  if not, MspInit or MspDeInit are not null, the HAL_CAN_Init()/ HAL_CAN_DeInit()
-  not defined, the callback registration feature is not available and all callbacks
+  keep and use the user MspInit/MspDeInit callbacks (registered beforehand)
-  are set to the corresponding weak functions.
+  Callbacks can be registered/unregistered in HAL_CAN_STATE_READY state only.
-  @endverbatim
+  Exception done MspInit/MspDeInit that can be registered/unregistered
-  ******************************************************************************
+  in HAL_CAN_STATE_READY or HAL_CAN_STATE_RESET state,
-  * @attention
+  thus registered (user) MspInit/DeInit callbacks can be used during the Init/DeInit.
-  *
+  In that case first register the MspInit/MspDeInit user callbacks
-  * <h2><center>&copy; Copyright (c) 2016 STMicroelectronics.
+  using HAL_CAN_RegisterCallback() before calling HAL_CAN_DeInit()
-  * All rights reserved.</center></h2>
+  or HAL_CAN_Init() function.
-  *
-  * This software component is licensed by ST under BSD 3-Clause license,
+  When The compilation define USE_HAL_CAN_REGISTER_CALLBACKS is set to 0 or
-  * the "License"; You may not use this file except in compliance with the
+  not defined, the callback registration feature is not available and all callbacks
-  * License. You may obtain a copy of the License at:
+  are set to the corresponding weak functions.
-  *                        opensource.org/licenses/BSD-3-Clause
-  *
+  @endverbatim
   ******************************************************************************
   */
 /* Includes ------------------------------------------------------------------*/
 #include "stm32f1xx_hal.h"
 /** @addtogroup STM32F1xx_HAL_Driver
   * @{
   */
 #if defined(CAN1)
 /** @defgroup CAN CAN
   * @brief CAN driver modules
   * @{
   */
 #ifdef HAL_CAN_MODULE_ENABLED
 #ifdef HAL_CAN_LEGACY_MODULE_ENABLED
-  #error "The CAN driver cannot be used with its legacy, Please enable only one CAN module at once"
+#error "The CAN driver cannot be used with its legacy, Please enable only one CAN module at once"
-#endif
+#endif /* HAL_CAN_LEGACY_MODULE_ENABLED */
 /* Private typedef -----------------------------------------------------------*/
 /* Private define ------------------------------------------------------------*/
 /** @defgroup CAN_Private_Constants CAN Private Constants
   * @{
   */
 #define CAN_TIMEOUT_VALUE 10U
 /**
   * @}
   */
 /* Private macro -------------------------------------------------------------*/
 /* Private variables ---------------------------------------------------------*/
 /* Private function prototypes -----------------------------------------------*/
 /* Exported functions --------------------------------------------------------*/
 /** @defgroup CAN_Exported_Functions CAN Exported Functions
   * @{
   */
 /** @defgroup CAN_Exported_Functions_Group1 Initialization and de-initialization functions
  *  @brief    Initialization and Configuration functions
  *
 @verbatim
   ==============================================================================
               ##### Initialization and de-initialization functions #####
   ==============================================================================
     [..]  This section provides functions allowing to:
       (+) HAL_CAN_Init                       : Initialize and configure the CAN.
       (+) HAL_CAN_DeInit                     : De-initialize the CAN.
       (+) HAL_CAN_MspInit                    : Initialize the CAN MSP.
       (+) HAL_CAN_MspDeInit                  : DeInitialize the CAN MSP.
 @endverbatim
   * @{
   */
 /**
   * @brief  Initializes the CAN peripheral according to the specified
   *         parameters in the CAN_InitStruct.
   * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
   *         the configuration information for the specified CAN.
   * @retval HAL status
   */
 HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef *hcan)
 {
   uint32_t tickstart;
   /* Check CAN handle */
   if (hcan == NULL)
   {
     return HAL_ERROR;
   }
   /* Check the parameters */
   assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
   assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TimeTriggeredMode));
   assert_param(IS_FUNCTIONAL_STATE(hcan->Init.AutoBusOff));
   assert_param(IS_FUNCTIONAL_STATE(hcan->Init.AutoWakeUp));
   assert_param(IS_FUNCTIONAL_STATE(hcan->Init.AutoRetransmission));
   assert_param(IS_FUNCTIONAL_STATE(hcan->Init.ReceiveFifoLocked));
   assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TransmitFifoPriority));
   assert_param(IS_CAN_MODE(hcan->Init.Mode));
   assert_param(IS_CAN_SJW(hcan->Init.SyncJumpWidth));
   assert_param(IS_CAN_BS1(hcan->Init.TimeSeg1));
   assert_param(IS_CAN_BS2(hcan->Init.TimeSeg2));
   assert_param(IS_CAN_PRESCALER(hcan->Init.Prescaler));
 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
   if (hcan->State == HAL_CAN_STATE_RESET)
   {
     /* Reset callbacks to legacy functions */
     hcan->RxFifo0MsgPendingCallback  =  HAL_CAN_RxFifo0MsgPendingCallback;  /* Legacy weak RxFifo0MsgPendingCallback  */
     hcan->RxFifo0FullCallback        =  HAL_CAN_RxFifo0FullCallback;        /* Legacy weak RxFifo0FullCallback        */
     hcan->RxFifo1MsgPendingCallback  =  HAL_CAN_RxFifo1MsgPendingCallback;  /* Legacy weak RxFifo1MsgPendingCallback  */
     hcan->RxFifo1FullCallback        =  HAL_CAN_RxFifo1FullCallback;        /* Legacy weak RxFifo1FullCallback        */
     hcan->TxMailbox0CompleteCallback =  HAL_CAN_TxMailbox0CompleteCallback; /* Legacy weak TxMailbox0CompleteCallback */
     hcan->TxMailbox1CompleteCallback =  HAL_CAN_TxMailbox1CompleteCallback; /* Legacy weak TxMailbox1CompleteCallback */
     hcan->TxMailbox2CompleteCallback =  HAL_CAN_TxMailbox2CompleteCallback; /* Legacy weak TxMailbox2CompleteCallback */
     hcan->TxMailbox0AbortCallback    =  HAL_CAN_TxMailbox0AbortCallback;    /* Legacy weak TxMailbox0AbortCallback    */
     hcan->TxMailbox1AbortCallback    =  HAL_CAN_TxMailbox1AbortCallback;    /* Legacy weak TxMailbox1AbortCallback    */
     hcan->TxMailbox2AbortCallback    =  HAL_CAN_TxMailbox2AbortCallback;    /* Legacy weak TxMailbox2AbortCallback    */
     hcan->SleepCallback              =  HAL_CAN_SleepCallback;              /* Legacy weak SleepCallback              */
     hcan->WakeUpFromRxMsgCallback    =  HAL_CAN_WakeUpFromRxMsgCallback;    /* Legacy weak WakeUpFromRxMsgCallback    */
     hcan->ErrorCallback              =  HAL_CAN_ErrorCallback;              /* Legacy weak ErrorCallback              */
     if (hcan->MspInitCallback == NULL)
     {
       hcan->MspInitCallback = HAL_CAN_MspInit; /* Legacy weak MspInit */
     }
     /* Init the low level hardware: CLOCK, NVIC */
     hcan->MspInitCallback(hcan);
   }
 #else
   if (hcan->State == HAL_CAN_STATE_RESET)
   {
     /* Init the low level hardware: CLOCK, NVIC */
     HAL_CAN_MspInit(hcan);
   }
 #endif /* (USE_HAL_CAN_REGISTER_CALLBACKS) */
   /* Request initialisation */
   SET_BIT(hcan->Instance->MCR, CAN_MCR_INRQ);
   /* Get tick */
   tickstart = HAL_GetTick();
   /* Wait initialisation acknowledge */
   while ((hcan->Instance->MSR & CAN_MSR_INAK) == 0U)
   {
     if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
     {
       /* Update error code */
       hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;
       /* Change CAN state */
       hcan->State = HAL_CAN_STATE_ERROR;
       return HAL_ERROR;
     }
   }
   /* Exit from sleep mode */
   CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
   /* Get tick */
   tickstart = HAL_GetTick();
   /* Check Sleep mode leave acknowledge */
   while ((hcan->Instance->MSR & CAN_MSR_SLAK) != 0U)
   {
     if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
     {
       /* Update error code */
       hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;
       /* Change CAN state */
       hcan->State = HAL_CAN_STATE_ERROR;
       return HAL_ERROR;
     }
   }
   /* Set the time triggered communication mode */
   if (hcan->Init.TimeTriggeredMode == ENABLE)
   {
     SET_BIT(hcan->Instance->MCR, CAN_MCR_TTCM);
   }
   else
   {
     CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_TTCM);
   }
   /* Set the automatic bus-off management */
   if (hcan->Init.AutoBusOff == ENABLE)
   {
     SET_BIT(hcan->Instance->MCR, CAN_MCR_ABOM);
   }
   else
   {
     CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_ABOM);
   }
   /* Set the automatic wake-up mode */
   if (hcan->Init.AutoWakeUp == ENABLE)
   {
     SET_BIT(hcan->Instance->MCR, CAN_MCR_AWUM);
   }
   else
   {
     CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_AWUM);
   }
   /* Set the automatic retransmission */
   if (hcan->Init.AutoRetransmission == ENABLE)
   {
     CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_NART);
   }
   else
   {
     SET_BIT(hcan->Instance->MCR, CAN_MCR_NART);
   }
   /* Set the receive FIFO locked mode */
   if (hcan->Init.ReceiveFifoLocked == ENABLE)
   {
     SET_BIT(hcan->Instance->MCR, CAN_MCR_RFLM);
   }
   else
   {
     CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_RFLM);
   }
   /* Set the transmit FIFO priority */
   if (hcan->Init.TransmitFifoPriority == ENABLE)
   {
     SET_BIT(hcan->Instance->MCR, CAN_MCR_TXFP);
   }
   else
   {
     CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_TXFP);
   }
   /* Set the bit timing register */
   WRITE_REG(hcan->Instance->BTR, (uint32_t)(hcan->Init.Mode           |
                                             hcan->Init.SyncJumpWidth  |
                                             hcan->Init.TimeSeg1       |
                                             hcan->Init.TimeSeg2       |
                                             (hcan->Init.Prescaler - 1U)));
   /* Initialize the error code */
   hcan->ErrorCode = HAL_CAN_ERROR_NONE;
   /* Initialize the CAN state */
   hcan->State = HAL_CAN_STATE_READY;
   /* Return function status */
   return HAL_OK;
 }
 /**
   * @brief  Deinitializes the CAN peripheral registers to their default
   *         reset values.
   * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
   *         the configuration information for the specified CAN.
   * @retval HAL status
   */
 HAL_StatusTypeDef HAL_CAN_DeInit(CAN_HandleTypeDef *hcan)
 {
   /* Check CAN handle */
   if (hcan == NULL)
   {
     return HAL_ERROR;
   }
   /* Check the parameters */
   assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
   /* Stop the CAN module */
   (void)HAL_CAN_Stop(hcan);
 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
   if (hcan->MspDeInitCallback == NULL)
   {
     hcan->MspDeInitCallback = HAL_CAN_MspDeInit; /* Legacy weak MspDeInit */
   }
   /* DeInit the low level hardware: CLOCK, NVIC */
   hcan->MspDeInitCallback(hcan);
 #else
   /* DeInit the low level hardware: CLOCK, NVIC */
   HAL_CAN_MspDeInit(hcan);
 #endif /* (USE_HAL_CAN_REGISTER_CALLBACKS) */
   /* Reset the CAN peripheral */
   SET_BIT(hcan->Instance->MCR, CAN_MCR_RESET);
   /* Reset the CAN ErrorCode */
   hcan->ErrorCode = HAL_CAN_ERROR_NONE;
   /* Change CAN state */
   hcan->State = HAL_CAN_STATE_RESET;
   /* Return function status */
   return HAL_OK;
 }
 /**
   * @brief  Initializes the CAN MSP.
   * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
   *         the configuration information for the specified CAN.
   * @retval None
   */
 __weak void HAL_CAN_MspInit(CAN_HandleTypeDef *hcan)
 {
   /* Prevent unused argument(s) compilation warning */
   UNUSED(hcan);
   /* NOTE : This function Should not be modified, when the callback is needed,
             the HAL_CAN_MspInit could be implemented in the user file
    */
 }
 /**
   * @brief  DeInitializes the CAN MSP.
   * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
   *         the configuration information for the specified CAN.
   * @retval None
   */
 __weak void HAL_CAN_MspDeInit(CAN_HandleTypeDef *hcan)
 {
   /* Prevent unused argument(s) compilation warning */
   UNUSED(hcan);
   /* NOTE : This function Should not be modified, when the callback is needed,
             the HAL_CAN_MspDeInit could be implemented in the user file
    */
 }
 #if USE_HAL_CAN_REGISTER_CALLBACKS == 1
 /**
   * @brief  Register a CAN CallBack.
   *         To be used instead of the weak predefined callback
   * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
   *         the configuration information for CAN module
   * @param  CallbackID ID of the callback to be registered
   *         This parameter can be one of the following values:
   *           @arg @ref HAL_CAN_TX_MAILBOX0_COMPLETE_CB_ID Tx Mailbox 0 Complete callback ID
   *           @arg @ref HAL_CAN_TX_MAILBOX1_COMPLETE_CB_ID Tx Mailbox 1 Complete callback ID
   *           @arg @ref HAL_CAN_TX_MAILBOX2_COMPLETE_CB_ID Tx Mailbox 2 Complete callback ID
   *           @arg @ref HAL_CAN_TX_MAILBOX0_ABORT_CB_ID Tx Mailbox 0 Abort callback ID
   *           @arg @ref HAL_CAN_TX_MAILBOX1_ABORT_CB_ID Tx Mailbox 1 Abort callback ID
   *           @arg @ref HAL_CAN_TX_MAILBOX2_ABORT_CB_ID Tx Mailbox 2 Abort callback ID
   *           @arg @ref HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID Rx Fifo 0 message pending callback ID
   *           @arg @ref HAL_CAN_RX_FIFO0_FULL_CB_ID Rx Fifo 0 full callback ID
   *           @arg @ref HAL_CAN_RX_FIFO1_MSG_PENDING_CB_ID Rx Fifo 1 message pending callback ID
   *           @arg @ref HAL_CAN_RX_FIFO1_FULL_CB_ID Rx Fifo 1 full callback ID
   *           @arg @ref HAL_CAN_SLEEP_CB_ID Sleep callback ID
   *           @arg @ref HAL_CAN_WAKEUP_FROM_RX_MSG_CB_ID Wake Up from Rx message callback ID
   *           @arg @ref HAL_CAN_ERROR_CB_ID Error callback ID
   *           @arg @ref HAL_CAN_MSPINIT_CB_ID MspInit callback ID
   *           @arg @ref HAL_CAN_MSPDEINIT_CB_ID MspDeInit callback ID
   * @param  pCallback pointer to the Callback function
   * @retval HAL status
   */
-HAL_StatusTypeDef HAL_CAN_RegisterCallback(CAN_HandleTypeDef *hcan, HAL_CAN_CallbackIDTypeDef CallbackID, void (* pCallback)(CAN_HandleTypeDef *_hcan))
+HAL_StatusTypeDef HAL_CAN_RegisterCallback(CAN_HandleTypeDef *hcan, HAL_CAN_CallbackIDTypeDef CallbackID,
-{
+                                           void (* pCallback)(CAN_HandleTypeDef *_hcan))
-  HAL_StatusTypeDef status = HAL_OK;
+{
+  HAL_StatusTypeDef status = HAL_OK;
-  if (pCallback == NULL)
-  {
+  if (pCallback == NULL)
-    /* Update the error code */
+  {
-    hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
+    /* Update the error code */
+    hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
-    return HAL_ERROR;
-  }
+    return HAL_ERROR;
+  }
-  if (hcan->State == HAL_CAN_STATE_READY)
-  {
+  if (hcan->State == HAL_CAN_STATE_READY)
-    switch (CallbackID)
+  {
-    {
+    switch (CallbackID)
-      case HAL_CAN_TX_MAILBOX0_COMPLETE_CB_ID :
+    {
-        hcan->TxMailbox0CompleteCallback = pCallback;
+      case HAL_CAN_TX_MAILBOX0_COMPLETE_CB_ID :
-        break;
+        hcan->TxMailbox0CompleteCallback = pCallback;
+        break;
-      case HAL_CAN_TX_MAILBOX1_COMPLETE_CB_ID :
-        hcan->TxMailbox1CompleteCallback = pCallback;
+      case HAL_CAN_TX_MAILBOX1_COMPLETE_CB_ID :
-        break;
+        hcan->TxMailbox1CompleteCallback = pCallback;
+        break;
-      case HAL_CAN_TX_MAILBOX2_COMPLETE_CB_ID :
-        hcan->TxMailbox2CompleteCallback = pCallback;
+      case HAL_CAN_TX_MAILBOX2_COMPLETE_CB_ID :
-        break;
+        hcan->TxMailbox2CompleteCallback = pCallback;
+        break;
-      case HAL_CAN_TX_MAILBOX0_ABORT_CB_ID :
-        hcan->TxMailbox0AbortCallback = pCallback;
+      case HAL_CAN_TX_MAILBOX0_ABORT_CB_ID :
-        break;
+        hcan->TxMailbox0AbortCallback = pCallback;
+        break;
-      case HAL_CAN_TX_MAILBOX1_ABORT_CB_ID :
-        hcan->TxMailbox1AbortCallback = pCallback;
+      case HAL_CAN_TX_MAILBOX1_ABORT_CB_ID :
-        break;
+        hcan->TxMailbox1AbortCallback = pCallback;
+        break;
-      case HAL_CAN_TX_MAILBOX2_ABORT_CB_ID :
-        hcan->TxMailbox2AbortCallback = pCallback;
+      case HAL_CAN_TX_MAILBOX2_ABORT_CB_ID :
-        break;
+        hcan->TxMailbox2AbortCallback = pCallback;
+        break;
-      case HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID :
-        hcan->RxFifo0MsgPendingCallback = pCallback;
+      case HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID :
-        break;
+        hcan->RxFifo0MsgPendingCallback = pCallback;
+        break;
-      case HAL_CAN_RX_FIFO0_FULL_CB_ID :
-        hcan->RxFifo0FullCallback = pCallback;
+      case HAL_CAN_RX_FIFO0_FULL_CB_ID :
-        break;
+        hcan->RxFifo0FullCallback = pCallback;
+        break;
-      case HAL_CAN_RX_FIFO1_MSG_PENDING_CB_ID :
-        hcan->RxFifo1MsgPendingCallback = pCallback;
+      case HAL_CAN_RX_FIFO1_MSG_PENDING_CB_ID :
-        break;
+        hcan->RxFifo1MsgPendingCallback = pCallback;
+        break;
-      case HAL_CAN_RX_FIFO1_FULL_CB_ID :
-        hcan->RxFifo1FullCallback = pCallback;
+      case HAL_CAN_RX_FIFO1_FULL_CB_ID :
-        break;
+        hcan->RxFifo1FullCallback = pCallback;
+        break;
-      case HAL_CAN_SLEEP_CB_ID :
-        hcan->SleepCallback = pCallback;
+      case HAL_CAN_SLEEP_CB_ID :
-        break;
+        hcan->SleepCallback = pCallback;
+        break;
-      case HAL_CAN_WAKEUP_FROM_RX_MSG_CB_ID :
-        hcan->WakeUpFromRxMsgCallback = pCallback;
+      case HAL_CAN_WAKEUP_FROM_RX_MSG_CB_ID :
-        break;
+        hcan->WakeUpFromRxMsgCallback = pCallback;
+        break;
-      case HAL_CAN_ERROR_CB_ID :
-        hcan->ErrorCallback = pCallback;
+      case HAL_CAN_ERROR_CB_ID :
-        break;
+        hcan->ErrorCallback = pCallback;
+        break;
-      case HAL_CAN_MSPINIT_CB_ID :
-        hcan->MspInitCallback = pCallback;
+      case HAL_CAN_MSPINIT_CB_ID :
-        break;
+        hcan->MspInitCallback = pCallback;
+        break;
-      case HAL_CAN_MSPDEINIT_CB_ID :
-        hcan->MspDeInitCallback = pCallback;
+      case HAL_CAN_MSPDEINIT_CB_ID :
-        break;
+        hcan->MspDeInitCallback = pCallback;
+        break;
-      default :
-        /* Update the error code */
+      default :
-        hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
+        /* Update the error code */
+        hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
-        /* Return error status */
-        status =  HAL_ERROR;
+        /* Return error status */
-        break;
+        status =  HAL_ERROR;
-    }
+        break;
-  }
+    }
-  else if (hcan->State == HAL_CAN_STATE_RESET)
+  }
-  {
+  else if (hcan->State == HAL_CAN_STATE_RESET)
-    switch (CallbackID)
+  {
-    {
+    switch (CallbackID)
-      case HAL_CAN_MSPINIT_CB_ID :
+    {
-        hcan->MspInitCallback = pCallback;
+      case HAL_CAN_MSPINIT_CB_ID :
-        break;
+        hcan->MspInitCallback = pCallback;
+        break;
-      case HAL_CAN_MSPDEINIT_CB_ID :
-        hcan->MspDeInitCallback = pCallback;
+      case HAL_CAN_MSPDEINIT_CB_ID :
-        break;
+        hcan->MspDeInitCallback = pCallback;
+        break;
-      default :
-        /* Update the error code */
+      default :
-        hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
+        /* Update the error code */
+        hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
-        /* Return error status */
-        status =  HAL_ERROR;
+        /* Return error status */
-        break;
+        status =  HAL_ERROR;
-    }
+        break;
-  }
+    }
-  else
+  }
-  {
+  else
-    /* Update the error code */
+  {
-    hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
+    /* Update the error code */
+    hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
-    /* Return error status */
-    status =  HAL_ERROR;
+    /* Return error status */
-  }
+    status =  HAL_ERROR;
+  }
-  return status;
-}
+  return status;
+}
-/**
-  * @brief  Unregister a CAN CallBack.
+/**
-  *         CAN callabck is redirected to the weak predefined callback
+  * @brief  Unregister a CAN CallBack.
-  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
+  *         CAN callback is redirected to the weak predefined callback
-  *         the configuration information for CAN module
+  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
-  * @param  CallbackID ID of the callback to be unregistered
+  *         the configuration information for CAN module
-  *         This parameter can be one of the following values:
+  * @param  CallbackID ID of the callback to be unregistered
-  *           @arg @ref HAL_CAN_TX_MAILBOX0_COMPLETE_CB_ID Tx Mailbox 0 Complete callback ID
+  *         This parameter can be one of the following values:
-  *           @arg @ref HAL_CAN_TX_MAILBOX1_COMPLETE_CB_ID Tx Mailbox 1 Complete callback ID
+  *           @arg @ref HAL_CAN_TX_MAILBOX0_COMPLETE_CB_ID Tx Mailbox 0 Complete callback ID
-  *           @arg @ref HAL_CAN_TX_MAILBOX2_COMPLETE_CB_ID Tx Mailbox 2 Complete callback ID
+  *           @arg @ref HAL_CAN_TX_MAILBOX1_COMPLETE_CB_ID Tx Mailbox 1 Complete callback ID
-  *           @arg @ref HAL_CAN_TX_MAILBOX0_ABORT_CB_ID Tx Mailbox 0 Abort callback ID
+  *           @arg @ref HAL_CAN_TX_MAILBOX2_COMPLETE_CB_ID Tx Mailbox 2 Complete callback ID
-  *           @arg @ref HAL_CAN_TX_MAILBOX1_ABORT_CB_ID Tx Mailbox 1 Abort callback ID
+  *           @arg @ref HAL_CAN_TX_MAILBOX0_ABORT_CB_ID Tx Mailbox 0 Abort callback ID
-  *           @arg @ref HAL_CAN_TX_MAILBOX2_ABORT_CB_ID Tx Mailbox 2 Abort callback ID
+  *           @arg @ref HAL_CAN_TX_MAILBOX1_ABORT_CB_ID Tx Mailbox 1 Abort callback ID
-  *           @arg @ref HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID Rx Fifo 0 message pending callback ID
+  *           @arg @ref HAL_CAN_TX_MAILBOX2_ABORT_CB_ID Tx Mailbox 2 Abort callback ID
-  *           @arg @ref HAL_CAN_RX_FIFO0_FULL_CB_ID Rx Fifo 0 full callback ID
+  *           @arg @ref HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID Rx Fifo 0 message pending callback ID
-  *           @arg @ref HAL_CAN_RX_FIFO1_MSG_PENDING_CB_ID Rx Fifo 1 message pending callback ID
+  *           @arg @ref HAL_CAN_RX_FIFO0_FULL_CB_ID Rx Fifo 0 full callback ID
-  *           @arg @ref HAL_CAN_RX_FIFO1_FULL_CB_ID Rx Fifo 1 full callback ID
+  *           @arg @ref HAL_CAN_RX_FIFO1_MSG_PENDING_CB_ID Rx Fifo 1 message pending callback ID
-  *           @arg @ref HAL_CAN_SLEEP_CB_ID Sleep callback ID
+  *           @arg @ref HAL_CAN_RX_FIFO1_FULL_CB_ID Rx Fifo 1 full callback ID
-  *           @arg @ref HAL_CAN_WAKEUP_FROM_RX_MSG_CB_ID Wake Up from Rx message callback ID
+  *           @arg @ref HAL_CAN_SLEEP_CB_ID Sleep callback ID
-  *           @arg @ref HAL_CAN_ERROR_CB_ID Error callback ID
+  *           @arg @ref HAL_CAN_WAKEUP_FROM_RX_MSG_CB_ID Wake Up from Rx message callback ID
-  *           @arg @ref HAL_CAN_MSPINIT_CB_ID MspInit callback ID
+  *           @arg @ref HAL_CAN_ERROR_CB_ID Error callback ID
-  *           @arg @ref HAL_CAN_MSPDEINIT_CB_ID MspDeInit callback ID
+  *           @arg @ref HAL_CAN_MSPINIT_CB_ID MspInit callback ID
-  * @retval HAL status
+  *           @arg @ref HAL_CAN_MSPDEINIT_CB_ID MspDeInit callback ID
-  */
+  * @retval HAL status
-HAL_StatusTypeDef HAL_CAN_UnRegisterCallback(CAN_HandleTypeDef *hcan, HAL_CAN_CallbackIDTypeDef CallbackID)
+  */
-{
+HAL_StatusTypeDef HAL_CAN_UnRegisterCallback(CAN_HandleTypeDef *hcan, HAL_CAN_CallbackIDTypeDef CallbackID)
-  HAL_StatusTypeDef status = HAL_OK;
+{
+  HAL_StatusTypeDef status = HAL_OK;
-  if (hcan->State == HAL_CAN_STATE_READY)
-  {
+  if (hcan->State == HAL_CAN_STATE_READY)
-    switch (CallbackID)
+  {
-    {
+    switch (CallbackID)
-      case HAL_CAN_TX_MAILBOX0_COMPLETE_CB_ID :
+    {
-        hcan->TxMailbox0CompleteCallback = HAL_CAN_TxMailbox0CompleteCallback;
+      case HAL_CAN_TX_MAILBOX0_COMPLETE_CB_ID :
-        break;
+        hcan->TxMailbox0CompleteCallback = HAL_CAN_TxMailbox0CompleteCallback;
+        break;
-      case HAL_CAN_TX_MAILBOX1_COMPLETE_CB_ID :
-        hcan->TxMailbox1CompleteCallback = HAL_CAN_TxMailbox1CompleteCallback;
+      case HAL_CAN_TX_MAILBOX1_COMPLETE_CB_ID :
-        break;
+        hcan->TxMailbox1CompleteCallback = HAL_CAN_TxMailbox1CompleteCallback;
+        break;
-      case HAL_CAN_TX_MAILBOX2_COMPLETE_CB_ID :
-        hcan->TxMailbox2CompleteCallback = HAL_CAN_TxMailbox2CompleteCallback;
+      case HAL_CAN_TX_MAILBOX2_COMPLETE_CB_ID :
-        break;
+        hcan->TxMailbox2CompleteCallback = HAL_CAN_TxMailbox2CompleteCallback;
+        break;
-      case HAL_CAN_TX_MAILBOX0_ABORT_CB_ID :
-        hcan->TxMailbox0AbortCallback = HAL_CAN_TxMailbox0AbortCallback;
+      case HAL_CAN_TX_MAILBOX0_ABORT_CB_ID :
-        break;
+        hcan->TxMailbox0AbortCallback = HAL_CAN_TxMailbox0AbortCallback;
+        break;
-      case HAL_CAN_TX_MAILBOX1_ABORT_CB_ID :
-        hcan->TxMailbox1AbortCallback = HAL_CAN_TxMailbox1AbortCallback;
+      case HAL_CAN_TX_MAILBOX1_ABORT_CB_ID :
-        break;
+        hcan->TxMailbox1AbortCallback = HAL_CAN_TxMailbox1AbortCallback;
+        break;
-      case HAL_CAN_TX_MAILBOX2_ABORT_CB_ID :
-        hcan->TxMailbox2AbortCallback = HAL_CAN_TxMailbox2AbortCallback;
+      case HAL_CAN_TX_MAILBOX2_ABORT_CB_ID :
-        break;
+        hcan->TxMailbox2AbortCallback = HAL_CAN_TxMailbox2AbortCallback;
+        break;
-      case HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID :
-        hcan->RxFifo0MsgPendingCallback = HAL_CAN_RxFifo0MsgPendingCallback;
+      case HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID :
-        break;
+        hcan->RxFifo0MsgPendingCallback = HAL_CAN_RxFifo0MsgPendingCallback;
+        break;
-      case HAL_CAN_RX_FIFO0_FULL_CB_ID :
-        hcan->RxFifo0FullCallback = HAL_CAN_RxFifo0FullCallback;
+      case HAL_CAN_RX_FIFO0_FULL_CB_ID :
-        break;
+        hcan->RxFifo0FullCallback = HAL_CAN_RxFifo0FullCallback;
+        break;
-      case HAL_CAN_RX_FIFO1_MSG_PENDING_CB_ID :
-        hcan->RxFifo1MsgPendingCallback = HAL_CAN_RxFifo1MsgPendingCallback;
+      case HAL_CAN_RX_FIFO1_MSG_PENDING_CB_ID :
-        break;
+        hcan->RxFifo1MsgPendingCallback = HAL_CAN_RxFifo1MsgPendingCallback;
+        break;
-      case HAL_CAN_RX_FIFO1_FULL_CB_ID :
-        hcan->RxFifo1FullCallback = HAL_CAN_RxFifo1FullCallback;
+      case HAL_CAN_RX_FIFO1_FULL_CB_ID :
-        break;
+        hcan->RxFifo1FullCallback = HAL_CAN_RxFifo1FullCallback;
+        break;
-      case HAL_CAN_SLEEP_CB_ID :
-        hcan->SleepCallback = HAL_CAN_SleepCallback;
+      case HAL_CAN_SLEEP_CB_ID :
-        break;
+        hcan->SleepCallback = HAL_CAN_SleepCallback;
+        break;
-      case HAL_CAN_WAKEUP_FROM_RX_MSG_CB_ID :
-        hcan->WakeUpFromRxMsgCallback = HAL_CAN_WakeUpFromRxMsgCallback;
+      case HAL_CAN_WAKEUP_FROM_RX_MSG_CB_ID :
-        break;
+        hcan->WakeUpFromRxMsgCallback = HAL_CAN_WakeUpFromRxMsgCallback;
+        break;
-      case HAL_CAN_ERROR_CB_ID :
-        hcan->ErrorCallback = HAL_CAN_ErrorCallback;
+      case HAL_CAN_ERROR_CB_ID :
-        break;
+        hcan->ErrorCallback = HAL_CAN_ErrorCallback;
+        break;
-      case HAL_CAN_MSPINIT_CB_ID :
-        hcan->MspInitCallback = HAL_CAN_MspInit;
+      case HAL_CAN_MSPINIT_CB_ID :
-        break;
+        hcan->MspInitCallback = HAL_CAN_MspInit;
+        break;
-      case HAL_CAN_MSPDEINIT_CB_ID :
-        hcan->MspDeInitCallback = HAL_CAN_MspDeInit;
+      case HAL_CAN_MSPDEINIT_CB_ID :
-        break;
+        hcan->MspDeInitCallback = HAL_CAN_MspDeInit;
+        break;
-      default :
-        /* Update the error code */
+      default :
-        hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
+        /* Update the error code */
+        hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
-        /* Return error status */
-        status =  HAL_ERROR;
+        /* Return error status */
-        break;
+        status =  HAL_ERROR;
-    }
+        break;
-  }
+    }
-  else if (hcan->State == HAL_CAN_STATE_RESET)
+  }
-  {
+  else if (hcan->State == HAL_CAN_STATE_RESET)
-    switch (CallbackID)
+  {
-    {
+    switch (CallbackID)
-      case HAL_CAN_MSPINIT_CB_ID :
+    {
-        hcan->MspInitCallback = HAL_CAN_MspInit;
+      case HAL_CAN_MSPINIT_CB_ID :
-        break;
+        hcan->MspInitCallback = HAL_CAN_MspInit;
+        break;
-      case HAL_CAN_MSPDEINIT_CB_ID :
-        hcan->MspDeInitCallback = HAL_CAN_MspDeInit;
+      case HAL_CAN_MSPDEINIT_CB_ID :
-        break;
+        hcan->MspDeInitCallback = HAL_CAN_MspDeInit;
+        break;
-      default :
-        /* Update the error code */
+      default :
-        hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
+        /* Update the error code */
+        hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
-        /* Return error status */
-        status =  HAL_ERROR;
+        /* Return error status */
-        break;
+        status =  HAL_ERROR;
-    }
+        break;
-  }
+    }
-  else
+  }
-  {
+  else
-    /* Update the error code */
+  {
-    hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
+    /* Update the error code */
+    hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
-    /* Return error status */
-    status =  HAL_ERROR;
+    /* Return error status */
-  }
+    status =  HAL_ERROR;
+  }
-  return status;
-}
+  return status;
-#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
+}
+#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
-/**
-  * @}
+/**
-  */
+  * @}
+  */
-/** @defgroup CAN_Exported_Functions_Group2 Configuration functions
- *  @brief    Configuration functions.
+/** @defgroup CAN_Exported_Functions_Group2 Configuration functions
- *
+ *  @brief    Configuration functions.
-@verbatim
+ *
-  ==============================================================================
+@verbatim
-              ##### Configuration functions #####
+  ==============================================================================
-  ==============================================================================
+              ##### Configuration functions #####
-    [..]  This section provides functions allowing to:
+  ==============================================================================
-      (+) HAL_CAN_ConfigFilter            : Configure the CAN reception filters
+    [..]  This section provides functions allowing to:
+      (+) HAL_CAN_ConfigFilter            : Configure the CAN reception filters
-@endverbatim
-  * @{
+@endverbatim
-  */
+  * @{
+  */
-/**
-  * @brief  Configures the CAN reception filter according to the specified
+/**
-  *         parameters in the CAN_FilterInitStruct.
+  * @brief  Configures the CAN reception filter according to the specified
-  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
+  *         parameters in the CAN_FilterInitStruct.
-  *         the configuration information for the specified CAN.
+  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
-  * @param  sFilterConfig pointer to a CAN_FilterTypeDef structure that
+  *         the configuration information for the specified CAN.
-  *         contains the filter configuration information.
+  * @param  sFilterConfig pointer to a CAN_FilterTypeDef structure that
-  * @retval None
+  *         contains the filter configuration information.
-  */
+  * @retval None
-HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef *hcan, CAN_FilterTypeDef *sFilterConfig)
+  */
-{
+HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef *hcan, const CAN_FilterTypeDef *sFilterConfig)
-  uint32_t filternbrbitpos;
+{
-  CAN_TypeDef *can_ip = hcan->Instance;
+  uint32_t filternbrbitpos;
-  HAL_CAN_StateTypeDef state = hcan->State;
+  CAN_TypeDef *can_ip = hcan->Instance;
+  HAL_CAN_StateTypeDef state = hcan->State;
-  if ((state == HAL_CAN_STATE_READY) ||
-      (state == HAL_CAN_STATE_LISTENING))
+  if ((state == HAL_CAN_STATE_READY) ||
-  {
+      (state == HAL_CAN_STATE_LISTENING))
-    /* Check the parameters */
+  {
-    assert_param(IS_CAN_FILTER_ID_HALFWORD(sFilterConfig->FilterIdHigh));
+    /* Check the parameters */
-    assert_param(IS_CAN_FILTER_ID_HALFWORD(sFilterConfig->FilterIdLow));
+    assert_param(IS_CAN_FILTER_ID_HALFWORD(sFilterConfig->FilterIdHigh));
-    assert_param(IS_CAN_FILTER_ID_HALFWORD(sFilterConfig->FilterMaskIdHigh));
+    assert_param(IS_CAN_FILTER_ID_HALFWORD(sFilterConfig->FilterIdLow));
-    assert_param(IS_CAN_FILTER_ID_HALFWORD(sFilterConfig->FilterMaskIdLow));
+    assert_param(IS_CAN_FILTER_ID_HALFWORD(sFilterConfig->FilterMaskIdHigh));
-    assert_param(IS_CAN_FILTER_MODE(sFilterConfig->FilterMode));
+    assert_param(IS_CAN_FILTER_ID_HALFWORD(sFilterConfig->FilterMaskIdLow));
-    assert_param(IS_CAN_FILTER_SCALE(sFilterConfig->FilterScale));
+    assert_param(IS_CAN_FILTER_MODE(sFilterConfig->FilterMode));
-    assert_param(IS_CAN_FILTER_FIFO(sFilterConfig->FilterFIFOAssignment));
+    assert_param(IS_CAN_FILTER_SCALE(sFilterConfig->FilterScale));
-    assert_param(IS_CAN_FILTER_ACTIVATION(sFilterConfig->FilterActivation));
+    assert_param(IS_CAN_FILTER_FIFO(sFilterConfig->FilterFIFOAssignment));
+    assert_param(IS_CAN_FILTER_ACTIVATION(sFilterConfig->FilterActivation));
-#if   defined(CAN2)
-    /* CAN1 and CAN2 are dual instances with 28 common filters banks */
+#if   defined(CAN2)
-    /* Select master instance to access the filter banks */
+    /* CAN1 and CAN2 are dual instances with 28 common filters banks */
-    can_ip = CAN1;
+    /* Select master instance to access the filter banks */
+    can_ip = CAN1;
-    /* Check the parameters */
-    assert_param(IS_CAN_FILTER_BANK_DUAL(sFilterConfig->FilterBank));
+    /* Check the parameters */
-    assert_param(IS_CAN_FILTER_BANK_DUAL(sFilterConfig->SlaveStartFilterBank));
+    assert_param(IS_CAN_FILTER_BANK_DUAL(sFilterConfig->FilterBank));
-#else
+    assert_param(IS_CAN_FILTER_BANK_DUAL(sFilterConfig->SlaveStartFilterBank));
-    /* CAN1 is single instance with 14 dedicated filters banks */
+#else
+    /* CAN1 is single instance with 14 dedicated filters banks */
-    /* Check the parameters */
-    assert_param(IS_CAN_FILTER_BANK_SINGLE(sFilterConfig->FilterBank));
+    /* Check the parameters */
-#endif
+    assert_param(IS_CAN_FILTER_BANK_SINGLE(sFilterConfig->FilterBank));
+#endif
-    /* Initialisation mode for the filter */
-    SET_BIT(can_ip->FMR, CAN_FMR_FINIT);
+    /* Initialisation mode for the filter */
+    SET_BIT(can_ip->FMR, CAN_FMR_FINIT);
-#if   defined(CAN2)
-    /* Select the start filter number of CAN2 slave instance */
+#if   defined(CAN2)
-    CLEAR_BIT(can_ip->FMR, CAN_FMR_CAN2SB);
+    /* Select the start filter number of CAN2 slave instance */
-    SET_BIT(can_ip->FMR, sFilterConfig->SlaveStartFilterBank << CAN_FMR_CAN2SB_Pos);
+    CLEAR_BIT(can_ip->FMR, CAN_FMR_CAN2SB);
+    SET_BIT(can_ip->FMR, sFilterConfig->SlaveStartFilterBank << CAN_FMR_CAN2SB_Pos);
-#endif
-    /* Convert filter number into bit position */
+#endif
-    filternbrbitpos = (uint32_t)1 << (sFilterConfig->FilterBank & 0x1FU);
+    /* Convert filter number into bit position */
+    filternbrbitpos = (uint32_t)1 << (sFilterConfig->FilterBank & 0x1FU);
-    /* Filter Deactivation */
-    CLEAR_BIT(can_ip->FA1R, filternbrbitpos);
+    /* Filter Deactivation */
+    CLEAR_BIT(can_ip->FA1R, filternbrbitpos);
-    /* Filter Scale */
-    if (sFilterConfig->FilterScale == CAN_FILTERSCALE_16BIT)
+    /* Filter Scale */
-    {
+    if (sFilterConfig->FilterScale == CAN_FILTERSCALE_16BIT)
-      /* 16-bit scale for the filter */
+    {
-      CLEAR_BIT(can_ip->FS1R, filternbrbitpos);
+      /* 16-bit scale for the filter */
+      CLEAR_BIT(can_ip->FS1R, filternbrbitpos);
-      /* First 16-bit identifier and First 16-bit mask */
-      /* Or First 16-bit identifier and Second 16-bit identifier */
+      /* First 16-bit identifier and First 16-bit mask */
-      can_ip->sFilterRegister[sFilterConfig->FilterBank].FR1 =
+      /* Or First 16-bit identifier and Second 16-bit identifier */
-        ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdLow) << 16U) |
+      can_ip->sFilterRegister[sFilterConfig->FilterBank].FR1 =
-        (0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdLow);
+        ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdLow) << 16U) |
+        (0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdLow);
-      /* Second 16-bit identifier and Second 16-bit mask */
-      /* Or Third 16-bit identifier and Fourth 16-bit identifier */
+      /* Second 16-bit identifier and Second 16-bit mask */
-      can_ip->sFilterRegister[sFilterConfig->FilterBank].FR2 =
+      /* Or Third 16-bit identifier and Fourth 16-bit identifier */
-        ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16U) |
+      can_ip->sFilterRegister[sFilterConfig->FilterBank].FR2 =
-        (0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdHigh);
+        ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16U) |
-    }
+        (0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdHigh);
+    }
-    if (sFilterConfig->FilterScale == CAN_FILTERSCALE_32BIT)
-    {
+    if (sFilterConfig->FilterScale == CAN_FILTERSCALE_32BIT)
-      /* 32-bit scale for the filter */
+    {
-      SET_BIT(can_ip->FS1R, filternbrbitpos);
+      /* 32-bit scale for the filter */
+      SET_BIT(can_ip->FS1R, filternbrbitpos);
-      /* 32-bit identifier or First 32-bit identifier */
-      can_ip->sFilterRegister[sFilterConfig->FilterBank].FR1 =
+      /* 32-bit identifier or First 32-bit identifier */
-        ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdHigh) << 16U) |
+      can_ip->sFilterRegister[sFilterConfig->FilterBank].FR1 =
-        (0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdLow);
+        ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdHigh) << 16U) |
+        (0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdLow);
-      /* 32-bit mask or Second 32-bit identifier */
-      can_ip->sFilterRegister[sFilterConfig->FilterBank].FR2 =
+      /* 32-bit mask or Second 32-bit identifier */
-        ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16U) |
+      can_ip->sFilterRegister[sFilterConfig->FilterBank].FR2 =
-        (0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdLow);
+        ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16U) |
-    }
+        (0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdLow);
+    }
-    /* Filter Mode */
-    if (sFilterConfig->FilterMode == CAN_FILTERMODE_IDMASK)
+    /* Filter Mode */
-    {
+    if (sFilterConfig->FilterMode == CAN_FILTERMODE_IDMASK)
-      /* Id/Mask mode for the filter*/
+    {
-      CLEAR_BIT(can_ip->FM1R, filternbrbitpos);
+      /* Id/Mask mode for the filter*/
-    }
+      CLEAR_BIT(can_ip->FM1R, filternbrbitpos);
-    else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */
+    }
-    {
+    else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */
-      /* Identifier list mode for the filter*/
+    {
-      SET_BIT(can_ip->FM1R, filternbrbitpos);
+      /* Identifier list mode for the filter*/
-    }
+      SET_BIT(can_ip->FM1R, filternbrbitpos);
+    }
-    /* Filter FIFO assignment */
-    if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO0)
+    /* Filter FIFO assignment */
-    {
+    if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO0)
-      /* FIFO 0 assignation for the filter */
+    {
-      CLEAR_BIT(can_ip->FFA1R, filternbrbitpos);
+      /* FIFO 0 assignation for the filter */
-    }
+      CLEAR_BIT(can_ip->FFA1R, filternbrbitpos);
-    else
+    }
-    {
+    else
-      /* FIFO 1 assignation for the filter */
+    {
-      SET_BIT(can_ip->FFA1R, filternbrbitpos);
+      /* FIFO 1 assignation for the filter */
-    }
+      SET_BIT(can_ip->FFA1R, filternbrbitpos);
+    }
-    /* Filter activation */
-    if (sFilterConfig->FilterActivation == CAN_FILTER_ENABLE)
+    /* Filter activation */
-    {
+    if (sFilterConfig->FilterActivation == CAN_FILTER_ENABLE)
-      SET_BIT(can_ip->FA1R, filternbrbitpos);
+    {
-    }
+      SET_BIT(can_ip->FA1R, filternbrbitpos);
+    }
-    /* Leave the initialisation mode for the filter */
-    CLEAR_BIT(can_ip->FMR, CAN_FMR_FINIT);
+    /* Leave the initialisation mode for the filter */
+    CLEAR_BIT(can_ip->FMR, CAN_FMR_FINIT);
-    /* Return function status */
-    return HAL_OK;
+    /* Return function status */
-  }
+    return HAL_OK;
-  else
+  }
-  {
+  else
-    /* Update error code */
+  {
-    hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
+    /* Update error code */
+    hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
-    return HAL_ERROR;
-  }
+    return HAL_ERROR;
-}
+  }
+}
-/**
-  * @}
+/**
-  */
+  * @}
+  */
-/** @defgroup CAN_Exported_Functions_Group3 Control functions
- *  @brief    Control functions
+/** @defgroup CAN_Exported_Functions_Group3 Control functions
- *
+ *  @brief    Control functions
-@verbatim
+ *
-  ==============================================================================
+@verbatim
-                      ##### Control functions #####
+  ==============================================================================
-  ==============================================================================
+                      ##### Control functions #####
-    [..]  This section provides functions allowing to:
+  ==============================================================================
-      (+) HAL_CAN_Start                    : Start the CAN module
+    [..]  This section provides functions allowing to:
-      (+) HAL_CAN_Stop                     : Stop the CAN module
+      (+) HAL_CAN_Start                    : Start the CAN module
-      (+) HAL_CAN_RequestSleep             : Request sleep mode entry.
+      (+) HAL_CAN_Stop                     : Stop the CAN module
-      (+) HAL_CAN_WakeUp                   : Wake up from sleep mode.
+      (+) HAL_CAN_RequestSleep             : Request sleep mode entry.
-      (+) HAL_CAN_IsSleepActive            : Check is sleep mode is active.
+      (+) HAL_CAN_WakeUp                   : Wake up from sleep mode.
-      (+) HAL_CAN_AddTxMessage             : Add a message to the Tx mailboxes
+      (+) HAL_CAN_IsSleepActive            : Check is sleep mode is active.
-                                             and activate the corresponding
+      (+) HAL_CAN_AddTxMessage             : Add a message to the Tx mailboxes
-                                             transmission request
+                                             and activate the corresponding
-      (+) HAL_CAN_AbortTxRequest           : Abort transmission request
+                                             transmission request
-      (+) HAL_CAN_GetTxMailboxesFreeLevel  : Return Tx mailboxes free level
+      (+) HAL_CAN_AbortTxRequest           : Abort transmission request
-      (+) HAL_CAN_IsTxMessagePending       : Check if a transmission request is
+      (+) HAL_CAN_GetTxMailboxesFreeLevel  : Return Tx mailboxes free level
-                                             pending on the selected Tx mailbox
+      (+) HAL_CAN_IsTxMessagePending       : Check if a transmission request is
-      (+) HAL_CAN_GetRxMessage             : Get a CAN frame from the Rx FIFO
+                                             pending on the selected Tx mailbox
-      (+) HAL_CAN_GetRxFifoFillLevel       : Return Rx FIFO fill level
+      (+) HAL_CAN_GetRxMessage             : Get a CAN frame from the Rx FIFO
+      (+) HAL_CAN_GetRxFifoFillLevel       : Return Rx FIFO fill level
-@endverbatim
-  * @{
+@endverbatim
-  */
+  * @{
+  */
-/**
-  * @brief  Start the CAN module.
+/**
-  * @param  hcan pointer to an CAN_HandleTypeDef structure that contains
+  * @brief  Start the CAN module.
-  *         the configuration information for the specified CAN.
+  * @param  hcan pointer to an CAN_HandleTypeDef structure that contains
-  * @retval HAL status
+  *         the configuration information for the specified CAN.
-  */
+  * @retval HAL status
-HAL_StatusTypeDef HAL_CAN_Start(CAN_HandleTypeDef *hcan)
+  */
-{
+HAL_StatusTypeDef HAL_CAN_Start(CAN_HandleTypeDef *hcan)
-  uint32_t tickstart;
+{
+  uint32_t tickstart;
-  if (hcan->State == HAL_CAN_STATE_READY)
-  {
+  if (hcan->State == HAL_CAN_STATE_READY)
-    /* Change CAN peripheral state */
+  {
-    hcan->State = HAL_CAN_STATE_LISTENING;
+    /* Change CAN peripheral state */
+    hcan->State = HAL_CAN_STATE_LISTENING;
-    /* Request leave initialisation */
-    CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_INRQ);
+    /* Request leave initialisation */
+    CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_INRQ);
-    /* Get tick */
-    tickstart = HAL_GetTick();
+    /* Get tick */
+    tickstart = HAL_GetTick();
-    /* Wait the acknowledge */
-    while ((hcan->Instance->MSR & CAN_MSR_INAK) != 0U)
+    /* Wait the acknowledge */
-    {
+    while ((hcan->Instance->MSR & CAN_MSR_INAK) != 0U)
-      /* Check for the Timeout */
+    {
-      if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
+      /* Check for the Timeout */
-      {
+      if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
-        /* Update error code */
+      {
-        hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;
+        /* Update error code */
+        hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;
-        /* Change CAN state */
-        hcan->State = HAL_CAN_STATE_ERROR;
+        /* Change CAN state */
+        hcan->State = HAL_CAN_STATE_ERROR;
-        return HAL_ERROR;
-      }
+        return HAL_ERROR;
-    }
+      }
+    }
-    /* Reset the CAN ErrorCode */
-    hcan->ErrorCode = HAL_CAN_ERROR_NONE;
+    /* Reset the CAN ErrorCode */
+    hcan->ErrorCode = HAL_CAN_ERROR_NONE;
-    /* Return function status */
-    return HAL_OK;
+    /* Return function status */
-  }
+    return HAL_OK;
-  else
+  }
-  {
+  else
-    /* Update error code */
+  {
-    hcan->ErrorCode |= HAL_CAN_ERROR_NOT_READY;
+    /* Update error code */
+    hcan->ErrorCode |= HAL_CAN_ERROR_NOT_READY;
-    return HAL_ERROR;
-  }
+    return HAL_ERROR;
-}
+  }
+}
-/**
-  * @brief  Stop the CAN module and enable access to configuration registers.
+/**
-  * @param  hcan pointer to an CAN_HandleTypeDef structure that contains
+  * @brief  Stop the CAN module and enable access to configuration registers.
-  *         the configuration information for the specified CAN.
+  * @param  hcan pointer to an CAN_HandleTypeDef structure that contains
-  * @retval HAL status
+  *         the configuration information for the specified CAN.
-  */
+  * @retval HAL status
-HAL_StatusTypeDef HAL_CAN_Stop(CAN_HandleTypeDef *hcan)
+  */
-{
+HAL_StatusTypeDef HAL_CAN_Stop(CAN_HandleTypeDef *hcan)
-  uint32_t tickstart;
+{
+  uint32_t tickstart;
-  if (hcan->State == HAL_CAN_STATE_LISTENING)
-  {
+  if (hcan->State == HAL_CAN_STATE_LISTENING)
-    /* Request initialisation */
+  {
-    SET_BIT(hcan->Instance->MCR, CAN_MCR_INRQ);
+    /* Request initialisation */
+    SET_BIT(hcan->Instance->MCR, CAN_MCR_INRQ);
-    /* Get tick */
-    tickstart = HAL_GetTick();
+    /* Get tick */
+    tickstart = HAL_GetTick();
-    /* Wait the acknowledge */
-    while ((hcan->Instance->MSR & CAN_MSR_INAK) == 0U)
+    /* Wait the acknowledge */
-    {
+    while ((hcan->Instance->MSR & CAN_MSR_INAK) == 0U)
-      /* Check for the Timeout */
+    {
-      if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
+      /* Check for the Timeout */
-      {
+      if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
-        /* Update error code */
+      {
-        hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;
+        /* Update error code */
+        hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;
-        /* Change CAN state */
-        hcan->State = HAL_CAN_STATE_ERROR;
+        /* Change CAN state */
+        hcan->State = HAL_CAN_STATE_ERROR;
-        return HAL_ERROR;
-      }
+        return HAL_ERROR;
-    }
+      }
+    }
-    /* Exit from sleep mode */
-    CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
+    /* Exit from sleep mode */
+    CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
-    /* Change CAN peripheral state */
-    hcan->State = HAL_CAN_STATE_READY;
+    /* Change CAN peripheral state */
+    hcan->State = HAL_CAN_STATE_READY;
-    /* Return function status */
-    return HAL_OK;
+    /* Return function status */
-  }
+    return HAL_OK;
-  else
+  }
-  {
+  else
-    /* Update error code */
+  {
-    hcan->ErrorCode |= HAL_CAN_ERROR_NOT_STARTED;
+    /* Update error code */
+    hcan->ErrorCode |= HAL_CAN_ERROR_NOT_STARTED;
-    return HAL_ERROR;
-  }
+    return HAL_ERROR;
-}
+  }
+}
-/**
-  * @brief  Request the sleep mode (low power) entry.
+/**
-  *         When returning from this function, Sleep mode will be entered
+  * @brief  Request the sleep mode (low power) entry.
-  *         as soon as the current CAN activity (transmission or reception
+  *         When returning from this function, Sleep mode will be entered
-  *         of a CAN frame) has been completed.
+  *         as soon as the current CAN activity (transmission or reception
-  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
+  *         of a CAN frame) has been completed.
-  *         the configuration information for the specified CAN.
+  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
-  * @retval HAL status.
+  *         the configuration information for the specified CAN.
-  */
+  * @retval HAL status.
-HAL_StatusTypeDef HAL_CAN_RequestSleep(CAN_HandleTypeDef *hcan)
+  */
-{
+HAL_StatusTypeDef HAL_CAN_RequestSleep(CAN_HandleTypeDef *hcan)
-  HAL_CAN_StateTypeDef state = hcan->State;
+{
+  HAL_CAN_StateTypeDef state = hcan->State;
-  if ((state == HAL_CAN_STATE_READY) ||
-      (state == HAL_CAN_STATE_LISTENING))
+  if ((state == HAL_CAN_STATE_READY) ||
-  {
+      (state == HAL_CAN_STATE_LISTENING))
-    /* Request Sleep mode */
+  {
-    SET_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
+    /* Request Sleep mode */
+    SET_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
-    /* Return function status */
-    return HAL_OK;
+    /* Return function status */
-  }
+    return HAL_OK;
-  else
+  }
-  {
+  else
-    /* Update error code */
+  {
-    hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
+    /* Update error code */
+    hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
-    /* Return function status */
-    return HAL_ERROR;
+    /* Return function status */
-  }
+    return HAL_ERROR;
-}
+  }
+}
-/**
-  * @brief  Wake up from sleep mode.
+/**
-  *         When returning with HAL_OK status from this function, Sleep mode
+  * @brief  Wake up from sleep mode.
-  *         is exited.
+  *         When returning with HAL_OK status from this function, Sleep mode
-  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
+  *         is exited.
-  *         the configuration information for the specified CAN.
+  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
-  * @retval HAL status.
+  *         the configuration information for the specified CAN.
-  */
+  * @retval HAL status.
-HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef *hcan)
+  */
-{
+HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef *hcan)
-  __IO uint32_t count = 0;
+{
-  uint32_t timeout = 1000000U;
+  __IO uint32_t count = 0;
-  HAL_CAN_StateTypeDef state = hcan->State;
+  uint32_t timeout = 1000000U;
+  HAL_CAN_StateTypeDef state = hcan->State;
-  if ((state == HAL_CAN_STATE_READY) ||
-      (state == HAL_CAN_STATE_LISTENING))
+  if ((state == HAL_CAN_STATE_READY) ||
-  {
+      (state == HAL_CAN_STATE_LISTENING))
-    /* Wake up request */
+  {
-    CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
+    /* Wake up request */
+    CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
-    /* Wait sleep mode is exited */
-    do
+    /* Wait sleep mode is exited */
-    {
+    do
-      /* Increment counter */
+    {
-      count++;
+      /* Increment counter */
+      count++;
-      /* Check if timeout is reached */
-      if (count > timeout)
+      /* Check if timeout is reached */
-      {
+      if (count > timeout)
-        /* Update error code */
+      {
-        hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;
+        /* Update error code */
+        hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;
-        return HAL_ERROR;
-      }
+        return HAL_ERROR;
-    }
+      }
-    while ((hcan->Instance->MSR & CAN_MSR_SLAK) != 0U);
+    }
+    while ((hcan->Instance->MSR & CAN_MSR_SLAK) != 0U);
-    /* Return function status */
-    return HAL_OK;
+    /* Return function status */
-  }
+    return HAL_OK;
-  else
+  }
-  {
+  else
-    /* Update error code */
+  {
-    hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
+    /* Update error code */
+    hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
-    return HAL_ERROR;
-  }
+    return HAL_ERROR;
-}
+  }
+}
-/**
-  * @brief  Check is sleep mode is active.
+/**
-  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
+  * @brief  Check is sleep mode is active.
-  *         the configuration information for the specified CAN.
+  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
-  * @retval Status
+  *         the configuration information for the specified CAN.
-  *          - 0 : Sleep mode is not active.
+  * @retval Status
-  *          - 1 : Sleep mode is active.
+  *          - 0 : Sleep mode is not active.
-  */
+  *          - 1 : Sleep mode is active.
-uint32_t HAL_CAN_IsSleepActive(CAN_HandleTypeDef *hcan)
+  */
-{
+uint32_t HAL_CAN_IsSleepActive(const CAN_HandleTypeDef *hcan)
-  uint32_t status = 0U;
+{
-  HAL_CAN_StateTypeDef state = hcan->State;
+  uint32_t status = 0U;
+  HAL_CAN_StateTypeDef state = hcan->State;
-  if ((state == HAL_CAN_STATE_READY) ||
-      (state == HAL_CAN_STATE_LISTENING))
+  if ((state == HAL_CAN_STATE_READY) ||
-  {
+      (state == HAL_CAN_STATE_LISTENING))
-    /* Check Sleep mode */
+  {
-    if ((hcan->Instance->MSR & CAN_MSR_SLAK) != 0U)
+    /* Check Sleep mode */
-    {
+    if ((hcan->Instance->MSR & CAN_MSR_SLAK) != 0U)
-      status = 1U;
+    {
-    }
+      status = 1U;
-  }
+    }
+  }
-  /* Return function status */
-  return status;
+  /* Return function status */
-}
+  return status;
+}
-/**
-  * @brief  Add a message to the first free Tx mailbox and activate the
+/**
-  *         corresponding transmission request.
+  * @brief  Add a message to the first free Tx mailbox and activate the
-  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
+  *         corresponding transmission request.
-  *         the configuration information for the specified CAN.
+  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
-  * @param  pHeader pointer to a CAN_TxHeaderTypeDef structure.
+  *         the configuration information for the specified CAN.
-  * @param  aData array containing the payload of the Tx frame.
+  * @param  pHeader pointer to a CAN_TxHeaderTypeDef structure.
-  * @param  pTxMailbox pointer to a variable where the function will return
+  * @param  aData array containing the payload of the Tx frame.
-  *         the TxMailbox used to store the Tx message.
+  * @param  pTxMailbox pointer to a variable where the function will return
-  *         This parameter can be a value of @arg CAN_Tx_Mailboxes.
+  *         the TxMailbox used to store the Tx message.
-  * @retval HAL status
+  *         This parameter can be a value of @arg CAN_Tx_Mailboxes.
-  */
+  * @retval HAL status
-HAL_StatusTypeDef HAL_CAN_AddTxMessage(CAN_HandleTypeDef *hcan, CAN_TxHeaderTypeDef *pHeader, uint8_t aData[], uint32_t *pTxMailbox)
+  */
-{
+HAL_StatusTypeDef HAL_CAN_AddTxMessage(CAN_HandleTypeDef *hcan, const CAN_TxHeaderTypeDef *pHeader,
-  uint32_t transmitmailbox;
+                                       const uint8_t aData[], uint32_t *pTxMailbox)
-  HAL_CAN_StateTypeDef state = hcan->State;
+{
-  uint32_t tsr = READ_REG(hcan->Instance->TSR);
+  uint32_t transmitmailbox;
+  HAL_CAN_StateTypeDef state = hcan->State;
-  /* Check the parameters */
+  uint32_t tsr = READ_REG(hcan->Instance->TSR);
-  assert_param(IS_CAN_IDTYPE(pHeader->IDE));
-  assert_param(IS_CAN_RTR(pHeader->RTR));
+  /* Check the parameters */
-  assert_param(IS_CAN_DLC(pHeader->DLC));
+  assert_param(IS_CAN_IDTYPE(pHeader->IDE));
-  if (pHeader->IDE == CAN_ID_STD)
+  assert_param(IS_CAN_RTR(pHeader->RTR));
-  {
+  assert_param(IS_CAN_DLC(pHeader->DLC));
-    assert_param(IS_CAN_STDID(pHeader->StdId));
+  if (pHeader->IDE == CAN_ID_STD)
-  }
+  {
-  else
+    assert_param(IS_CAN_STDID(pHeader->StdId));
-  {
+  }
-    assert_param(IS_CAN_EXTID(pHeader->ExtId));
+  else
-  }
+  {
-  assert_param(IS_FUNCTIONAL_STATE(pHeader->TransmitGlobalTime));
+    assert_param(IS_CAN_EXTID(pHeader->ExtId));
+  }
-  if ((state == HAL_CAN_STATE_READY) ||
+  assert_param(IS_FUNCTIONAL_STATE(pHeader->TransmitGlobalTime));
-      (state == HAL_CAN_STATE_LISTENING))
-  {
+  if ((state == HAL_CAN_STATE_READY) ||
-    /* Check that all the Tx mailboxes are not full */
+      (state == HAL_CAN_STATE_LISTENING))
-    if (((tsr & CAN_TSR_TME0) != 0U) ||
+  {
-        ((tsr & CAN_TSR_TME1) != 0U) ||
+    /* Check that all the Tx mailboxes are not full */
-        ((tsr & CAN_TSR_TME2) != 0U))
+    if (((tsr & CAN_TSR_TME0) != 0U) ||
-    {
+        ((tsr & CAN_TSR_TME1) != 0U) ||
-      /* Select an empty transmit mailbox */
+        ((tsr & CAN_TSR_TME2) != 0U))
-      transmitmailbox = (tsr & CAN_TSR_CODE) >> CAN_TSR_CODE_Pos;
+    {
+      /* Select an empty transmit mailbox */
-      /* Check transmit mailbox value */
+      transmitmailbox = (tsr & CAN_TSR_CODE) >> CAN_TSR_CODE_Pos;
-      if (transmitmailbox > 2U)
-      {
+      /* Store the Tx mailbox */
-        /* Update error code */
+      *pTxMailbox = (uint32_t)1 << transmitmailbox;
-        hcan->ErrorCode |= HAL_CAN_ERROR_INTERNAL;
+      /* Set up the Id */
-        return HAL_ERROR;
+      if (pHeader->IDE == CAN_ID_STD)
-      }
+      {
+        hcan->Instance->sTxMailBox[transmitmailbox].TIR = ((pHeader->StdId << CAN_TI0R_STID_Pos) |
-      /* Store the Tx mailbox */
+                                                           pHeader->RTR);
-      *pTxMailbox = (uint32_t)1 << transmitmailbox;
+      }
+      else
-      /* Set up the Id */
+      {
-      if (pHeader->IDE == CAN_ID_STD)
+        hcan->Instance->sTxMailBox[transmitmailbox].TIR = ((pHeader->ExtId << CAN_TI0R_EXID_Pos) |
-      {
+                                                           pHeader->IDE |
-        hcan->Instance->sTxMailBox[transmitmailbox].TIR = ((pHeader->StdId << CAN_TI0R_STID_Pos) |
+                                                           pHeader->RTR);
-                                                           pHeader->RTR);
+      }
-      }
-      else
+      /* Set up the DLC */
-      {
+      hcan->Instance->sTxMailBox[transmitmailbox].TDTR = (pHeader->DLC);
-        hcan->Instance->sTxMailBox[transmitmailbox].TIR = ((pHeader->ExtId << CAN_TI0R_EXID_Pos) |
-                                                           pHeader->IDE |
+      /* Set up the Transmit Global Time mode */
-                                                           pHeader->RTR);
+      if (pHeader->TransmitGlobalTime == ENABLE)
-      }
+      {
+        SET_BIT(hcan->Instance->sTxMailBox[transmitmailbox].TDTR, CAN_TDT0R_TGT);
-      /* Set up the DLC */
+      }
-      hcan->Instance->sTxMailBox[transmitmailbox].TDTR = (pHeader->DLC);
+      /* Set up the data field */
-      /* Set up the Transmit Global Time mode */
+      WRITE_REG(hcan->Instance->sTxMailBox[transmitmailbox].TDHR,
-      if (pHeader->TransmitGlobalTime == ENABLE)
+                ((uint32_t)aData[7] << CAN_TDH0R_DATA7_Pos) |
-      {
+                ((uint32_t)aData[6] << CAN_TDH0R_DATA6_Pos) |
-        SET_BIT(hcan->Instance->sTxMailBox[transmitmailbox].TDTR, CAN_TDT0R_TGT);
+                ((uint32_t)aData[5] << CAN_TDH0R_DATA5_Pos) |
-      }
+                ((uint32_t)aData[4] << CAN_TDH0R_DATA4_Pos));
+      WRITE_REG(hcan->Instance->sTxMailBox[transmitmailbox].TDLR,
-      /* Set up the data field */
+                ((uint32_t)aData[3] << CAN_TDL0R_DATA3_Pos) |
-      WRITE_REG(hcan->Instance->sTxMailBox[transmitmailbox].TDHR,
+                ((uint32_t)aData[2] << CAN_TDL0R_DATA2_Pos) |
-                ((uint32_t)aData[7] << CAN_TDH0R_DATA7_Pos) |
+                ((uint32_t)aData[1] << CAN_TDL0R_DATA1_Pos) |
-                ((uint32_t)aData[6] << CAN_TDH0R_DATA6_Pos) |
+                ((uint32_t)aData[0] << CAN_TDL0R_DATA0_Pos));
-                ((uint32_t)aData[5] << CAN_TDH0R_DATA5_Pos) |
-                ((uint32_t)aData[4] << CAN_TDH0R_DATA4_Pos));
+      /* Request transmission */
-      WRITE_REG(hcan->Instance->sTxMailBox[transmitmailbox].TDLR,
+      SET_BIT(hcan->Instance->sTxMailBox[transmitmailbox].TIR, CAN_TI0R_TXRQ);
-                ((uint32_t)aData[3] << CAN_TDL0R_DATA3_Pos) |
-                ((uint32_t)aData[2] << CAN_TDL0R_DATA2_Pos) |
+      /* Return function status */
-                ((uint32_t)aData[1] << CAN_TDL0R_DATA1_Pos) |
+      return HAL_OK;
-                ((uint32_t)aData[0] << CAN_TDL0R_DATA0_Pos));
+    }
+    else
-      /* Request transmission */
+    {
-      SET_BIT(hcan->Instance->sTxMailBox[transmitmailbox].TIR, CAN_TI0R_TXRQ);
+      /* Update error code */
+      hcan->ErrorCode |= HAL_CAN_ERROR_PARAM;
-      /* Return function status */
-      return HAL_OK;
+      return HAL_ERROR;
     }
-    else
+  }
-    {
+  else
-      /* Update error code */
+  {
-      hcan->ErrorCode |= HAL_CAN_ERROR_PARAM;
+    /* Update error code */
+    hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
-      return HAL_ERROR;
-    }
+    return HAL_ERROR;
   }
-  else
+}
-  {
-    /* Update error code */
+/**
-    hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
+  * @brief  Abort transmission requests
+  * @param  hcan pointer to an CAN_HandleTypeDef structure that contains
-    return HAL_ERROR;
+  *         the configuration information for the specified CAN.
-  }
+  * @param  TxMailboxes List of the Tx Mailboxes to abort.
-}
+  *         This parameter can be any combination of @arg CAN_Tx_Mailboxes.
+  * @retval HAL status
-/**
+  */
-  * @brief  Abort transmission requests
+HAL_StatusTypeDef HAL_CAN_AbortTxRequest(CAN_HandleTypeDef *hcan, uint32_t TxMailboxes)
-  * @param  hcan pointer to an CAN_HandleTypeDef structure that contains
+{
-  *         the configuration information for the specified CAN.
+  HAL_CAN_StateTypeDef state = hcan->State;
-  * @param  TxMailboxes List of the Tx Mailboxes to abort.
-  *         This parameter can be any combination of @arg CAN_Tx_Mailboxes.
+  /* Check function parameters */
-  * @retval HAL status
+  assert_param(IS_CAN_TX_MAILBOX_LIST(TxMailboxes));
-  */
-HAL_StatusTypeDef HAL_CAN_AbortTxRequest(CAN_HandleTypeDef *hcan, uint32_t TxMailboxes)
+  if ((state == HAL_CAN_STATE_READY) ||
-{
+      (state == HAL_CAN_STATE_LISTENING))
-  HAL_CAN_StateTypeDef state = hcan->State;
+  {
+    /* Check Tx Mailbox 0 */
-  /* Check function parameters */
+    if ((TxMailboxes & CAN_TX_MAILBOX0) != 0U)
-  assert_param(IS_CAN_TX_MAILBOX_LIST(TxMailboxes));
+    {
+      /* Add cancellation request for Tx Mailbox 0 */
-  if ((state == HAL_CAN_STATE_READY) ||
+      SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ0);
-      (state == HAL_CAN_STATE_LISTENING))
+    }
-  {
-    /* Check Tx Mailbox 0 */
+    /* Check Tx Mailbox 1 */
-    if ((TxMailboxes & CAN_TX_MAILBOX0) != 0U)
+    if ((TxMailboxes & CAN_TX_MAILBOX1) != 0U)
     {
-      /* Add cancellation request for Tx Mailbox 0 */
+      /* Add cancellation request for Tx Mailbox 1 */
-      SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ0);
+      SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ1);
     }
-    /* Check Tx Mailbox 1 */
+    /* Check Tx Mailbox 2 */
-    if ((TxMailboxes & CAN_TX_MAILBOX1) != 0U)
+    if ((TxMailboxes & CAN_TX_MAILBOX2) != 0U)
     {
-      /* Add cancellation request for Tx Mailbox 1 */
+      /* Add cancellation request for Tx Mailbox 2 */
-      SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ1);
+      SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ2);
     }
-    /* Check Tx Mailbox 2 */
+    /* Return function status */
-    if ((TxMailboxes & CAN_TX_MAILBOX2) != 0U)
+    return HAL_OK;
-    {
+  }
-      /* Add cancellation request for Tx Mailbox 2 */
+  else
-      SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ2);
+  {
-    }
+    /* Update error code */
+    hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
-    /* Return function status */
-    return HAL_OK;
+    return HAL_ERROR;
   }
-  else
+}
-  {
-    /* Update error code */
+/**
-    hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
+  * @brief  Return Tx Mailboxes free level: number of free Tx Mailboxes.
+  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
-    return HAL_ERROR;
+  *         the configuration information for the specified CAN.
-  }
+  * @retval Number of free Tx Mailboxes.
-}
+  */
+uint32_t HAL_CAN_GetTxMailboxesFreeLevel(const CAN_HandleTypeDef *hcan)
-/**
+{
-  * @brief  Return Tx Mailboxes free level: number of free Tx Mailboxes.
+  uint32_t freelevel = 0U;
-  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
+  HAL_CAN_StateTypeDef state = hcan->State;
-  *         the configuration information for the specified CAN.
-  * @retval Number of free Tx Mailboxes.
+  if ((state == HAL_CAN_STATE_READY) ||
-  */
+      (state == HAL_CAN_STATE_LISTENING))
-uint32_t HAL_CAN_GetTxMailboxesFreeLevel(CAN_HandleTypeDef *hcan)
+  {
-{
+    /* Check Tx Mailbox 0 status */
-  uint32_t freelevel = 0U;
+    if ((hcan->Instance->TSR & CAN_TSR_TME0) != 0U)
-  HAL_CAN_StateTypeDef state = hcan->State;
+    {
+      freelevel++;
-  if ((state == HAL_CAN_STATE_READY) ||
+    }
-      (state == HAL_CAN_STATE_LISTENING))
-  {
+    /* Check Tx Mailbox 1 status */
-    /* Check Tx Mailbox 0 status */
+    if ((hcan->Instance->TSR & CAN_TSR_TME1) != 0U)
-    if ((hcan->Instance->TSR & CAN_TSR_TME0) != 0U)
+    {
-    {
+      freelevel++;
-      freelevel++;
+    }
-    }
+    /* Check Tx Mailbox 2 status */
-    /* Check Tx Mailbox 1 status */
+    if ((hcan->Instance->TSR & CAN_TSR_TME2) != 0U)
-    if ((hcan->Instance->TSR & CAN_TSR_TME1) != 0U)
+    {
-    {
+      freelevel++;
-      freelevel++;
+    }
-    }
+  }
-    /* Check Tx Mailbox 2 status */
+  /* Return Tx Mailboxes free level */
-    if ((hcan->Instance->TSR & CAN_TSR_TME2) != 0U)
+  return freelevel;
-    {
+}
-      freelevel++;
-    }
+/**
-  }
+  * @brief  Check if a transmission request is pending on the selected Tx
+  *         Mailboxes.
-  /* Return Tx Mailboxes free level */
+  * @param  hcan pointer to an CAN_HandleTypeDef structure that contains
-  return freelevel;
+  *         the configuration information for the specified CAN.
-}
+  * @param  TxMailboxes List of Tx Mailboxes to check.
+  *         This parameter can be any combination of @arg CAN_Tx_Mailboxes.
-/**
+  * @retval Status
-  * @brief  Check if a transmission request is pending on the selected Tx
+  *          - 0 : No pending transmission request on any selected Tx Mailboxes.
-  *         Mailboxes.
+  *          - 1 : Pending transmission request on at least one of the selected
-  * @param  hcan pointer to an CAN_HandleTypeDef structure that contains
+  *                Tx Mailbox.
-  *         the configuration information for the specified CAN.
+  */
-  * @param  TxMailboxes List of Tx Mailboxes to check.
+uint32_t HAL_CAN_IsTxMessagePending(const CAN_HandleTypeDef *hcan, uint32_t TxMailboxes)
-  *         This parameter can be any combination of @arg CAN_Tx_Mailboxes.
+{
-  * @retval Status
+  uint32_t status = 0U;
-  *          - 0 : No pending transmission request on any selected Tx Mailboxes.
+  HAL_CAN_StateTypeDef state = hcan->State;
-  *          - 1 : Pending transmission request on at least one of the selected
-  *                Tx Mailbox.
+  /* Check function parameters */
-  */
+  assert_param(IS_CAN_TX_MAILBOX_LIST(TxMailboxes));
-uint32_t HAL_CAN_IsTxMessagePending(CAN_HandleTypeDef *hcan, uint32_t TxMailboxes)
-{
+  if ((state == HAL_CAN_STATE_READY) ||
-  uint32_t status = 0U;
+      (state == HAL_CAN_STATE_LISTENING))
-  HAL_CAN_StateTypeDef state = hcan->State;
+  {
+    /* Check pending transmission request on the selected Tx Mailboxes */
-  /* Check function parameters */
+    if ((hcan->Instance->TSR & (TxMailboxes << CAN_TSR_TME0_Pos)) != (TxMailboxes << CAN_TSR_TME0_Pos))
-  assert_param(IS_CAN_TX_MAILBOX_LIST(TxMailboxes));
+    {
+      status = 1U;
-  if ((state == HAL_CAN_STATE_READY) ||
+    }
-      (state == HAL_CAN_STATE_LISTENING))
+  }
-  {
-    /* Check pending transmission request on the selected Tx Mailboxes */
+  /* Return status */
-    if ((hcan->Instance->TSR & (TxMailboxes << CAN_TSR_TME0_Pos)) != (TxMailboxes << CAN_TSR_TME0_Pos))
+  return status;
-    {
+}
-      status = 1U;
-    }
+/**
-  }
+  * @brief  Return timestamp of Tx message sent, if time triggered communication
+            mode is enabled.
-  /* Return status */
+  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
-  return status;
+  *         the configuration information for the specified CAN.
-}
+  * @param  TxMailbox Tx Mailbox where the timestamp of message sent will be
+  *         read.
-/**
+  *         This parameter can be one value of @arg CAN_Tx_Mailboxes.
-  * @brief  Return timestamp of Tx message sent, if time triggered communication
+  * @retval Timestamp of message sent from Tx Mailbox.
-            mode is enabled.
+  */
-  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
+uint32_t HAL_CAN_GetTxTimestamp(const CAN_HandleTypeDef *hcan, uint32_t TxMailbox)
-  *         the configuration information for the specified CAN.
+{
-  * @param  TxMailbox Tx Mailbox where the timestamp of message sent will be
+  uint32_t timestamp = 0U;
-  *         read.
+  uint32_t transmitmailbox;
-  *         This parameter can be one value of @arg CAN_Tx_Mailboxes.
+  HAL_CAN_StateTypeDef state = hcan->State;
-  * @retval Timestamp of message sent from Tx Mailbox.
-  */
+  /* Check function parameters */
-uint32_t HAL_CAN_GetTxTimestamp(CAN_HandleTypeDef *hcan, uint32_t TxMailbox)
+  assert_param(IS_CAN_TX_MAILBOX(TxMailbox));
-{
-  uint32_t timestamp = 0U;
+  if ((state == HAL_CAN_STATE_READY) ||
-  uint32_t transmitmailbox;
+      (state == HAL_CAN_STATE_LISTENING))
-  HAL_CAN_StateTypeDef state = hcan->State;
+  {
+    /* Select the Tx mailbox */
-  /* Check function parameters */
+    transmitmailbox = POSITION_VAL(TxMailbox);
-  assert_param(IS_CAN_TX_MAILBOX(TxMailbox));
+    /* Get timestamp */
-  if ((state == HAL_CAN_STATE_READY) ||
+    timestamp = (hcan->Instance->sTxMailBox[transmitmailbox].TDTR & CAN_TDT0R_TIME) >> CAN_TDT0R_TIME_Pos;
-      (state == HAL_CAN_STATE_LISTENING))
+  }
-  {
-    /* Select the Tx mailbox */
+  /* Return the timestamp */
-    transmitmailbox = POSITION_VAL(TxMailbox);
+  return timestamp;
+}
-    /* Get timestamp */
-    timestamp = (hcan->Instance->sTxMailBox[transmitmailbox].TDTR & CAN_TDT0R_TIME) >> CAN_TDT0R_TIME_Pos;
+/**
-  }
+  * @brief  Get an CAN frame from the Rx FIFO zone into the message RAM.
+  * @param  hcan pointer to an CAN_HandleTypeDef structure that contains
-  /* Return the timestamp */
+  *         the configuration information for the specified CAN.
-  return timestamp;
+  * @param  RxFifo Fifo number of the received message to be read.
-}
+  *         This parameter can be a value of @arg CAN_receive_FIFO_number.
+  * @param  pHeader pointer to a CAN_RxHeaderTypeDef structure where the header
-/**
+  *         of the Rx frame will be stored.
-  * @brief  Get an CAN frame from the Rx FIFO zone into the message RAM.
+  * @param  aData array where the payload of the Rx frame will be stored.
-  * @param  hcan pointer to an CAN_HandleTypeDef structure that contains
+  * @retval HAL status
-  *         the configuration information for the specified CAN.
+  */
-  * @param  RxFifo Fifo number of the received message to be read.
+HAL_StatusTypeDef HAL_CAN_GetRxMessage(CAN_HandleTypeDef *hcan, uint32_t RxFifo,
-  *         This parameter can be a value of @arg CAN_receive_FIFO_number.
+                                       CAN_RxHeaderTypeDef *pHeader, uint8_t aData[])
-  * @param  pHeader pointer to a CAN_RxHeaderTypeDef structure where the header
+{
-  *         of the Rx frame will be stored.
+  HAL_CAN_StateTypeDef state = hcan->State;
-  * @param  aData array where the payload of the Rx frame will be stored.
-  * @retval HAL status
+  assert_param(IS_CAN_RX_FIFO(RxFifo));
-  */
-HAL_StatusTypeDef HAL_CAN_GetRxMessage(CAN_HandleTypeDef *hcan, uint32_t RxFifo, CAN_RxHeaderTypeDef *pHeader, uint8_t aData[])
+  if ((state == HAL_CAN_STATE_READY) ||
-{
+      (state == HAL_CAN_STATE_LISTENING))
-  HAL_CAN_StateTypeDef state = hcan->State;
+  {
+    /* Check the Rx FIFO */
-  assert_param(IS_CAN_RX_FIFO(RxFifo));
+    if (RxFifo == CAN_RX_FIFO0) /* Rx element is assigned to Rx FIFO 0 */
+    {
-  if ((state == HAL_CAN_STATE_READY) ||
+      /* Check that the Rx FIFO 0 is not empty */
-      (state == HAL_CAN_STATE_LISTENING))
+      if ((hcan->Instance->RF0R & CAN_RF0R_FMP0) == 0U)
-  {
+      {
-    /* Check the Rx FIFO */
+        /* Update error code */
-    if (RxFifo == CAN_RX_FIFO0) /* Rx element is assigned to Rx FIFO 0 */
+        hcan->ErrorCode |= HAL_CAN_ERROR_PARAM;
-    {
-      /* Check that the Rx FIFO 0 is not empty */
+        return HAL_ERROR;
-      if ((hcan->Instance->RF0R & CAN_RF0R_FMP0) == 0U)
+      }
-      {
+    }
-        /* Update error code */
+    else /* Rx element is assigned to Rx FIFO 1 */
-        hcan->ErrorCode |= HAL_CAN_ERROR_PARAM;
+    {
+      /* Check that the Rx FIFO 1 is not empty */
-        return HAL_ERROR;
+      if ((hcan->Instance->RF1R & CAN_RF1R_FMP1) == 0U)
-      }
+      {
-    }
+        /* Update error code */
-    else /* Rx element is assigned to Rx FIFO 1 */
+        hcan->ErrorCode |= HAL_CAN_ERROR_PARAM;
-    {
-      /* Check that the Rx FIFO 1 is not empty */
+        return HAL_ERROR;
-      if ((hcan->Instance->RF1R & CAN_RF1R_FMP1) == 0U)
+      }
-      {
+    }
-        /* Update error code */
-        hcan->ErrorCode |= HAL_CAN_ERROR_PARAM;
+    /* Get the header */
+    pHeader->IDE = CAN_RI0R_IDE & hcan->Instance->sFIFOMailBox[RxFifo].RIR;
-        return HAL_ERROR;
+    if (pHeader->IDE == CAN_ID_STD)
-      }
+    {
-    }
+      pHeader->StdId = (CAN_RI0R_STID & hcan->Instance->sFIFOMailBox[RxFifo].RIR) >> CAN_TI0R_STID_Pos;
+    }
-    /* Get the header */
+    else
-    pHeader->IDE = CAN_RI0R_IDE & hcan->Instance->sFIFOMailBox[RxFifo].RIR;
+    {
-    if (pHeader->IDE == CAN_ID_STD)
+      pHeader->ExtId = ((CAN_RI0R_EXID | CAN_RI0R_STID) &
-    {
+                        hcan->Instance->sFIFOMailBox[RxFifo].RIR) >> CAN_RI0R_EXID_Pos;
-      pHeader->StdId = (CAN_RI0R_STID & hcan->Instance->sFIFOMailBox[RxFifo].RIR) >> CAN_TI0R_STID_Pos;
+    }
-    }
+    pHeader->RTR = (CAN_RI0R_RTR & hcan->Instance->sFIFOMailBox[RxFifo].RIR);
-    else
+    if (((CAN_RDT0R_DLC & hcan->Instance->sFIFOMailBox[RxFifo].RDTR) >> CAN_RDT0R_DLC_Pos) >= 8U)
     {
-      pHeader->ExtId = ((CAN_RI0R_EXID | CAN_RI0R_STID) & hcan->Instance->sFIFOMailBox[RxFifo].RIR) >> CAN_RI0R_EXID_Pos;
+      /* Truncate DLC to 8 if received field is over range */
-    }
+      pHeader->DLC = 8U;
-    pHeader->RTR = (CAN_RI0R_RTR & hcan->Instance->sFIFOMailBox[RxFifo].RIR);
+    }
-    pHeader->DLC = (CAN_RDT0R_DLC & hcan->Instance->sFIFOMailBox[RxFifo].RDTR) >> CAN_RDT0R_DLC_Pos;
+    else
-    pHeader->FilterMatchIndex = (CAN_RDT0R_FMI & hcan->Instance->sFIFOMailBox[RxFifo].RDTR) >> CAN_RDT0R_FMI_Pos;
+    {
-    pHeader->Timestamp = (CAN_RDT0R_TIME & hcan->Instance->sFIFOMailBox[RxFifo].RDTR) >> CAN_RDT0R_TIME_Pos;
+      pHeader->DLC = (CAN_RDT0R_DLC & hcan->Instance->sFIFOMailBox[RxFifo].RDTR) >> CAN_RDT0R_DLC_Pos;
+    }
-    /* Get the data */
+    pHeader->FilterMatchIndex = (CAN_RDT0R_FMI & hcan->Instance->sFIFOMailBox[RxFifo].RDTR) >> CAN_RDT0R_FMI_Pos;
-    aData[0] = (uint8_t)((CAN_RDL0R_DATA0 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA0_Pos);
+    pHeader->Timestamp = (CAN_RDT0R_TIME & hcan->Instance->sFIFOMailBox[RxFifo].RDTR) >> CAN_RDT0R_TIME_Pos;
-    aData[1] = (uint8_t)((CAN_RDL0R_DATA1 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA1_Pos);
-    aData[2] = (uint8_t)((CAN_RDL0R_DATA2 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA2_Pos);
+    /* Get the data */
-    aData[3] = (uint8_t)((CAN_RDL0R_DATA3 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA3_Pos);
+    aData[0] = (uint8_t)((CAN_RDL0R_DATA0 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA0_Pos);
-    aData[4] = (uint8_t)((CAN_RDH0R_DATA4 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA4_Pos);
+    aData[1] = (uint8_t)((CAN_RDL0R_DATA1 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA1_Pos);
-    aData[5] = (uint8_t)((CAN_RDH0R_DATA5 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA5_Pos);
+    aData[2] = (uint8_t)((CAN_RDL0R_DATA2 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA2_Pos);
-    aData[6] = (uint8_t)((CAN_RDH0R_DATA6 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA6_Pos);
+    aData[3] = (uint8_t)((CAN_RDL0R_DATA3 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA3_Pos);
-    aData[7] = (uint8_t)((CAN_RDH0R_DATA7 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA7_Pos);
+    aData[4] = (uint8_t)((CAN_RDH0R_DATA4 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA4_Pos);
+    aData[5] = (uint8_t)((CAN_RDH0R_DATA5 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA5_Pos);
-    /* Release the FIFO */
+    aData[6] = (uint8_t)((CAN_RDH0R_DATA6 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA6_Pos);
-    if (RxFifo == CAN_RX_FIFO0) /* Rx element is assigned to Rx FIFO 0 */
+    aData[7] = (uint8_t)((CAN_RDH0R_DATA7 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA7_Pos);
-    {
-      /* Release RX FIFO 0 */
+    /* Release the FIFO */
-      SET_BIT(hcan->Instance->RF0R, CAN_RF0R_RFOM0);
+    if (RxFifo == CAN_RX_FIFO0) /* Rx element is assigned to Rx FIFO 0 */
-    }
+    {
-    else /* Rx element is assigned to Rx FIFO 1 */
+      /* Release RX FIFO 0 */
-    {
+      SET_BIT(hcan->Instance->RF0R, CAN_RF0R_RFOM0);
-      /* Release RX FIFO 1 */
+    }
-      SET_BIT(hcan->Instance->RF1R, CAN_RF1R_RFOM1);
+    else /* Rx element is assigned to Rx FIFO 1 */
-    }
+    {
+      /* Release RX FIFO 1 */
-    /* Return function status */
+      SET_BIT(hcan->Instance->RF1R, CAN_RF1R_RFOM1);
-    return HAL_OK;
+    }
-  }
-  else
+    /* Return function status */
-  {
+    return HAL_OK;
-    /* Update error code */
+  }
-    hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
+  else
+  {
-    return HAL_ERROR;
+    /* Update error code */
-  }
+    hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
-}
+    return HAL_ERROR;
-/**
+  }
-  * @brief  Return Rx FIFO fill level.
+}
-  * @param  hcan pointer to an CAN_HandleTypeDef structure that contains
-  *         the configuration information for the specified CAN.
+/**
-  * @param  RxFifo Rx FIFO.
+  * @brief  Return Rx FIFO fill level.
-  *         This parameter can be a value of @arg CAN_receive_FIFO_number.
+  * @param  hcan pointer to an CAN_HandleTypeDef structure that contains
-  * @retval Number of messages available in Rx FIFO.
+  *         the configuration information for the specified CAN.
-  */
+  * @param  RxFifo Rx FIFO.
-uint32_t HAL_CAN_GetRxFifoFillLevel(CAN_HandleTypeDef *hcan, uint32_t RxFifo)
+  *         This parameter can be a value of @arg CAN_receive_FIFO_number.
-{
+  * @retval Number of messages available in Rx FIFO.
-  uint32_t filllevel = 0U;
+  */
-  HAL_CAN_StateTypeDef state = hcan->State;
+uint32_t HAL_CAN_GetRxFifoFillLevel(const CAN_HandleTypeDef *hcan, uint32_t RxFifo)
+{
-  /* Check function parameters */
+  uint32_t filllevel = 0U;
-  assert_param(IS_CAN_RX_FIFO(RxFifo));
+  HAL_CAN_StateTypeDef state = hcan->State;
-  if ((state == HAL_CAN_STATE_READY) ||
+  /* Check function parameters */
-      (state == HAL_CAN_STATE_LISTENING))
+  assert_param(IS_CAN_RX_FIFO(RxFifo));
-  {
-    if (RxFifo == CAN_RX_FIFO0)
+  if ((state == HAL_CAN_STATE_READY) ||
-    {
+      (state == HAL_CAN_STATE_LISTENING))
-      filllevel = hcan->Instance->RF0R & CAN_RF0R_FMP0;
+  {
-    }
+    if (RxFifo == CAN_RX_FIFO0)
-    else /* RxFifo == CAN_RX_FIFO1 */
+    {
-    {
+      filllevel = hcan->Instance->RF0R & CAN_RF0R_FMP0;
-      filllevel = hcan->Instance->RF1R & CAN_RF1R_FMP1;
+    }
-    }
+    else /* RxFifo == CAN_RX_FIFO1 */
-  }
+    {
+      filllevel = hcan->Instance->RF1R & CAN_RF1R_FMP1;
-  /* Return Rx FIFO fill level */
+    }
-  return filllevel;
+  }
-}
+  /* Return Rx FIFO fill level */
-/**
+  return filllevel;
-  * @}
+}
-  */
+/**
-/** @defgroup CAN_Exported_Functions_Group4 Interrupts management
+  * @}
- *  @brief    Interrupts management
+  */
- *
-@verbatim
+/** @defgroup CAN_Exported_Functions_Group4 Interrupts management
-  ==============================================================================
+ *  @brief    Interrupts management
-                       ##### Interrupts management #####
+ *
-  ==============================================================================
+@verbatim
-    [..]  This section provides functions allowing to:
+  ==============================================================================
-      (+) HAL_CAN_ActivateNotification      : Enable interrupts
+                       ##### Interrupts management #####
-      (+) HAL_CAN_DeactivateNotification    : Disable interrupts
+  ==============================================================================
-      (+) HAL_CAN_IRQHandler                : Handles CAN interrupt request
+    [..]  This section provides functions allowing to:
+      (+) HAL_CAN_ActivateNotification      : Enable interrupts
-@endverbatim
+      (+) HAL_CAN_DeactivateNotification    : Disable interrupts
-  * @{
+      (+) HAL_CAN_IRQHandler                : Handles CAN interrupt request
-  */
+@endverbatim
-/**
+  * @{
-  * @brief  Enable interrupts.
+  */
-  * @param  hcan pointer to an CAN_HandleTypeDef structure that contains
-  *         the configuration information for the specified CAN.
+/**
-  * @param  ActiveITs indicates which interrupts will be enabled.
+  * @brief  Enable interrupts.
-  *         This parameter can be any combination of @arg CAN_Interrupts.
+  * @param  hcan pointer to an CAN_HandleTypeDef structure that contains
-  * @retval HAL status
+  *         the configuration information for the specified CAN.
-  */
+  * @param  ActiveITs indicates which interrupts will be enabled.
-HAL_StatusTypeDef HAL_CAN_ActivateNotification(CAN_HandleTypeDef *hcan, uint32_t ActiveITs)
+  *         This parameter can be any combination of @arg CAN_Interrupts.
-{
+  * @retval HAL status
-  HAL_CAN_StateTypeDef state = hcan->State;
+  */
+HAL_StatusTypeDef HAL_CAN_ActivateNotification(CAN_HandleTypeDef *hcan, uint32_t ActiveITs)
-  /* Check function parameters */
+{
-  assert_param(IS_CAN_IT(ActiveITs));
+  HAL_CAN_StateTypeDef state = hcan->State;
-  if ((state == HAL_CAN_STATE_READY) ||
+  /* Check function parameters */
-      (state == HAL_CAN_STATE_LISTENING))
+  assert_param(IS_CAN_IT(ActiveITs));
-  {
-    /* Enable the selected interrupts */
+  if ((state == HAL_CAN_STATE_READY) ||
-    __HAL_CAN_ENABLE_IT(hcan, ActiveITs);
+      (state == HAL_CAN_STATE_LISTENING))
+  {
-    /* Return function status */
+    /* Enable the selected interrupts */
-    return HAL_OK;
+    __HAL_CAN_ENABLE_IT(hcan, ActiveITs);
-  }
-  else
+    /* Return function status */
-  {
+    return HAL_OK;
-    /* Update error code */
+  }
-    hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
+  else
+  {
-    return HAL_ERROR;
+    /* Update error code */
-  }
+    hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
-}
+    return HAL_ERROR;
-/**
+  }
-  * @brief  Disable interrupts.
+}
-  * @param  hcan pointer to an CAN_HandleTypeDef structure that contains
-  *         the configuration information for the specified CAN.
+/**
-  * @param  InactiveITs indicates which interrupts will be disabled.
+  * @brief  Disable interrupts.
-  *         This parameter can be any combination of @arg CAN_Interrupts.
+  * @param  hcan pointer to an CAN_HandleTypeDef structure that contains
-  * @retval HAL status
+  *         the configuration information for the specified CAN.
-  */
+  * @param  InactiveITs indicates which interrupts will be disabled.
-HAL_StatusTypeDef HAL_CAN_DeactivateNotification(CAN_HandleTypeDef *hcan, uint32_t InactiveITs)
+  *         This parameter can be any combination of @arg CAN_Interrupts.
-{
+  * @retval HAL status
-  HAL_CAN_StateTypeDef state = hcan->State;
+  */
+HAL_StatusTypeDef HAL_CAN_DeactivateNotification(CAN_HandleTypeDef *hcan, uint32_t InactiveITs)
-  /* Check function parameters */
+{
-  assert_param(IS_CAN_IT(InactiveITs));
+  HAL_CAN_StateTypeDef state = hcan->State;
-  if ((state == HAL_CAN_STATE_READY) ||
+  /* Check function parameters */
-      (state == HAL_CAN_STATE_LISTENING))
+  assert_param(IS_CAN_IT(InactiveITs));
-  {
-    /* Disable the selected interrupts */
+  if ((state == HAL_CAN_STATE_READY) ||
-    __HAL_CAN_DISABLE_IT(hcan, InactiveITs);
+      (state == HAL_CAN_STATE_LISTENING))
+  {
-    /* Return function status */
+    /* Disable the selected interrupts */
-    return HAL_OK;
+    __HAL_CAN_DISABLE_IT(hcan, InactiveITs);
-  }
-  else
+    /* Return function status */
-  {
+    return HAL_OK;
-    /* Update error code */
+  }
-    hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
+  else
+  {
-    return HAL_ERROR;
+    /* Update error code */
-  }
+    hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
-}
+    return HAL_ERROR;
-/**
+  }
-  * @brief  Handles CAN interrupt request
+}
-  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
-  *         the configuration information for the specified CAN.
+/**
-  * @retval None
+  * @brief  Handles CAN interrupt request
-  */
+  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
-void HAL_CAN_IRQHandler(CAN_HandleTypeDef *hcan)
+  *         the configuration information for the specified CAN.
-{
+  * @retval None
-  uint32_t errorcode = HAL_CAN_ERROR_NONE;
+  */
-  uint32_t interrupts = READ_REG(hcan->Instance->IER);
+void HAL_CAN_IRQHandler(CAN_HandleTypeDef *hcan)
-  uint32_t msrflags = READ_REG(hcan->Instance->MSR);
+{
-  uint32_t tsrflags = READ_REG(hcan->Instance->TSR);
+  uint32_t errorcode = HAL_CAN_ERROR_NONE;
-  uint32_t rf0rflags = READ_REG(hcan->Instance->RF0R);
+  uint32_t interrupts = READ_REG(hcan->Instance->IER);
-  uint32_t rf1rflags = READ_REG(hcan->Instance->RF1R);
+  uint32_t msrflags = READ_REG(hcan->Instance->MSR);
-  uint32_t esrflags = READ_REG(hcan->Instance->ESR);
+  uint32_t tsrflags = READ_REG(hcan->Instance->TSR);
+  uint32_t rf0rflags = READ_REG(hcan->Instance->RF0R);
-  /* Transmit Mailbox empty interrupt management *****************************/
+  uint32_t rf1rflags = READ_REG(hcan->Instance->RF1R);
-  if ((interrupts & CAN_IT_TX_MAILBOX_EMPTY) != 0U)
+  uint32_t esrflags = READ_REG(hcan->Instance->ESR);
-  {
-    /* Transmit Mailbox 0 management *****************************************/
+  /* Transmit Mailbox empty interrupt management *****************************/
-    if ((tsrflags & CAN_TSR_RQCP0) != 0U)
+  if ((interrupts & CAN_IT_TX_MAILBOX_EMPTY) != 0U)
-    {
+  {
-      /* Clear the Transmission Complete flag (and TXOK0,ALST0,TERR0 bits) */
+    /* Transmit Mailbox 0 management *****************************************/
-      __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_RQCP0);
+    if ((tsrflags & CAN_TSR_RQCP0) != 0U)
+    {
-      if ((tsrflags & CAN_TSR_TXOK0) != 0U)
+      /* Clear the Transmission Complete flag (and TXOK0,ALST0,TERR0 bits) */
-      {
+      __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_RQCP0);
-        /* Transmission Mailbox 0 complete callback */
-#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
+      if ((tsrflags & CAN_TSR_TXOK0) != 0U)
-        /* Call registered callback*/
+      {
-        hcan->TxMailbox0CompleteCallback(hcan);
+        /* Transmission Mailbox 0 complete callback */
-#else
+#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
-        /* Call weak (surcharged) callback */
+        /* Call registered callback*/
-        HAL_CAN_TxMailbox0CompleteCallback(hcan);
+        hcan->TxMailbox0CompleteCallback(hcan);
-#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
+#else
-      }
+        /* Call weak (surcharged) callback */
-      else
+        HAL_CAN_TxMailbox0CompleteCallback(hcan);
-      {
+#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
-        if ((tsrflags & CAN_TSR_ALST0) != 0U)
+      }
-        {
+      else
-          /* Update error code */
+      {
-          errorcode |= HAL_CAN_ERROR_TX_ALST0;
+        if ((tsrflags & CAN_TSR_ALST0) != 0U)
-        }
+        {
-        else if ((tsrflags & CAN_TSR_TERR0) != 0U)
+          /* Update error code */
-        {
+          errorcode |= HAL_CAN_ERROR_TX_ALST0;
-          /* Update error code */
+        }
-          errorcode |= HAL_CAN_ERROR_TX_TERR0;
+        else if ((tsrflags & CAN_TSR_TERR0) != 0U)
-        }
+        {
-        else
+          /* Update error code */
-        {
+          errorcode |= HAL_CAN_ERROR_TX_TERR0;
-          /* Transmission Mailbox 0 abort callback */
+        }
-#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
+        else
-          /* Call registered callback*/
+        {
-          hcan->TxMailbox0AbortCallback(hcan);
+          /* Transmission Mailbox 0 abort callback */
-#else
+#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
-          /* Call weak (surcharged) callback */
+          /* Call registered callback*/
-          HAL_CAN_TxMailbox0AbortCallback(hcan);
+          hcan->TxMailbox0AbortCallback(hcan);
-#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
+#else
-        }
+          /* Call weak (surcharged) callback */
-      }
+          HAL_CAN_TxMailbox0AbortCallback(hcan);
-    }
+#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
+        }
-    /* Transmit Mailbox 1 management *****************************************/
+      }
-    if ((tsrflags & CAN_TSR_RQCP1) != 0U)
+    }
-    {
-      /* Clear the Transmission Complete flag (and TXOK1,ALST1,TERR1 bits) */
+    /* Transmit Mailbox 1 management *****************************************/
-      __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_RQCP1);
+    if ((tsrflags & CAN_TSR_RQCP1) != 0U)
+    {
-      if ((tsrflags & CAN_TSR_TXOK1) != 0U)
+      /* Clear the Transmission Complete flag (and TXOK1,ALST1,TERR1 bits) */
-      {
+      __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_RQCP1);
-        /* Transmission Mailbox 1 complete callback */
-#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
+      if ((tsrflags & CAN_TSR_TXOK1) != 0U)
-        /* Call registered callback*/
+      {
-        hcan->TxMailbox1CompleteCallback(hcan);
+        /* Transmission Mailbox 1 complete callback */
-#else
+#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
-        /* Call weak (surcharged) callback */
+        /* Call registered callback*/
-        HAL_CAN_TxMailbox1CompleteCallback(hcan);
+        hcan->TxMailbox1CompleteCallback(hcan);
-#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
+#else
-      }
+        /* Call weak (surcharged) callback */
-      else
+        HAL_CAN_TxMailbox1CompleteCallback(hcan);
-      {
+#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
-        if ((tsrflags & CAN_TSR_ALST1) != 0U)
+      }
-        {
+      else
-          /* Update error code */
+      {
-          errorcode |= HAL_CAN_ERROR_TX_ALST1;
+        if ((tsrflags & CAN_TSR_ALST1) != 0U)
-        }
+        {
-        else if ((tsrflags & CAN_TSR_TERR1) != 0U)
+          /* Update error code */
-        {
+          errorcode |= HAL_CAN_ERROR_TX_ALST1;
-          /* Update error code */
+        }
-          errorcode |= HAL_CAN_ERROR_TX_TERR1;
+        else if ((tsrflags & CAN_TSR_TERR1) != 0U)
-        }
+        {
-        else
+          /* Update error code */
-        {
+          errorcode |= HAL_CAN_ERROR_TX_TERR1;
-          /* Transmission Mailbox 1 abort callback */
+        }
-#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
+        else
-          /* Call registered callback*/
+        {
-          hcan->TxMailbox1AbortCallback(hcan);
+          /* Transmission Mailbox 1 abort callback */
-#else
+#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
-          /* Call weak (surcharged) callback */
+          /* Call registered callback*/
-          HAL_CAN_TxMailbox1AbortCallback(hcan);
+          hcan->TxMailbox1AbortCallback(hcan);
-#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
+#else
-        }
+          /* Call weak (surcharged) callback */
-      }
+          HAL_CAN_TxMailbox1AbortCallback(hcan);
-    }
+#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
+        }
-    /* Transmit Mailbox 2 management *****************************************/
+      }
-    if ((tsrflags & CAN_TSR_RQCP2) != 0U)
+    }
-    {
-      /* Clear the Transmission Complete flag (and TXOK2,ALST2,TERR2 bits) */
+    /* Transmit Mailbox 2 management *****************************************/
-      __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_RQCP2);
+    if ((tsrflags & CAN_TSR_RQCP2) != 0U)
+    {
-      if ((tsrflags & CAN_TSR_TXOK2) != 0U)
+      /* Clear the Transmission Complete flag (and TXOK2,ALST2,TERR2 bits) */
-      {
+      __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_RQCP2);
-        /* Transmission Mailbox 2 complete callback */
-#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
+      if ((tsrflags & CAN_TSR_TXOK2) != 0U)
-        /* Call registered callback*/
+      {
-        hcan->TxMailbox2CompleteCallback(hcan);
+        /* Transmission Mailbox 2 complete callback */
-#else
+#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
-        /* Call weak (surcharged) callback */
+        /* Call registered callback*/
-        HAL_CAN_TxMailbox2CompleteCallback(hcan);
+        hcan->TxMailbox2CompleteCallback(hcan);
-#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
+#else
-      }
+        /* Call weak (surcharged) callback */
-      else
+        HAL_CAN_TxMailbox2CompleteCallback(hcan);
-      {
+#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
-        if ((tsrflags & CAN_TSR_ALST2) != 0U)
+      }
-        {
+      else
-          /* Update error code */
+      {
-          errorcode |= HAL_CAN_ERROR_TX_ALST2;
+        if ((tsrflags & CAN_TSR_ALST2) != 0U)
-        }
+        {
-        else if ((tsrflags & CAN_TSR_TERR2) != 0U)
+          /* Update error code */
-        {
+          errorcode |= HAL_CAN_ERROR_TX_ALST2;
-          /* Update error code */
+        }
-          errorcode |= HAL_CAN_ERROR_TX_TERR2;
+        else if ((tsrflags & CAN_TSR_TERR2) != 0U)
-        }
+        {
-        else
+          /* Update error code */
-        {
+          errorcode |= HAL_CAN_ERROR_TX_TERR2;
-          /* Transmission Mailbox 2 abort callback */
+        }
-#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
+        else
-          /* Call registered callback*/
+        {
-          hcan->TxMailbox2AbortCallback(hcan);
+          /* Transmission Mailbox 2 abort callback */
-#else
+#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
-          /* Call weak (surcharged) callback */
+          /* Call registered callback*/
-          HAL_CAN_TxMailbox2AbortCallback(hcan);
+          hcan->TxMailbox2AbortCallback(hcan);
-#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
+#else
-        }
+          /* Call weak (surcharged) callback */
-      }
+          HAL_CAN_TxMailbox2AbortCallback(hcan);
-    }
+#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
-  }
+        }
+      }
-  /* Receive FIFO 0 overrun interrupt management *****************************/
+    }
-  if ((interrupts & CAN_IT_RX_FIFO0_OVERRUN) != 0U)
+  }
-  {
-    if ((rf0rflags & CAN_RF0R_FOVR0) != 0U)
+  /* Receive FIFO 0 overrun interrupt management *****************************/
-    {
+  if ((interrupts & CAN_IT_RX_FIFO0_OVERRUN) != 0U)
-      /* Set CAN error code to Rx Fifo 0 overrun error */
+  {
-      errorcode |= HAL_CAN_ERROR_RX_FOV0;
+    if ((rf0rflags & CAN_RF0R_FOVR0) != 0U)
+    {
-      /* Clear FIFO0 Overrun Flag */
+      /* Set CAN error code to Rx Fifo 0 overrun error */
-      __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV0);
+      errorcode |= HAL_CAN_ERROR_RX_FOV0;
-    }
-  }
+      /* Clear FIFO0 Overrun Flag */
+      __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV0);
-  /* Receive FIFO 0 full interrupt management ********************************/
+    }
-  if ((interrupts & CAN_IT_RX_FIFO0_FULL) != 0U)
+  }
-  {
-    if ((rf0rflags & CAN_RF0R_FULL0) != 0U)
+  /* Receive FIFO 0 full interrupt management ********************************/
-    {
+  if ((interrupts & CAN_IT_RX_FIFO0_FULL) != 0U)
-      /* Clear FIFO 0 full Flag */
+  {
-      __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF0);
+    if ((rf0rflags & CAN_RF0R_FULL0) != 0U)
+    {
-      /* Receive FIFO 0 full Callback */
+      /* Clear FIFO 0 full Flag */
-#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
+      __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF0);
-      /* Call registered callback*/
-      hcan->RxFifo0FullCallback(hcan);
+      /* Receive FIFO 0 full Callback */
-#else
+#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
-      /* Call weak (surcharged) callback */
+      /* Call registered callback*/
-      HAL_CAN_RxFifo0FullCallback(hcan);
+      hcan->RxFifo0FullCallback(hcan);
-#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
+#else
-    }
+      /* Call weak (surcharged) callback */
-  }
+      HAL_CAN_RxFifo0FullCallback(hcan);
+#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
-  /* Receive FIFO 0 message pending interrupt management *********************/
+    }
-  if ((interrupts & CAN_IT_RX_FIFO0_MSG_PENDING) != 0U)
+  }
-  {
-    /* Check if message is still pending */
+  /* Receive FIFO 0 message pending interrupt management *********************/
-    if ((hcan->Instance->RF0R & CAN_RF0R_FMP0) != 0U)
+  if ((interrupts & CAN_IT_RX_FIFO0_MSG_PENDING) != 0U)
-    {
+  {
-      /* Receive FIFO 0 message pending Callback */
+    /* Check if message is still pending */
-#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
+    if ((hcan->Instance->RF0R & CAN_RF0R_FMP0) != 0U)
-      /* Call registered callback*/
+    {
-      hcan->RxFifo0MsgPendingCallback(hcan);
+      /* Receive FIFO 0 message pending Callback */
-#else
+#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
-      /* Call weak (surcharged) callback */
+      /* Call registered callback*/
-      HAL_CAN_RxFifo0MsgPendingCallback(hcan);
+      hcan->RxFifo0MsgPendingCallback(hcan);
-#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
+#else
-    }
+      /* Call weak (surcharged) callback */
-  }
+      HAL_CAN_RxFifo0MsgPendingCallback(hcan);
+#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
-  /* Receive FIFO 1 overrun interrupt management *****************************/
+    }
-  if ((interrupts & CAN_IT_RX_FIFO1_OVERRUN) != 0U)
+  }
-  {
-    if ((rf1rflags & CAN_RF1R_FOVR1) != 0U)
+  /* Receive FIFO 1 overrun interrupt management *****************************/
-    {
+  if ((interrupts & CAN_IT_RX_FIFO1_OVERRUN) != 0U)
-      /* Set CAN error code to Rx Fifo 1 overrun error */
+  {
-      errorcode |= HAL_CAN_ERROR_RX_FOV1;
+    if ((rf1rflags & CAN_RF1R_FOVR1) != 0U)
+    {
-      /* Clear FIFO1 Overrun Flag */
+      /* Set CAN error code to Rx Fifo 1 overrun error */
-      __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV1);
+      errorcode |= HAL_CAN_ERROR_RX_FOV1;
-    }
-  }
+      /* Clear FIFO1 Overrun Flag */
+      __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV1);
-  /* Receive FIFO 1 full interrupt management ********************************/
+    }
-  if ((interrupts & CAN_IT_RX_FIFO1_FULL) != 0U)
+  }
-  {
-    if ((rf1rflags & CAN_RF1R_FULL1) != 0U)
+  /* Receive FIFO 1 full interrupt management ********************************/
-    {
+  if ((interrupts & CAN_IT_RX_FIFO1_FULL) != 0U)
-      /* Clear FIFO 1 full Flag */
+  {
-      __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF1);
+    if ((rf1rflags & CAN_RF1R_FULL1) != 0U)
+    {
-      /* Receive FIFO 1 full Callback */
+      /* Clear FIFO 1 full Flag */
-#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
+      __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF1);
-      /* Call registered callback*/
-      hcan->RxFifo1FullCallback(hcan);
+      /* Receive FIFO 1 full Callback */
-#else
+#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
-      /* Call weak (surcharged) callback */
+      /* Call registered callback*/
-      HAL_CAN_RxFifo1FullCallback(hcan);
+      hcan->RxFifo1FullCallback(hcan);
-#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
+#else
-    }
+      /* Call weak (surcharged) callback */
-  }
+      HAL_CAN_RxFifo1FullCallback(hcan);
+#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
-  /* Receive FIFO 1 message pending interrupt management *********************/
+    }
-  if ((interrupts & CAN_IT_RX_FIFO1_MSG_PENDING) != 0U)
+  }
-  {
-    /* Check if message is still pending */
+  /* Receive FIFO 1 message pending interrupt management *********************/
-    if ((hcan->Instance->RF1R & CAN_RF1R_FMP1) != 0U)
+  if ((interrupts & CAN_IT_RX_FIFO1_MSG_PENDING) != 0U)
-    {
+  {
-      /* Receive FIFO 1 message pending Callback */
+    /* Check if message is still pending */
-#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
+    if ((hcan->Instance->RF1R & CAN_RF1R_FMP1) != 0U)
-      /* Call registered callback*/
+    {
-      hcan->RxFifo1MsgPendingCallback(hcan);
+      /* Receive FIFO 1 message pending Callback */
-#else
+#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
-      /* Call weak (surcharged) callback */
+      /* Call registered callback*/
-      HAL_CAN_RxFifo1MsgPendingCallback(hcan);
+      hcan->RxFifo1MsgPendingCallback(hcan);
-#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
+#else
-    }
+      /* Call weak (surcharged) callback */
-  }
+      HAL_CAN_RxFifo1MsgPendingCallback(hcan);
+#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
-  /* Sleep interrupt management *********************************************/
+    }
-  if ((interrupts & CAN_IT_SLEEP_ACK) != 0U)
+  }
-  {
-    if ((msrflags & CAN_MSR_SLAKI) != 0U)
+  /* Sleep interrupt management *********************************************/
-    {
+  if ((interrupts & CAN_IT_SLEEP_ACK) != 0U)
-      /* Clear Sleep interrupt Flag */
+  {
-      __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_SLAKI);
+    if ((msrflags & CAN_MSR_SLAKI) != 0U)
+    {
-      /* Sleep Callback */
+      /* Clear Sleep interrupt Flag */
-#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
+      __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_SLAKI);
-      /* Call registered callback*/
-      hcan->SleepCallback(hcan);
+      /* Sleep Callback */
-#else
+#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
-      /* Call weak (surcharged) callback */
+      /* Call registered callback*/
-      HAL_CAN_SleepCallback(hcan);
+      hcan->SleepCallback(hcan);
-#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
+#else
-    }
+      /* Call weak (surcharged) callback */
-  }
+      HAL_CAN_SleepCallback(hcan);
+#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
-  /* WakeUp interrupt management *********************************************/
+    }
-  if ((interrupts & CAN_IT_WAKEUP) != 0U)
+  }
-  {
-    if ((msrflags & CAN_MSR_WKUI) != 0U)
+  /* WakeUp interrupt management *********************************************/
-    {
+  if ((interrupts & CAN_IT_WAKEUP) != 0U)
-      /* Clear WakeUp Flag */
+  {
-      __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_WKU);
+    if ((msrflags & CAN_MSR_WKUI) != 0U)
+    {
-      /* WakeUp Callback */
+      /* Clear WakeUp Flag */
-#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
+      __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_WKU);
-      /* Call registered callback*/
-      hcan->WakeUpFromRxMsgCallback(hcan);
+      /* WakeUp Callback */
-#else
+#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
-      /* Call weak (surcharged) callback */
+      /* Call registered callback*/
-      HAL_CAN_WakeUpFromRxMsgCallback(hcan);
+      hcan->WakeUpFromRxMsgCallback(hcan);
-#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
+#else
-    }
+      /* Call weak (surcharged) callback */
-  }
+      HAL_CAN_WakeUpFromRxMsgCallback(hcan);
+#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
-  /* Error interrupts management *********************************************/
+    }
-  if ((interrupts & CAN_IT_ERROR) != 0U)
+  }
-  {
-    if ((msrflags & CAN_MSR_ERRI) != 0U)
+  /* Error interrupts management *********************************************/
-    {
+  if ((interrupts & CAN_IT_ERROR) != 0U)
-      /* Check Error Warning Flag */
+  {
-      if (((interrupts & CAN_IT_ERROR_WARNING) != 0U) &&
+    if ((msrflags & CAN_MSR_ERRI) != 0U)
-          ((esrflags & CAN_ESR_EWGF) != 0U))
+    {
-      {
+      /* Check Error Warning Flag */
-        /* Set CAN error code to Error Warning */
+      if (((interrupts & CAN_IT_ERROR_WARNING) != 0U) &&
-        errorcode |= HAL_CAN_ERROR_EWG;
+          ((esrflags & CAN_ESR_EWGF) != 0U))
+      {
-        /* No need for clear of Error Warning Flag as read-only */
+        /* Set CAN error code to Error Warning */
-      }
+        errorcode |= HAL_CAN_ERROR_EWG;
-      /* Check Error Passive Flag */
+        /* No need for clear of Error Warning Flag as read-only */
-      if (((interrupts & CAN_IT_ERROR_PASSIVE) != 0U) &&
+      }
-          ((esrflags & CAN_ESR_EPVF) != 0U))
-      {
+      /* Check Error Passive Flag */
-        /* Set CAN error code to Error Passive */
+      if (((interrupts & CAN_IT_ERROR_PASSIVE) != 0U) &&
-        errorcode |= HAL_CAN_ERROR_EPV;
+          ((esrflags & CAN_ESR_EPVF) != 0U))
+      {
-        /* No need for clear of Error Passive Flag as read-only */
+        /* Set CAN error code to Error Passive */
-      }
+        errorcode |= HAL_CAN_ERROR_EPV;
-      /* Check Bus-off Flag */
+        /* No need for clear of Error Passive Flag as read-only */
-      if (((interrupts & CAN_IT_BUSOFF) != 0U) &&
+      }
-          ((esrflags & CAN_ESR_BOFF) != 0U))
-      {
+      /* Check Bus-off Flag */
-        /* Set CAN error code to Bus-Off */
+      if (((interrupts & CAN_IT_BUSOFF) != 0U) &&
-        errorcode |= HAL_CAN_ERROR_BOF;
+          ((esrflags & CAN_ESR_BOFF) != 0U))
+      {
-        /* No need for clear of Error Bus-Off as read-only */
+        /* Set CAN error code to Bus-Off */
-      }
+        errorcode |= HAL_CAN_ERROR_BOF;
-      /* Check Last Error Code Flag */
+        /* No need for clear of Error Bus-Off as read-only */
-      if (((interrupts & CAN_IT_LAST_ERROR_CODE) != 0U) &&
+      }
-          ((esrflags & CAN_ESR_LEC) != 0U))
-      {
+      /* Check Last Error Code Flag */
-        switch (esrflags & CAN_ESR_LEC)
+      if (((interrupts & CAN_IT_LAST_ERROR_CODE) != 0U) &&
-        {
+          ((esrflags & CAN_ESR_LEC) != 0U))
-          case (CAN_ESR_LEC_0):
+      {
-            /* Set CAN error code to Stuff error */
+        switch (esrflags & CAN_ESR_LEC)
-            errorcode |= HAL_CAN_ERROR_STF;
+        {
-            break;
+          case (CAN_ESR_LEC_0):
-          case (CAN_ESR_LEC_1):
+            /* Set CAN error code to Stuff error */
-            /* Set CAN error code to Form error */
+            errorcode |= HAL_CAN_ERROR_STF;
-            errorcode |= HAL_CAN_ERROR_FOR;
+            break;
-            break;
+          case (CAN_ESR_LEC_1):
-          case (CAN_ESR_LEC_1 | CAN_ESR_LEC_0):
+            /* Set CAN error code to Form error */
-            /* Set CAN error code to Acknowledgement error */
+            errorcode |= HAL_CAN_ERROR_FOR;
-            errorcode |= HAL_CAN_ERROR_ACK;
+            break;
-            break;
+          case (CAN_ESR_LEC_1 | CAN_ESR_LEC_0):
-          case (CAN_ESR_LEC_2):
+            /* Set CAN error code to Acknowledgement error */
-            /* Set CAN error code to Bit recessive error */
+            errorcode |= HAL_CAN_ERROR_ACK;
-            errorcode |= HAL_CAN_ERROR_BR;
+            break;
-            break;
+          case (CAN_ESR_LEC_2):
-          case (CAN_ESR_LEC_2 | CAN_ESR_LEC_0):
+            /* Set CAN error code to Bit recessive error */
-            /* Set CAN error code to Bit Dominant error */
+            errorcode |= HAL_CAN_ERROR_BR;
-            errorcode |= HAL_CAN_ERROR_BD;
+            break;
-            break;
+          case (CAN_ESR_LEC_2 | CAN_ESR_LEC_0):
-          case (CAN_ESR_LEC_2 | CAN_ESR_LEC_1):
+            /* Set CAN error code to Bit Dominant error */
-            /* Set CAN error code to CRC error */
+            errorcode |= HAL_CAN_ERROR_BD;
-            errorcode |= HAL_CAN_ERROR_CRC;
+            break;
-            break;
+          case (CAN_ESR_LEC_2 | CAN_ESR_LEC_1):
-          default:
+            /* Set CAN error code to CRC error */
-            break;
+            errorcode |= HAL_CAN_ERROR_CRC;
-        }
+            break;
+          default:
-        /* Clear Last error code Flag */
+            break;
-        CLEAR_BIT(hcan->Instance->ESR, CAN_ESR_LEC);
+        }
-      }
-    }
+        /* Clear Last error code Flag */
+        CLEAR_BIT(hcan->Instance->ESR, CAN_ESR_LEC);
-    /* Clear ERRI Flag */
+      }
-    __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_ERRI);
+    }
-  }
+    /* Clear ERRI Flag */
-  /* Call the Error call Back in case of Errors */
+    __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_ERRI);
-  if (errorcode != HAL_CAN_ERROR_NONE)
+  }
-  {
-    /* Update error code in handle */
+  /* Call the Error call Back in case of Errors */
-    hcan->ErrorCode |= errorcode;
+  if (errorcode != HAL_CAN_ERROR_NONE)
+  {
-    /* Call Error callback function */
+    /* Update error code in handle */
-#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
+    hcan->ErrorCode |= errorcode;
-    /* Call registered callback*/
-    hcan->ErrorCallback(hcan);
+    /* Call Error callback function */
-#else
+#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
-    /* Call weak (surcharged) callback */
+    /* Call registered callback*/
-    HAL_CAN_ErrorCallback(hcan);
+    hcan->ErrorCallback(hcan);
-#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
+#else
-  }
+    /* Call weak (surcharged) callback */
-}
+    HAL_CAN_ErrorCallback(hcan);
+#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
-/**
+  }
-  * @}
+}
-  */
+/**
-/** @defgroup CAN_Exported_Functions_Group5 Callback functions
+  * @}
- *  @brief   CAN Callback functions
+  */
- *
-@verbatim
+/** @defgroup CAN_Exported_Functions_Group5 Callback functions
-  ==============================================================================
+ *  @brief   CAN Callback functions
-                          ##### Callback functions #####
+ *
-  ==============================================================================
+@verbatim
-    [..]
+  ==============================================================================
-    This subsection provides the following callback functions:
+                          ##### Callback functions #####
-      (+) HAL_CAN_TxMailbox0CompleteCallback
+  ==============================================================================
-      (+) HAL_CAN_TxMailbox1CompleteCallback
+    [..]
-      (+) HAL_CAN_TxMailbox2CompleteCallback
+    This subsection provides the following callback functions:
-      (+) HAL_CAN_TxMailbox0AbortCallback
+      (+) HAL_CAN_TxMailbox0CompleteCallback
-      (+) HAL_CAN_TxMailbox1AbortCallback
+      (+) HAL_CAN_TxMailbox1CompleteCallback
-      (+) HAL_CAN_TxMailbox2AbortCallback
+      (+) HAL_CAN_TxMailbox2CompleteCallback
-      (+) HAL_CAN_RxFifo0MsgPendingCallback
+      (+) HAL_CAN_TxMailbox0AbortCallback
-      (+) HAL_CAN_RxFifo0FullCallback
+      (+) HAL_CAN_TxMailbox1AbortCallback
-      (+) HAL_CAN_RxFifo1MsgPendingCallback
+      (+) HAL_CAN_TxMailbox2AbortCallback
-      (+) HAL_CAN_RxFifo1FullCallback
+      (+) HAL_CAN_RxFifo0MsgPendingCallback
-      (+) HAL_CAN_SleepCallback
+      (+) HAL_CAN_RxFifo0FullCallback
-      (+) HAL_CAN_WakeUpFromRxMsgCallback
+      (+) HAL_CAN_RxFifo1MsgPendingCallback
-      (+) HAL_CAN_ErrorCallback
+      (+) HAL_CAN_RxFifo1FullCallback
+      (+) HAL_CAN_SleepCallback
-@endverbatim
+      (+) HAL_CAN_WakeUpFromRxMsgCallback
-  * @{
+      (+) HAL_CAN_ErrorCallback
-  */
+@endverbatim
-/**
+  * @{
-  * @brief  Transmission Mailbox 0 complete callback.
+  */
-  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
-  *         the configuration information for the specified CAN.
+/**
-  * @retval None
+  * @brief  Transmission Mailbox 0 complete callback.
-  */
+  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
-__weak void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan)
+  *         the configuration information for the specified CAN.
-{
+  * @retval None
-  /* Prevent unused argument(s) compilation warning */
+  */
-  UNUSED(hcan);
+__weak void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan)
+{
-  /* NOTE : This function Should not be modified, when the callback is needed,
+  /* Prevent unused argument(s) compilation warning */
-            the HAL_CAN_TxMailbox0CompleteCallback could be implemented in the
+  UNUSED(hcan);
-            user file
-   */
+  /* NOTE : This function Should not be modified, when the callback is needed,
-}
+            the HAL_CAN_TxMailbox0CompleteCallback could be implemented in the
+            user file
-/**
+   */
-  * @brief  Transmission Mailbox 1 complete callback.
+}
-  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
-  *         the configuration information for the specified CAN.
+/**
-  * @retval None
+  * @brief  Transmission Mailbox 1 complete callback.
-  */
+  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
-__weak void HAL_CAN_TxMailbox1CompleteCallback(CAN_HandleTypeDef *hcan)
+  *         the configuration information for the specified CAN.
-{
+  * @retval None
-  /* Prevent unused argument(s) compilation warning */
+  */
-  UNUSED(hcan);
+__weak void HAL_CAN_TxMailbox1CompleteCallback(CAN_HandleTypeDef *hcan)
+{
-  /* NOTE : This function Should not be modified, when the callback is needed,
+  /* Prevent unused argument(s) compilation warning */
-            the HAL_CAN_TxMailbox1CompleteCallback could be implemented in the
+  UNUSED(hcan);
-            user file
-   */
+  /* NOTE : This function Should not be modified, when the callback is needed,
-}
+            the HAL_CAN_TxMailbox1CompleteCallback could be implemented in the
+            user file
-/**
+   */
-  * @brief  Transmission Mailbox 2 complete callback.
+}
-  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
-  *         the configuration information for the specified CAN.
+/**
-  * @retval None
+  * @brief  Transmission Mailbox 2 complete callback.
-  */
+  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
-__weak void HAL_CAN_TxMailbox2CompleteCallback(CAN_HandleTypeDef *hcan)
+  *         the configuration information for the specified CAN.
-{
+  * @retval None
-  /* Prevent unused argument(s) compilation warning */
+  */
-  UNUSED(hcan);
+__weak void HAL_CAN_TxMailbox2CompleteCallback(CAN_HandleTypeDef *hcan)
+{
-  /* NOTE : This function Should not be modified, when the callback is needed,
+  /* Prevent unused argument(s) compilation warning */
-            the HAL_CAN_TxMailbox2CompleteCallback could be implemented in the
+  UNUSED(hcan);
-            user file
-   */
+  /* NOTE : This function Should not be modified, when the callback is needed,
-}
+            the HAL_CAN_TxMailbox2CompleteCallback could be implemented in the
+            user file
-/**
+   */
-  * @brief  Transmission Mailbox 0 Cancellation callback.
+}
-  * @param  hcan pointer to an CAN_HandleTypeDef structure that contains
-  *         the configuration information for the specified CAN.
+/**
-  * @retval None
+  * @brief  Transmission Mailbox 0 Cancellation callback.
-  */
+  * @param  hcan pointer to an CAN_HandleTypeDef structure that contains
-__weak void HAL_CAN_TxMailbox0AbortCallback(CAN_HandleTypeDef *hcan)
+  *         the configuration information for the specified CAN.
-{
+  * @retval None
-  /* Prevent unused argument(s) compilation warning */
+  */
-  UNUSED(hcan);
+__weak void HAL_CAN_TxMailbox0AbortCallback(CAN_HandleTypeDef *hcan)
+{
-  /* NOTE : This function Should not be modified, when the callback is needed,
+  /* Prevent unused argument(s) compilation warning */
-            the HAL_CAN_TxMailbox0AbortCallback could be implemented in the
+  UNUSED(hcan);
-            user file
-   */
+  /* NOTE : This function Should not be modified, when the callback is needed,
-}
+            the HAL_CAN_TxMailbox0AbortCallback could be implemented in the
+            user file
-/**
+   */
-  * @brief  Transmission Mailbox 1 Cancellation callback.
+}
-  * @param  hcan pointer to an CAN_HandleTypeDef structure that contains
-  *         the configuration information for the specified CAN.
+/**
-  * @retval None
+  * @brief  Transmission Mailbox 1 Cancellation callback.
-  */
+  * @param  hcan pointer to an CAN_HandleTypeDef structure that contains
-__weak void HAL_CAN_TxMailbox1AbortCallback(CAN_HandleTypeDef *hcan)
+  *         the configuration information for the specified CAN.
-{
+  * @retval None
-  /* Prevent unused argument(s) compilation warning */
+  */
-  UNUSED(hcan);
+__weak void HAL_CAN_TxMailbox1AbortCallback(CAN_HandleTypeDef *hcan)
+{
-  /* NOTE : This function Should not be modified, when the callback is needed,
+  /* Prevent unused argument(s) compilation warning */
-            the HAL_CAN_TxMailbox1AbortCallback could be implemented in the
+  UNUSED(hcan);
-            user file
-   */
+  /* NOTE : This function Should not be modified, when the callback is needed,
-}
+            the HAL_CAN_TxMailbox1AbortCallback could be implemented in the
+            user file
-/**
+   */
-  * @brief  Transmission Mailbox 2 Cancellation callback.
+}
-  * @param  hcan pointer to an CAN_HandleTypeDef structure that contains
-  *         the configuration information for the specified CAN.
+/**
-  * @retval None
+  * @brief  Transmission Mailbox 2 Cancellation callback.
-  */
+  * @param  hcan pointer to an CAN_HandleTypeDef structure that contains
-__weak void HAL_CAN_TxMailbox2AbortCallback(CAN_HandleTypeDef *hcan)
+  *         the configuration information for the specified CAN.
-{
+  * @retval None
-  /* Prevent unused argument(s) compilation warning */
+  */
-  UNUSED(hcan);
+__weak void HAL_CAN_TxMailbox2AbortCallback(CAN_HandleTypeDef *hcan)
+{
-  /* NOTE : This function Should not be modified, when the callback is needed,
+  /* Prevent unused argument(s) compilation warning */
-            the HAL_CAN_TxMailbox2AbortCallback could be implemented in the
+  UNUSED(hcan);
-            user file
-   */
+  /* NOTE : This function Should not be modified, when the callback is needed,
-}
+            the HAL_CAN_TxMailbox2AbortCallback could be implemented in the
+            user file
-/**
+   */
-  * @brief  Rx FIFO 0 message pending callback.
+}
-  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
-  *         the configuration information for the specified CAN.
+/**
-  * @retval None
+  * @brief  Rx FIFO 0 message pending callback.
-  */
+  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
-__weak void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
+  *         the configuration information for the specified CAN.
-{
+  * @retval None
-  /* Prevent unused argument(s) compilation warning */
+  */
-  UNUSED(hcan);
+__weak void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
+{
-  /* NOTE : This function Should not be modified, when the callback is needed,
+  /* Prevent unused argument(s) compilation warning */
-            the HAL_CAN_RxFifo0MsgPendingCallback could be implemented in the
+  UNUSED(hcan);
-            user file
-   */
+  /* NOTE : This function Should not be modified, when the callback is needed,
-}
+            the HAL_CAN_RxFifo0MsgPendingCallback could be implemented in the
+            user file
-/**
+   */
-  * @brief  Rx FIFO 0 full callback.
+}
-  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
-  *         the configuration information for the specified CAN.
+/**
-  * @retval None
+  * @brief  Rx FIFO 0 full callback.
-  */
+  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
-__weak void HAL_CAN_RxFifo0FullCallback(CAN_HandleTypeDef *hcan)
+  *         the configuration information for the specified CAN.
-{
+  * @retval None
-  /* Prevent unused argument(s) compilation warning */
+  */
-  UNUSED(hcan);
+__weak void HAL_CAN_RxFifo0FullCallback(CAN_HandleTypeDef *hcan)
+{
-  /* NOTE : This function Should not be modified, when the callback is needed,
+  /* Prevent unused argument(s) compilation warning */
-            the HAL_CAN_RxFifo0FullCallback could be implemented in the user
+  UNUSED(hcan);
-            file
-   */
+  /* NOTE : This function Should not be modified, when the callback is needed,
-}
+            the HAL_CAN_RxFifo0FullCallback could be implemented in the user
+            file
-/**
+   */
-  * @brief  Rx FIFO 1 message pending callback.
+}
-  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
-  *         the configuration information for the specified CAN.
+/**
-  * @retval None
+  * @brief  Rx FIFO 1 message pending callback.
-  */
+  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
-__weak void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan)
+  *         the configuration information for the specified CAN.
-{
+  * @retval None
-  /* Prevent unused argument(s) compilation warning */
+  */
-  UNUSED(hcan);
+__weak void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan)
+{
-  /* NOTE : This function Should not be modified, when the callback is needed,
+  /* Prevent unused argument(s) compilation warning */
-            the HAL_CAN_RxFifo1MsgPendingCallback could be implemented in the
+  UNUSED(hcan);
-            user file
-   */
+  /* NOTE : This function Should not be modified, when the callback is needed,
-}
+            the HAL_CAN_RxFifo1MsgPendingCallback could be implemented in the
+            user file
-/**
+   */
-  * @brief  Rx FIFO 1 full callback.
+}
-  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
-  *         the configuration information for the specified CAN.
+/**
-  * @retval None
+  * @brief  Rx FIFO 1 full callback.
-  */
+  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
-__weak void HAL_CAN_RxFifo1FullCallback(CAN_HandleTypeDef *hcan)
+  *         the configuration information for the specified CAN.
-{
+  * @retval None
-  /* Prevent unused argument(s) compilation warning */
+  */
-  UNUSED(hcan);
+__weak void HAL_CAN_RxFifo1FullCallback(CAN_HandleTypeDef *hcan)
+{
-  /* NOTE : This function Should not be modified, when the callback is needed,
+  /* Prevent unused argument(s) compilation warning */
-            the HAL_CAN_RxFifo1FullCallback could be implemented in the user
+  UNUSED(hcan);
-            file
-   */
+  /* NOTE : This function Should not be modified, when the callback is needed,
-}
+            the HAL_CAN_RxFifo1FullCallback could be implemented in the user
+            file
-/**
+   */
-  * @brief  Sleep callback.
+}
-  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
-  *         the configuration information for the specified CAN.
+/**
-  * @retval None
+  * @brief  Sleep callback.
-  */
+  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
-__weak void HAL_CAN_SleepCallback(CAN_HandleTypeDef *hcan)
+  *         the configuration information for the specified CAN.
-{
+  * @retval None
-  /* Prevent unused argument(s) compilation warning */
+  */
-  UNUSED(hcan);
+__weak void HAL_CAN_SleepCallback(CAN_HandleTypeDef *hcan)
+{
-  /* NOTE : This function Should not be modified, when the callback is needed,
+  /* Prevent unused argument(s) compilation warning */
-            the HAL_CAN_SleepCallback could be implemented in the user file
+  UNUSED(hcan);
-   */
-}
+  /* NOTE : This function Should not be modified, when the callback is needed,
+            the HAL_CAN_SleepCallback could be implemented in the user file
-/**
+   */
-  * @brief  WakeUp from Rx message callback.
+}
-  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
-  *         the configuration information for the specified CAN.
+/**
-  * @retval None
+  * @brief  WakeUp from Rx message callback.
-  */
+  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
-__weak void HAL_CAN_WakeUpFromRxMsgCallback(CAN_HandleTypeDef *hcan)
+  *         the configuration information for the specified CAN.
-{
+  * @retval None
-  /* Prevent unused argument(s) compilation warning */
+  */
-  UNUSED(hcan);
+__weak void HAL_CAN_WakeUpFromRxMsgCallback(CAN_HandleTypeDef *hcan)
+{
-  /* NOTE : This function Should not be modified, when the callback is needed,
+  /* Prevent unused argument(s) compilation warning */
-            the HAL_CAN_WakeUpFromRxMsgCallback could be implemented in the
+  UNUSED(hcan);
-            user file
-   */
+  /* NOTE : This function Should not be modified, when the callback is needed,
-}
+            the HAL_CAN_WakeUpFromRxMsgCallback could be implemented in the
+            user file
-/**
+   */
-  * @brief  Error CAN callback.
+}
-  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
-  *         the configuration information for the specified CAN.
+/**
-  * @retval None
+  * @brief  Error CAN callback.
-  */
+  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
-__weak void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan)
+  *         the configuration information for the specified CAN.
-{
+  * @retval None
-  /* Prevent unused argument(s) compilation warning */
+  */
-  UNUSED(hcan);
+__weak void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan)
+{
-  /* NOTE : This function Should not be modified, when the callback is needed,
+  /* Prevent unused argument(s) compilation warning */
-            the HAL_CAN_ErrorCallback could be implemented in the user file
+  UNUSED(hcan);
-   */
-}
+  /* NOTE : This function Should not be modified, when the callback is needed,
+            the HAL_CAN_ErrorCallback could be implemented in the user file
-/**
+   */
-  * @}
+}
-  */
+/**
-/** @defgroup CAN_Exported_Functions_Group6 Peripheral State and Error functions
+  * @}
- *  @brief   CAN Peripheral State functions
+  */
- *
-@verbatim
+/** @defgroup CAN_Exported_Functions_Group6 Peripheral State and Error functions
-  ==============================================================================
+ *  @brief   CAN Peripheral State functions
-            ##### Peripheral State and Error functions #####
+ *
-  ==============================================================================
+@verbatim
-    [..]
+  ==============================================================================
-    This subsection provides functions allowing to :
+            ##### Peripheral State and Error functions #####
-      (+) HAL_CAN_GetState()  : Return the CAN state.
+  ==============================================================================
-      (+) HAL_CAN_GetError()  : Return the CAN error codes if any.
+    [..]
-      (+) HAL_CAN_ResetError(): Reset the CAN error codes if any.
+    This subsection provides functions allowing to :
+      (+) HAL_CAN_GetState()  : Return the CAN state.
-@endverbatim
+      (+) HAL_CAN_GetError()  : Return the CAN error codes if any.
-  * @{
+      (+) HAL_CAN_ResetError(): Reset the CAN error codes if any.
-  */
+@endverbatim
-/**
+  * @{
-  * @brief  Return the CAN state.
+  */
-  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
-  *         the configuration information for the specified CAN.
+/**
-  * @retval HAL state
+  * @brief  Return the CAN state.
-  */
+  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
-HAL_CAN_StateTypeDef HAL_CAN_GetState(CAN_HandleTypeDef *hcan)
+  *         the configuration information for the specified CAN.
-{
+  * @retval HAL state
-  HAL_CAN_StateTypeDef state = hcan->State;
+  */
+HAL_CAN_StateTypeDef HAL_CAN_GetState(const CAN_HandleTypeDef *hcan)
-  if ((state == HAL_CAN_STATE_READY) ||
+{
-      (state == HAL_CAN_STATE_LISTENING))
+  HAL_CAN_StateTypeDef state = hcan->State;
-  {
-    /* Check sleep mode acknowledge flag */
+  if ((state == HAL_CAN_STATE_READY) ||
-    if ((hcan->Instance->MSR & CAN_MSR_SLAK) != 0U)
+      (state == HAL_CAN_STATE_LISTENING))
-    {
+  {
-      /* Sleep mode is active */
+    /* Check sleep mode acknowledge flag */
-      state = HAL_CAN_STATE_SLEEP_ACTIVE;
+    if ((hcan->Instance->MSR & CAN_MSR_SLAK) != 0U)
-    }
+    {
-    /* Check sleep mode request flag */
+      /* Sleep mode is active */
-    else if ((hcan->Instance->MCR & CAN_MCR_SLEEP) != 0U)
+      state = HAL_CAN_STATE_SLEEP_ACTIVE;
-    {
+    }
-      /* Sleep mode request is pending */
+    /* Check sleep mode request flag */
-      state = HAL_CAN_STATE_SLEEP_PENDING;
+    else if ((hcan->Instance->MCR & CAN_MCR_SLEEP) != 0U)
-    }
+    {
-    else
+      /* Sleep mode request is pending */
-    {
+      state = HAL_CAN_STATE_SLEEP_PENDING;
-      /* Neither sleep mode request nor sleep mode acknowledge */
+    }
-    }
+    else
-  }
+    {
+      /* Neither sleep mode request nor sleep mode acknowledge */
-  /* Return CAN state */
+    }
-  return state;
+  }
-}
+  /* Return CAN state */
-/**
+  return state;
-  * @brief  Return the CAN error code.
+}
-  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
-  *         the configuration information for the specified CAN.
+/**
-  * @retval CAN Error Code
+  * @brief  Return the CAN error code.
-  */
+  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
-uint32_t HAL_CAN_GetError(CAN_HandleTypeDef *hcan)
+  *         the configuration information for the specified CAN.
-{
+  * @retval CAN Error Code
-  /* Return CAN error code */
+  */
-  return hcan->ErrorCode;
+uint32_t HAL_CAN_GetError(const CAN_HandleTypeDef *hcan)
-}
+{
+  /* Return CAN error code */
-/**
+  return hcan->ErrorCode;
-  * @brief  Reset the CAN error code.
+}
-  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
-  *         the configuration information for the specified CAN.
+/**
-  * @retval HAL status
+  * @brief  Reset the CAN error code.
-  */
+  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains
-HAL_StatusTypeDef HAL_CAN_ResetError(CAN_HandleTypeDef *hcan)
+  *         the configuration information for the specified CAN.
-{
+  * @retval HAL status
-  HAL_StatusTypeDef status = HAL_OK;
+  */
-  HAL_CAN_StateTypeDef state = hcan->State;
+HAL_StatusTypeDef HAL_CAN_ResetError(CAN_HandleTypeDef *hcan)
+{
-  if ((state == HAL_CAN_STATE_READY) ||
+  HAL_StatusTypeDef status = HAL_OK;
-      (state == HAL_CAN_STATE_LISTENING))
+  HAL_CAN_StateTypeDef state = hcan->State;
-  {
-    /* Reset CAN error code */
+  if ((state == HAL_CAN_STATE_READY) ||
-    hcan->ErrorCode = 0U;
+      (state == HAL_CAN_STATE_LISTENING))
-  }
+  {
-  else
+    /* Reset CAN error code */
-  {
+    hcan->ErrorCode = 0U;
-    /* Update error code */
+  }
-    hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
+  else
+  {
-    status = HAL_ERROR;
+    /* Update error code */
-  }
+    hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
-  /* Return the status */
+    status = HAL_ERROR;
-  return status;
+  }
-}
+  /* Return the status */
-/**
+  return status;
-  * @}
+}
-  */
+/**
-/**
+  * @}
-  * @}
+  */
-  */
+/**
-#endif /* HAL_CAN_MODULE_ENABLED */
+  * @}
+  */
-/**
-  * @}
+#endif /* HAL_CAN_MODULE_ENABLED */
-  */
+/**
-#endif /* CAN1 */
+  * @}
+  */
-/**
-  * @}
+#endif /* CAN1 */
-  */
+/**
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+  * @}
+  */

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