/** | |
****************************************************************************** | |
* @file stm32f4xx_hal_can.h | |
* @author MCD Application Team | |
* @version V1.7.0 | |
* @date 17-February-2017 | |
* @brief Header file of CAN HAL module. | |
****************************************************************************** | |
* @attention | |
* | |
* <h2><center>© COPYRIGHT(c) 2017 STMicroelectronics</center></h2> | |
* | |
* Redistribution and use in source and binary forms, with or without modification, | |
* are permitted provided that the following conditions are met: | |
* 1. Redistributions of source code must retain the above copyright notice, | |
* this list of conditions and the following disclaimer. | |
* 2. Redistributions in binary form must reproduce the above copyright notice, | |
* this list of conditions and the following disclaimer in the documentation | |
* and/or other materials provided with the distribution. | |
* 3. Neither the name of STMicroelectronics nor the names of its contributors | |
* may be used to endorse or promote products derived from this software | |
* without specific prior written permission. | |
* | |
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | |
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | |
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | |
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE | |
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL | |
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR | |
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | |
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, | |
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | |
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | |
* | |
****************************************************************************** | |
*/ | |
/* Define to prevent recursive inclusion -------------------------------------*/ | |
#ifndef __STM32F4xx_HAL_CAN_H | |
#define __STM32F4xx_HAL_CAN_H | |
#ifdef __cplusplus | |
extern "C" { | |
#endif | |
#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) ||\ | |
defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\ | |
defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) ||\ | |
defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) ||\ | |
defined(STM32F423xx) | |
/* Includes ------------------------------------------------------------------*/ | |
#include "stm32f4xx_hal_def.h" | |
/** @addtogroup STM32F4xx_HAL_Driver | |
* @{ | |
*/ | |
/** @addtogroup CAN | |
* @{ | |
*/ | |
/* Exported types ------------------------------------------------------------*/ | |
/** @defgroup CAN_Exported_Types CAN Exported Types | |
* @{ | |
*/ | |
/** | |
* @brief HAL State structures definition | |
*/ | |
typedef enum | |
{ | |
HAL_CAN_STATE_RESET = 0x00U, /*!< CAN not yet initialized or disabled */ | |
HAL_CAN_STATE_READY = 0x01U, /*!< CAN initialized and ready for use */ | |
HAL_CAN_STATE_BUSY = 0x02U, /*!< CAN process is ongoing */ | |
HAL_CAN_STATE_BUSY_TX = 0x12U, /*!< CAN process is ongoing */ | |
HAL_CAN_STATE_BUSY_RX = 0x22U, /*!< CAN process is ongoing */ | |
HAL_CAN_STATE_BUSY_TX_RX = 0x32U, /*!< CAN process is ongoing */ | |
HAL_CAN_STATE_TIMEOUT = 0x03U, /*!< Timeout state */ | |
HAL_CAN_STATE_ERROR = 0x04U /*!< CAN error state */ | |
}HAL_CAN_StateTypeDef; | |
/** | |
* @brief CAN init structure definition | |
*/ | |
typedef struct | |
{ | |
uint32_t Prescaler; /*!< Specifies the length of a time quantum. | |
This parameter must be a number between Min_Data = 1 and Max_Data = 1024 */ | |
uint32_t Mode; /*!< Specifies the CAN operating mode. | |
This parameter can be a value of @ref CAN_operating_mode */ | |
uint32_t SJW; /*!< Specifies the maximum number of time quanta | |
the CAN hardware is allowed to lengthen or | |
shorten a bit to perform resynchronization. | |
This parameter can be a value of @ref CAN_synchronisation_jump_width */ | |
uint32_t BS1; /*!< Specifies the number of time quanta in Bit Segment 1. | |
This parameter can be a value of @ref CAN_time_quantum_in_bit_segment_1 */ | |
uint32_t BS2; /*!< Specifies the number of time quanta in Bit Segment 2. | |
This parameter can be a value of @ref CAN_time_quantum_in_bit_segment_2 */ | |
uint32_t TTCM; /*!< Enable or disable the time triggered communication mode. | |
This parameter can be set to ENABLE or DISABLE. */ | |
uint32_t ABOM; /*!< Enable or disable the automatic bus-off management. | |
This parameter can be set to ENABLE or DISABLE */ | |
uint32_t AWUM; /*!< Enable or disable the automatic wake-up mode. | |
This parameter can be set to ENABLE or DISABLE */ | |
uint32_t NART; /*!< Enable or disable the non-automatic retransmission mode. | |
This parameter can be set to ENABLE or DISABLE */ | |
uint32_t RFLM; /*!< Enable or disable the receive FIFO Locked mode. | |
This parameter can be set to ENABLE or DISABLE */ | |
uint32_t TXFP; /*!< Enable or disable the transmit FIFO priority. | |
This parameter can be set to ENABLE or DISABLE */ | |
}CAN_InitTypeDef; | |
/** | |
* @brief CAN filter configuration structure definition | |
*/ | |
typedef struct | |
{ | |
uint32_t FilterIdHigh; /*!< Specifies the filter identification number (MSBs for a 32-bit | |
configuration, first one for a 16-bit configuration). | |
This parameter must be a number between Min_Data = 0x0000 and Max_Data = 0xFFFF */ | |
uint32_t FilterIdLow; /*!< Specifies the filter identification number (LSBs for a 32-bit | |
configuration, second one for a 16-bit configuration). | |
This parameter must be a number between Min_Data = 0x0000 and Max_Data = 0xFFFF */ | |
uint32_t FilterMaskIdHigh; /*!< Specifies the filter mask number or identification number, | |
according to the mode (MSBs for a 32-bit configuration, | |
first one for a 16-bit configuration). | |
This parameter must be a number between Min_Data = 0x0000 and Max_Data = 0xFFFF */ | |
uint32_t FilterMaskIdLow; /*!< Specifies the filter mask number or identification number, | |
according to the mode (LSBs for a 32-bit configuration, | |
second one for a 16-bit configuration). | |
This parameter must be a number between Min_Data = 0x0000 and Max_Data = 0xFFFF */ | |
uint32_t FilterFIFOAssignment; /*!< Specifies the FIFO (0 or 1) which will be assigned to the filter. | |
This parameter can be a value of @ref CAN_filter_FIFO */ | |
uint32_t FilterNumber; /*!< Specifies the filter which will be initialized. | |
This parameter must be a number between Min_Data = 0 and Max_Data = 27 */ | |
uint32_t FilterMode; /*!< Specifies the filter mode to be initialized. | |
This parameter can be a value of @ref CAN_filter_mode */ | |
uint32_t FilterScale; /*!< Specifies the filter scale. | |
This parameter can be a value of @ref CAN_filter_scale */ | |
uint32_t FilterActivation; /*!< Enable or disable the filter. | |
This parameter can be set to ENABLE or DISABLE. */ | |
uint32_t BankNumber; /*!< Select the start slave bank filter. | |
This parameter must be a number between Min_Data = 0 and Max_Data = 28 */ | |
}CAN_FilterConfTypeDef; | |
/** | |
* @brief CAN Tx message structure definition | |
*/ | |
typedef struct | |
{ | |
uint32_t StdId; /*!< Specifies the standard identifier. | |
This parameter must be a number between Min_Data = 0 and Max_Data = 0x7FF */ | |
uint32_t ExtId; /*!< Specifies the extended identifier. | |
This parameter must be a number between Min_Data = 0 and Max_Data = 0x1FFFFFFF */ | |
uint32_t IDE; /*!< Specifies the type of identifier for the message that will be transmitted. | |
This parameter can be a value of @ref CAN_Identifier_Type */ | |
uint32_t RTR; /*!< Specifies the type of frame for the message that will be transmitted. | |
This parameter can be a value of @ref CAN_remote_transmission_request */ | |
uint32_t DLC; /*!< Specifies the length of the frame that will be transmitted. | |
This parameter must be a number between Min_Data = 0 and Max_Data = 8 */ | |
uint8_t Data[8]; /*!< Contains the data to be transmitted. | |
This parameter must be a number between Min_Data = 0 and Max_Data = 0xFF */ | |
}CanTxMsgTypeDef; | |
/** | |
* @brief CAN Rx message structure definition | |
*/ | |
typedef struct | |
{ | |
uint32_t StdId; /*!< Specifies the standard identifier. | |
This parameter must be a number between Min_Data = 0 and Max_Data = 0x7FF */ | |
uint32_t ExtId; /*!< Specifies the extended identifier. | |
This parameter must be a number between Min_Data = 0 and Max_Data = 0x1FFFFFFF */ | |
uint32_t IDE; /*!< Specifies the type of identifier for the message that will be received. | |
This parameter can be a value of @ref CAN_Identifier_Type */ | |
uint32_t RTR; /*!< Specifies the type of frame for the received message. | |
This parameter can be a value of @ref CAN_remote_transmission_request */ | |
uint32_t DLC; /*!< Specifies the length of the frame that will be received. | |
This parameter must be a number between Min_Data = 0 and Max_Data = 8 */ | |
uint8_t Data[8]; /*!< Contains the data to be received. | |
This parameter must be a number between Min_Data = 0 and Max_Data = 0xFF */ | |
uint32_t FMI; /*!< Specifies the index of the filter the message stored in the mailbox passes through. | |
This parameter must be a number between Min_Data = 0 and Max_Data = 0xFF */ | |
uint32_t FIFONumber; /*!< Specifies the receive FIFO number. | |
This parameter can be CAN_FIFO0 or CAN_FIFO1 */ | |
}CanRxMsgTypeDef; | |
/** | |
* @brief CAN handle Structure definition | |
*/ | |
typedef struct | |
{ | |
CAN_TypeDef *Instance; /*!< Register base address */ | |
CAN_InitTypeDef Init; /*!< CAN required parameters */ | |
CanTxMsgTypeDef* pTxMsg; /*!< Pointer to transmit structure */ | |
CanRxMsgTypeDef* pRxMsg; /*!< Pointer to reception structure */ | |
__IO HAL_CAN_StateTypeDef State; /*!< CAN communication state */ | |
HAL_LockTypeDef Lock; /*!< CAN locking object */ | |
__IO uint32_t ErrorCode; /*!< CAN Error code */ | |
}CAN_HandleTypeDef; | |
/** | |
* @} | |
*/ | |
/* Exported constants --------------------------------------------------------*/ | |
/** @defgroup CAN_Exported_Constants CAN Exported Constants | |
* @{ | |
*/ | |
/** @defgroup CAN_Error_Code CAN Error Code | |
* @{ | |
*/ | |
#define HAL_CAN_ERROR_NONE 0x00U /*!< No error */ | |
#define HAL_CAN_ERROR_EWG 0x01U /*!< EWG error */ | |
#define HAL_CAN_ERROR_EPV 0x02U /*!< EPV error */ | |
#define HAL_CAN_ERROR_BOF 0x04U /*!< BOF error */ | |
#define HAL_CAN_ERROR_STF 0x08U /*!< Stuff error */ | |
#define HAL_CAN_ERROR_FOR 0x10U /*!< Form error */ | |
#define HAL_CAN_ERROR_ACK 0x20U /*!< Acknowledgment error */ | |
#define HAL_CAN_ERROR_BR 0x40U /*!< Bit recessive */ | |
#define HAL_CAN_ERROR_BD 0x80U /*!< LEC dominant */ | |
#define HAL_CAN_ERROR_CRC 0x100U /*!< LEC transfer error */ | |
/** | |
* @} | |
*/ | |
/** @defgroup CAN_InitStatus CAN InitStatus | |
* @{ | |
*/ | |
#define CAN_INITSTATUS_FAILED ((uint8_t)0x00) /*!< CAN initialization failed */ | |
#define CAN_INITSTATUS_SUCCESS ((uint8_t)0x01) /*!< CAN initialization OK */ | |
/** | |
* @} | |
*/ | |
/** @defgroup CAN_operating_mode CAN Operating Mode | |
* @{ | |
*/ | |
#define CAN_MODE_NORMAL 0x00000000U /*!< Normal mode */ | |
#define CAN_MODE_LOOPBACK ((uint32_t)CAN_BTR_LBKM) /*!< Loopback mode */ | |
#define CAN_MODE_SILENT ((uint32_t)CAN_BTR_SILM) /*!< Silent mode */ | |
#define CAN_MODE_SILENT_LOOPBACK ((uint32_t)(CAN_BTR_LBKM | CAN_BTR_SILM)) /*!< Loopback combined with silent mode */ | |
/** | |
* @} | |
*/ | |
/** @defgroup CAN_synchronisation_jump_width CAN Synchronisation Jump Width | |
* @{ | |
*/ | |
#define CAN_SJW_1TQ 0x00000000U /*!< 1 time quantum */ | |
#define CAN_SJW_2TQ ((uint32_t)CAN_BTR_SJW_0) /*!< 2 time quantum */ | |
#define CAN_SJW_3TQ ((uint32_t)CAN_BTR_SJW_1) /*!< 3 time quantum */ | |
#define CAN_SJW_4TQ ((uint32_t)CAN_BTR_SJW) /*!< 4 time quantum */ | |
/** | |
* @} | |
*/ | |
/** @defgroup CAN_time_quantum_in_bit_segment_1 CAN Time Quantum in bit segment 1 | |
* @{ | |
*/ | |
#define CAN_BS1_1TQ 0x00000000U /*!< 1 time quantum */ | |
#define CAN_BS1_2TQ ((uint32_t)CAN_BTR_TS1_0) /*!< 2 time quantum */ | |
#define CAN_BS1_3TQ ((uint32_t)CAN_BTR_TS1_1) /*!< 3 time quantum */ | |
#define CAN_BS1_4TQ ((uint32_t)(CAN_BTR_TS1_1 | CAN_BTR_TS1_0)) /*!< 4 time quantum */ | |
#define CAN_BS1_5TQ ((uint32_t)CAN_BTR_TS1_2) /*!< 5 time quantum */ | |
#define CAN_BS1_6TQ ((uint32_t)(CAN_BTR_TS1_2 | CAN_BTR_TS1_0)) /*!< 6 time quantum */ | |
#define CAN_BS1_7TQ ((uint32_t)(CAN_BTR_TS1_2 | CAN_BTR_TS1_1)) /*!< 7 time quantum */ | |
#define CAN_BS1_8TQ ((uint32_t)(CAN_BTR_TS1_2 | CAN_BTR_TS1_1 | CAN_BTR_TS1_0)) /*!< 8 time quantum */ | |
#define CAN_BS1_9TQ ((uint32_t)CAN_BTR_TS1_3) /*!< 9 time quantum */ | |
#define CAN_BS1_10TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_0)) /*!< 10 time quantum */ | |
#define CAN_BS1_11TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_1)) /*!< 11 time quantum */ | |
#define CAN_BS1_12TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_1 | CAN_BTR_TS1_0)) /*!< 12 time quantum */ | |
#define CAN_BS1_13TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_2)) /*!< 13 time quantum */ | |
#define CAN_BS1_14TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_2 | CAN_BTR_TS1_0)) /*!< 14 time quantum */ | |
#define CAN_BS1_15TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_2 | CAN_BTR_TS1_1)) /*!< 15 time quantum */ | |
#define CAN_BS1_16TQ ((uint32_t)CAN_BTR_TS1) /*!< 16 time quantum */ | |
/** | |
* @} | |
*/ | |
/** @defgroup CAN_time_quantum_in_bit_segment_2 CAN Time Quantum in bit segment 2 | |
* @{ | |
*/ | |
#define CAN_BS2_1TQ 0x00000000U /*!< 1 time quantum */ | |
#define CAN_BS2_2TQ ((uint32_t)CAN_BTR_TS2_0) /*!< 2 time quantum */ | |
#define CAN_BS2_3TQ ((uint32_t)CAN_BTR_TS2_1) /*!< 3 time quantum */ | |
#define CAN_BS2_4TQ ((uint32_t)(CAN_BTR_TS2_1 | CAN_BTR_TS2_0)) /*!< 4 time quantum */ | |
#define CAN_BS2_5TQ ((uint32_t)CAN_BTR_TS2_2) /*!< 5 time quantum */ | |
#define CAN_BS2_6TQ ((uint32_t)(CAN_BTR_TS2_2 | CAN_BTR_TS2_0)) /*!< 6 time quantum */ | |
#define CAN_BS2_7TQ ((uint32_t)(CAN_BTR_TS2_2 | CAN_BTR_TS2_1)) /*!< 7 time quantum */ | |
#define CAN_BS2_8TQ ((uint32_t)CAN_BTR_TS2) /*!< 8 time quantum */ | |
/** | |
* @} | |
*/ | |
/** @defgroup CAN_filter_mode CAN Filter Mode | |
* @{ | |
*/ | |
#define CAN_FILTERMODE_IDMASK ((uint8_t)0x00) /*!< Identifier mask mode */ | |
#define CAN_FILTERMODE_IDLIST ((uint8_t)0x01) /*!< Identifier list mode */ | |
/** | |
* @} | |
*/ | |
/** @defgroup CAN_filter_scale CAN Filter Scale | |
* @{ | |
*/ | |
#define CAN_FILTERSCALE_16BIT ((uint8_t)0x00) /*!< Two 16-bit filters */ | |
#define CAN_FILTERSCALE_32BIT ((uint8_t)0x01) /*!< One 32-bit filter */ | |
/** | |
* @} | |
*/ | |
/** @defgroup CAN_filter_FIFO CAN Filter FIFO | |
* @{ | |
*/ | |
#define CAN_FILTER_FIFO0 ((uint8_t)0x00) /*!< Filter FIFO 0 assignment for filter x */ | |
#define CAN_FILTER_FIFO1 ((uint8_t)0x01) /*!< Filter FIFO 1 assignment for filter x */ | |
/** | |
* @} | |
*/ | |
/** @defgroup CAN_Identifier_Type CAN Identifier Type | |
* @{ | |
*/ | |
#define CAN_ID_STD 0x00000000U /*!< Standard Id */ | |
#define CAN_ID_EXT 0x00000004U /*!< Extended Id */ | |
/** | |
* @} | |
*/ | |
/** @defgroup CAN_remote_transmission_request CAN Remote Transmission Request | |
* @{ | |
*/ | |
#define CAN_RTR_DATA 0x00000000U /*!< Data frame */ | |
#define CAN_RTR_REMOTE 0x00000002U /*!< Remote frame */ | |
/** | |
* @} | |
*/ | |
/** @defgroup CAN_receive_FIFO_number_constants CAN Receive FIFO Number Constants | |
* @{ | |
*/ | |
#define CAN_FIFO0 ((uint8_t)0x00) /*!< CAN FIFO 0 used to receive */ | |
#define CAN_FIFO1 ((uint8_t)0x01) /*!< CAN FIFO 1 used to receive */ | |
/** | |
* @} | |
*/ | |
/** @defgroup CAN_flags CAN Flags | |
* @{ | |
*/ | |
/* If the flag is 0x3XXXXXXX, it means that it can be used with CAN_GetFlagStatus() | |
and CAN_ClearFlag() functions. */ | |
/* If the flag is 0x1XXXXXXX, it means that it can only be used with | |
CAN_GetFlagStatus() function. */ | |
/* Transmit Flags */ | |
#define CAN_FLAG_RQCP0 0x00000500U /*!< Request MailBox0 flag */ | |
#define CAN_FLAG_RQCP1 0x00000508U /*!< Request MailBox1 flag */ | |
#define CAN_FLAG_RQCP2 0x00000510U /*!< Request MailBox2 flag */ | |
#define CAN_FLAG_TXOK0 0x00000501U /*!< Transmission OK MailBox0 flag */ | |
#define CAN_FLAG_TXOK1 0x00000509U /*!< Transmission OK MailBox1 flag */ | |
#define CAN_FLAG_TXOK2 0x00000511U /*!< Transmission OK MailBox2 flag */ | |
#define CAN_FLAG_TME0 0x0000051AU /*!< Transmit mailbox 0 empty flag */ | |
#define CAN_FLAG_TME1 0x0000051BU /*!< Transmit mailbox 0 empty flag */ | |
#define CAN_FLAG_TME2 0x0000051CU /*!< Transmit mailbox 0 empty flag */ | |
/* Receive Flags */ | |
#define CAN_FLAG_FF0 0x00000203U /*!< FIFO 0 Full flag */ | |
#define CAN_FLAG_FOV0 0x00000204U /*!< FIFO 0 Overrun flag */ | |
#define CAN_FLAG_FF1 0x00000403U /*!< FIFO 1 Full flag */ | |
#define CAN_FLAG_FOV1 0x00000404U /*!< FIFO 1 Overrun flag */ | |
/* Operating Mode Flags */ | |
#define CAN_FLAG_INAK 0x00000100U /*!< Initialization acknowledge flag */ | |
#define CAN_FLAG_SLAK 0x00000101U /*!< Sleep acknowledge flag */ | |
#define CAN_FLAG_ERRI 0x00000102U /*!< Error flag */ | |
#define CAN_FLAG_WKU 0x00000103U /*!< Wake up flag */ | |
#define CAN_FLAG_SLAKI 0x00000104U /*!< Sleep acknowledge flag */ | |
/* @note When SLAK interrupt is disabled (SLKIE=0), no polling on SLAKI is possible. | |
In this case the SLAK bit can be polled.*/ | |
/* Error Flags */ | |
#define CAN_FLAG_EWG 0x00000300U /*!< Error warning flag */ | |
#define CAN_FLAG_EPV 0x00000301U /*!< Error passive flag */ | |
#define CAN_FLAG_BOF 0x00000302U /*!< Bus-Off flag */ | |
/** | |
* @} | |
*/ | |
/** @defgroup CAN_Interrupts CAN Interrupts | |
* @{ | |
*/ | |
#define CAN_IT_TME ((uint32_t)CAN_IER_TMEIE) /*!< Transmit mailbox empty interrupt */ | |
/* Receive Interrupts */ | |
#define CAN_IT_FMP0 ((uint32_t)CAN_IER_FMPIE0) /*!< FIFO 0 message pending interrupt */ | |
#define CAN_IT_FF0 ((uint32_t)CAN_IER_FFIE0) /*!< FIFO 0 full interrupt */ | |
#define CAN_IT_FOV0 ((uint32_t)CAN_IER_FOVIE0) /*!< FIFO 0 overrun interrupt */ | |
#define CAN_IT_FMP1 ((uint32_t)CAN_IER_FMPIE1) /*!< FIFO 1 message pending interrupt */ | |
#define CAN_IT_FF1 ((uint32_t)CAN_IER_FFIE1) /*!< FIFO 1 full interrupt */ | |
#define CAN_IT_FOV1 ((uint32_t)CAN_IER_FOVIE1) /*!< FIFO 1 overrun interrupt */ | |
/* Operating Mode Interrupts */ | |
#define CAN_IT_WKU ((uint32_t)CAN_IER_WKUIE) /*!< Wake-up interrupt */ | |
#define CAN_IT_SLK ((uint32_t)CAN_IER_SLKIE) /*!< Sleep acknowledge interrupt */ | |
/* Error Interrupts */ | |
#define CAN_IT_EWG ((uint32_t)CAN_IER_EWGIE) /*!< Error warning interrupt */ | |
#define CAN_IT_EPV ((uint32_t)CAN_IER_EPVIE) /*!< Error passive interrupt */ | |
#define CAN_IT_BOF ((uint32_t)CAN_IER_BOFIE) /*!< Bus-off interrupt */ | |
#define CAN_IT_LEC ((uint32_t)CAN_IER_LECIE) /*!< Last error code interrupt */ | |
#define CAN_IT_ERR ((uint32_t)CAN_IER_ERRIE) /*!< Error Interrupt */ | |
/** | |
* @} | |
*/ | |
/** @defgroup CAN_Mailboxes_Definition CAN Mailboxes Definition | |
* @{ | |
*/ | |
#define CAN_TXMAILBOX_0 ((uint8_t)0x00) | |
#define CAN_TXMAILBOX_1 ((uint8_t)0x01) | |
#define CAN_TXMAILBOX_2 ((uint8_t)0x02) | |
/** | |
* @} | |
*/ | |
/** | |
* @} | |
*/ | |
/* Exported macro ------------------------------------------------------------*/ | |
/** @defgroup CAN_Exported_Macros CAN Exported Macros | |
* @{ | |
*/ | |
/** @brief Reset CAN handle state | |
* @param __HANDLE__: specifies the CAN Handle. | |
* @retval None | |
*/ | |
#define __HAL_CAN_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_CAN_STATE_RESET) | |
/** | |
* @brief Enable the specified CAN interrupts. | |
* @param __HANDLE__: CAN handle | |
* @param __INTERRUPT__: CAN Interrupt | |
* @retval None | |
*/ | |
#define __HAL_CAN_ENABLE_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->IER) |= (__INTERRUPT__)) | |
/** | |
* @brief Disable the specified CAN interrupts. | |
* @param __HANDLE__: CAN handle | |
* @param __INTERRUPT__: CAN Interrupt | |
* @retval None | |
*/ | |
#define __HAL_CAN_DISABLE_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->IER) &= ~(__INTERRUPT__)) | |
/** | |
* @brief Return the number of pending received messages. | |
* @param __HANDLE__: CAN handle | |
* @param __FIFONUMBER__: Receive FIFO number, CAN_FIFO0 or CAN_FIFO1. | |
* @retval The number of pending message. | |
*/ | |
#define __HAL_CAN_MSG_PENDING(__HANDLE__, __FIFONUMBER__) (((__FIFONUMBER__) == CAN_FIFO0)? \ | |
((uint8_t)((__HANDLE__)->Instance->RF0R&0x03U)) : ((uint8_t)((__HANDLE__)->Instance->RF1R & 0x03U))) | |
/** @brief Check whether the specified CAN flag is set or not. | |
* @param __HANDLE__: CAN Handle | |
* @param __FLAG__: specifies the flag to check. | |
* This parameter can be one of the following values: | |
* @arg CAN_TSR_RQCP0: Request MailBox0 Flag | |
* @arg CAN_TSR_RQCP1: Request MailBox1 Flag | |
* @arg CAN_TSR_RQCP2: Request MailBox2 Flag | |
* @arg CAN_FLAG_TXOK0: Transmission OK MailBox0 Flag | |
* @arg CAN_FLAG_TXOK1: Transmission OK MailBox1 Flag | |
* @arg CAN_FLAG_TXOK2: Transmission OK MailBox2 Flag | |
* @arg CAN_FLAG_TME0: Transmit mailbox 0 empty Flag | |
* @arg CAN_FLAG_TME1: Transmit mailbox 1 empty Flag | |
* @arg CAN_FLAG_TME2: Transmit mailbox 2 empty Flag | |
* @arg CAN_FLAG_FMP0: FIFO 0 Message Pending Flag | |
* @arg CAN_FLAG_FF0: FIFO 0 Full Flag | |
* @arg CAN_FLAG_FOV0: FIFO 0 Overrun Flag | |
* @arg CAN_FLAG_FMP1: FIFO 1 Message Pending Flag | |
* @arg CAN_FLAG_FF1: FIFO 1 Full Flag | |
* @arg CAN_FLAG_FOV1: FIFO 1 Overrun Flag | |
* @arg CAN_FLAG_WKU: Wake up Flag | |
* @arg CAN_FLAG_SLAK: Sleep acknowledge Flag | |
* @arg CAN_FLAG_SLAKI: Sleep acknowledge Flag | |
* @arg CAN_FLAG_EWG: Error Warning Flag | |
* @arg CAN_FLAG_EPV: Error Passive Flag | |
* @arg CAN_FLAG_BOF: Bus-Off Flag | |
* @retval The new state of __FLAG__ (TRUE or FALSE). | |
*/ | |
#define __HAL_CAN_GET_FLAG(__HANDLE__, __FLAG__) \ | |
((((__FLAG__) >> 8U) == 5U)? ((((__HANDLE__)->Instance->TSR) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))): \ | |
(((__FLAG__) >> 8U) == 2U)? ((((__HANDLE__)->Instance->RF0R) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))): \ | |
(((__FLAG__) >> 8U) == 4U)? ((((__HANDLE__)->Instance->RF1R) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))): \ | |
(((__FLAG__) >> 8U) == 1U)? ((((__HANDLE__)->Instance->MSR) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))): \ | |
((((__HANDLE__)->Instance->ESR) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK)))) | |
/** @brief Clear the specified CAN pending flag. | |
* @param __HANDLE__: CAN Handle. | |
* @param __FLAG__: specifies the flag to check. | |
* This parameter can be one of the following values: | |
* @arg CAN_TSR_RQCP0: Request MailBox0 Flag | |
* @arg CAN_TSR_RQCP1: Request MailBox1 Flag | |
* @arg CAN_TSR_RQCP2: Request MailBox2 Flag | |
* @arg CAN_FLAG_TXOK0: Transmission OK MailBox0 Flag | |
* @arg CAN_FLAG_TXOK1: Transmission OK MailBox1 Flag | |
* @arg CAN_FLAG_TXOK2: Transmission OK MailBox2 Flag | |
* @arg CAN_FLAG_TME0: Transmit mailbox 0 empty Flag | |
* @arg CAN_FLAG_TME1: Transmit mailbox 1 empty Flag | |
* @arg CAN_FLAG_TME2: Transmit mailbox 2 empty Flag | |
* @arg CAN_FLAG_FMP0: FIFO 0 Message Pending Flag | |
* @arg CAN_FLAG_FF0: FIFO 0 Full Flag | |
* @arg CAN_FLAG_FOV0: FIFO 0 Overrun Flag | |
* @arg CAN_FLAG_FMP1: FIFO 1 Message Pending Flag | |
* @arg CAN_FLAG_FF1: FIFO 1 Full Flag | |
* @arg CAN_FLAG_FOV1: FIFO 1 Overrun Flag | |
* @arg CAN_FLAG_WKU: Wake up Flag | |
* @arg CAN_FLAG_SLAK: Sleep acknowledge Flag | |
* @arg CAN_FLAG_SLAKI: Sleep acknowledge Flag | |
* @retval The new state of __FLAG__ (TRUE or FALSE). | |
*/ | |
#define __HAL_CAN_CLEAR_FLAG(__HANDLE__, __FLAG__) \ | |
((((__FLAG__) >> 8U) == 5U)? (((__HANDLE__)->Instance->TSR) = (1U << ((__FLAG__) & CAN_FLAG_MASK))): \ | |
(((__FLAG__) >> 8U) == 2U)? (((__HANDLE__)->Instance->RF0R) = (1U << ((__FLAG__) & CAN_FLAG_MASK))): \ | |
(((__FLAG__) >> 8U) == 4U)? (((__HANDLE__)->Instance->RF1R) = (1U << ((__FLAG__) & CAN_FLAG_MASK))): \ | |
(((__HANDLE__)->Instance->MSR) = ((uint32_t)1U << ((__FLAG__) & CAN_FLAG_MASK)))) | |
/** @brief Check if the specified CAN interrupt source is enabled or disabled. | |
* @param __HANDLE__: CAN Handle | |
* @param __INTERRUPT__: specifies the CAN interrupt source to check. | |
* This parameter can be one of the following values: | |
* @arg CAN_IT_TME: Transmit mailbox empty interrupt enable | |
* @arg CAN_IT_FMP0: FIFO0 message pending interrupt enable | |
* @arg CAN_IT_FMP1: FIFO1 message pending interrupt enable | |
* @retval The new state of __IT__ (TRUE or FALSE). | |
*/ | |
#define __HAL_CAN_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) ((((__HANDLE__)->Instance->IER & (__INTERRUPT__)) == (__INTERRUPT__)) ? SET : RESET) | |
/** | |
* @brief Check the transmission status of a CAN Frame. | |
* @param __HANDLE__: CAN Handle | |
* @param __TRANSMITMAILBOX__: the number of the mailbox that is used for transmission. | |
* @retval The new status of transmission (TRUE or FALSE). | |
*/ | |
#define __HAL_CAN_TRANSMIT_STATUS(__HANDLE__, __TRANSMITMAILBOX__)\ | |
(((__TRANSMITMAILBOX__) == CAN_TXMAILBOX_0)? ((((__HANDLE__)->Instance->TSR) & (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0)) == (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0)) :\ | |
((__TRANSMITMAILBOX__) == CAN_TXMAILBOX_1)? ((((__HANDLE__)->Instance->TSR) & (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1)) == (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1)) :\ | |
((((__HANDLE__)->Instance->TSR) & (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2)) == (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2))) | |
/** | |
* @brief Release the specified receive FIFO. | |
* @param __HANDLE__: CAN handle | |
* @param __FIFONUMBER__: Receive FIFO number, CAN_FIFO0 or CAN_FIFO1. | |
* @retval None | |
*/ | |
#define __HAL_CAN_FIFO_RELEASE(__HANDLE__, __FIFONUMBER__) (((__FIFONUMBER__) == CAN_FIFO0)? \ | |
((__HANDLE__)->Instance->RF0R = CAN_RF0R_RFOM0) : ((__HANDLE__)->Instance->RF1R = CAN_RF1R_RFOM1)) | |
/** | |
* @brief Cancel a transmit request. | |
* @param __HANDLE__: CAN Handle | |
* @param __TRANSMITMAILBOX__: the number of the mailbox that is used for transmission. | |
* @retval None | |
*/ | |
#define __HAL_CAN_CANCEL_TRANSMIT(__HANDLE__, __TRANSMITMAILBOX__)\ | |
(((__TRANSMITMAILBOX__) == CAN_TXMAILBOX_0)? ((__HANDLE__)->Instance->TSR = CAN_TSR_ABRQ0) :\ | |
((__TRANSMITMAILBOX__) == CAN_TXMAILBOX_1)? ((__HANDLE__)->Instance->TSR = CAN_TSR_ABRQ1) :\ | |
((__HANDLE__)->Instance->TSR = CAN_TSR_ABRQ2)) | |
/** | |
* @brief Enable or disable the DBG Freeze for CAN. | |
* @param __HANDLE__: CAN Handle | |
* @param __NEWSTATE__: new state of the CAN peripheral. | |
* This parameter can be: ENABLE (CAN reception/transmission is frozen | |
* during debug. Reception FIFOs can still be accessed/controlled normally) | |
* or DISABLE (CAN is working during debug). | |
* @retval None | |
*/ | |
#define __HAL_CAN_DBG_FREEZE(__HANDLE__, __NEWSTATE__) (((__NEWSTATE__) == ENABLE)? \ | |
((__HANDLE__)->Instance->MCR |= CAN_MCR_DBF) : ((__HANDLE__)->Instance->MCR &= ~CAN_MCR_DBF)) | |
/** | |
* @} | |
*/ | |
/* Exported functions --------------------------------------------------------*/ | |
/** @addtogroup CAN_Exported_Functions | |
* @{ | |
*/ | |
/** @addtogroup CAN_Exported_Functions_Group1 | |
* @{ | |
*/ | |
/* Initialization/de-initialization functions ***********************************/ | |
HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef* hcan); | |
HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef* hcan, CAN_FilterConfTypeDef* sFilterConfig); | |
HAL_StatusTypeDef HAL_CAN_DeInit(CAN_HandleTypeDef* hcan); | |
void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan); | |
void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan); | |
/** | |
* @} | |
*/ | |
/** @addtogroup CAN_Exported_Functions_Group2 | |
* @{ | |
*/ | |
/* I/O operation functions ******************************************************/ | |
HAL_StatusTypeDef HAL_CAN_Transmit(CAN_HandleTypeDef *hcan, uint32_t Timeout); | |
HAL_StatusTypeDef HAL_CAN_Transmit_IT(CAN_HandleTypeDef *hcan); | |
HAL_StatusTypeDef HAL_CAN_Receive(CAN_HandleTypeDef *hcan, uint8_t FIFONumber, uint32_t Timeout); | |
HAL_StatusTypeDef HAL_CAN_Receive_IT(CAN_HandleTypeDef *hcan, uint8_t FIFONumber); | |
HAL_StatusTypeDef HAL_CAN_Sleep(CAN_HandleTypeDef *hcan); | |
HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef *hcan); | |
void HAL_CAN_IRQHandler(CAN_HandleTypeDef* hcan); | |
void HAL_CAN_TxCpltCallback(CAN_HandleTypeDef* hcan); | |
void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan); | |
void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan); | |
/** | |
* @} | |
*/ | |
/** @addtogroup CAN_Exported_Functions_Group3 | |
* @{ | |
*/ | |
/* Peripheral State functions ***************************************************/ | |
uint32_t HAL_CAN_GetError(CAN_HandleTypeDef *hcan); | |
HAL_CAN_StateTypeDef HAL_CAN_GetState(CAN_HandleTypeDef* hcan); | |
/** | |
* @} | |
*/ | |
/** | |
* @} | |
*/ | |
/* Private types -------------------------------------------------------------*/ | |
/** @defgroup CAN_Private_Types CAN Private Types | |
* @{ | |
*/ | |
/** | |
* @} | |
*/ | |
/* Private variables ---------------------------------------------------------*/ | |
/** @defgroup CAN_Private_Variables CAN Private Variables | |
* @{ | |
*/ | |
/** | |
* @} | |
*/ | |
/* Private constants ---------------------------------------------------------*/ | |
/** @defgroup CAN_Private_Constants CAN Private Constants | |
* @{ | |
*/ | |
#define CAN_TXSTATUS_NOMAILBOX ((uint8_t)0x04) /*!< CAN cell did not provide CAN_TxStatus_NoMailBox */ | |
#define CAN_FLAG_MASK 0x000000FFU | |
/** | |
* @} | |
*/ | |
/* Private macros ------------------------------------------------------------*/ | |
/** @defgroup CAN_Private_Macros CAN Private Macros | |
* @{ | |
*/ | |
#define IS_CAN_MODE(MODE) (((MODE) == CAN_MODE_NORMAL) || \ | |
((MODE) == CAN_MODE_LOOPBACK)|| \ | |
((MODE) == CAN_MODE_SILENT) || \ | |
((MODE) == CAN_MODE_SILENT_LOOPBACK)) | |
#define IS_CAN_SJW(SJW) (((SJW) == CAN_SJW_1TQ) || ((SJW) == CAN_SJW_2TQ)|| \ | |
((SJW) == CAN_SJW_3TQ) || ((SJW) == CAN_SJW_4TQ)) | |
#define IS_CAN_BS1(BS1) ((BS1) <= CAN_BS1_16TQ) | |
#define IS_CAN_BS2(BS2) ((BS2) <= CAN_BS2_8TQ) | |
#define IS_CAN_PRESCALER(PRESCALER) (((PRESCALER) >= 1U) && ((PRESCALER) <= 1024U)) | |
#define IS_CAN_FILTER_NUMBER(NUMBER) ((NUMBER) <= 27U) | |
#define IS_CAN_FILTER_MODE(MODE) (((MODE) == CAN_FILTERMODE_IDMASK) || \ | |
((MODE) == CAN_FILTERMODE_IDLIST)) | |
#define IS_CAN_FILTER_SCALE(SCALE) (((SCALE) == CAN_FILTERSCALE_16BIT) || \ | |
((SCALE) == CAN_FILTERSCALE_32BIT)) | |
#define IS_CAN_FILTER_FIFO(FIFO) (((FIFO) == CAN_FILTER_FIFO0) || \ | |
((FIFO) == CAN_FILTER_FIFO1)) | |
#define IS_CAN_BANKNUMBER(BANKNUMBER) ((BANKNUMBER) <= 28U) | |
#define IS_CAN_TRANSMITMAILBOX(TRANSMITMAILBOX) ((TRANSMITMAILBOX) <= ((uint8_t)0x02)) | |
#define IS_CAN_STDID(STDID) ((STDID) <= ((uint32_t)0x7FFU)) | |
#define IS_CAN_EXTID(EXTID) ((EXTID) <= 0x1FFFFFFFU) | |
#define IS_CAN_DLC(DLC) ((DLC) <= ((uint8_t)0x08)) | |
#define IS_CAN_IDTYPE(IDTYPE) (((IDTYPE) == CAN_ID_STD) || \ | |
((IDTYPE) == CAN_ID_EXT)) | |
#define IS_CAN_RTR(RTR) (((RTR) == CAN_RTR_DATA) || ((RTR) == CAN_RTR_REMOTE)) | |
#define IS_CAN_FIFO(FIFO) (((FIFO) == CAN_FIFO0) || ((FIFO) == CAN_FIFO1)) | |
/** | |
* @} | |
*/ | |
/* Private functions ---------------------------------------------------------*/ | |
/** @defgroup CAN_Private_Functions CAN Private Functions | |
* @{ | |
*/ | |
/** | |
* @} | |
*/ | |
#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F427xx || STM32F437xx ||\ | |
STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx || STM32F412Zx ||\ | |
STM32F412Vx || STM32F412Rx || STM32F412Cx || STM32F413xx || STM32F423xx */ | |
/** | |
* @} | |
*/ | |
/** | |
* @} | |
*/ | |
#ifdef __cplusplus | |
} | |
#endif | |
#endif /* __STM32F4xx_CAN_H */ | |
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ |