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diff --git a/Standard_robot/BSP b/Standard_robot/BSP
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@@ -1 +1 @@
-Subproject commit 59eb0b220f53250dd186e39a8169e51af4370773
+Subproject commit 4bb6bbb21f61e56e42b63a921e65b79f56a41566
diff --git a/Standard_robot/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h b/Standard_robot/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h
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index 0000000000000000000000000000000000000000..0611a6521a342766bdc80a2ba1d9a7c7834af073
--- /dev/null
+++ b/Standard_robot/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h
@@ -0,0 +1,848 @@
+/**
+ ******************************************************************************
+ * @file stm32f4xx_hal_can.h
+ * @author MCD Application Team
+ * @brief Header file of CAN HAL module.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© Copyright (c) 2016 STMicroelectronics.
+ * All rights reserved.</center></h2>
+ *
+ * This software component is licensed by ST under BSD 3-Clause license,
+ * the "License"; You may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at:
+ * opensource.org/licenses/BSD-3-Clause
+ *
+ ******************************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef STM32F4xx_HAL_CAN_H
+#define STM32F4xx_HAL_CAN_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_hal_def.h"
+
+/** @addtogroup STM32F4xx_HAL_Driver
+ * @{
+ */
+
+#if defined (CAN1)
+/** @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_LISTENING = 0x02U, /*!< CAN receive process is ongoing */
+ HAL_CAN_STATE_SLEEP_PENDING = 0x03U, /*!< CAN sleep request is pending */
+ HAL_CAN_STATE_SLEEP_ACTIVE = 0x04U, /*!< CAN sleep mode is active */
+ HAL_CAN_STATE_ERROR = 0x05U /*!< 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 SyncJumpWidth; /*!< 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 TimeSeg1; /*!< 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 TimeSeg2; /*!< 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 */
+
+ FunctionalState TimeTriggeredMode; /*!< Enable or disable the time triggered communication mode.
+ This parameter can be set to ENABLE or DISABLE. */
+
+ FunctionalState AutoBusOff; /*!< Enable or disable the automatic bus-off management.
+ This parameter can be set to ENABLE or DISABLE. */
+
+ FunctionalState AutoWakeUp; /*!< Enable or disable the automatic wake-up mode.
+ This parameter can be set to ENABLE or DISABLE. */
+
+ FunctionalState AutoRetransmission; /*!< Enable or disable the non-automatic retransmission mode.
+ This parameter can be set to ENABLE or DISABLE. */
+
+ FunctionalState ReceiveFifoLocked; /*!< Enable or disable the Receive FIFO Locked mode.
+ This parameter can be set to ENABLE or DISABLE. */
+
+ FunctionalState TransmitFifoPriority;/*!< 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 1U) which will be assigned to the filter.
+ This parameter can be a value of @ref CAN_filter_FIFO */
+
+ uint32_t FilterBank; /*!< Specifies the filter bank which will be initialized.
+ For single CAN instance(14 dedicated filter banks),
+ this parameter must be a number between Min_Data = 0 and Max_Data = 13.
+ For dual CAN instances(28 filter banks shared),
+ 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 a value of @ref CAN_filter_activation */
+
+ uint32_t SlaveStartFilterBank; /*!< Select the start filter bank for the slave CAN instance.
+ For single CAN instances, this parameter is meaningless.
+ For dual CAN instances, all filter banks with lower index are assigned to master
+ CAN instance, whereas all filter banks with greater index are assigned to slave
+ CAN instance.
+ This parameter must be a number between Min_Data = 0 and Max_Data = 27. */
+
+} CAN_FilterTypeDef;
+
+/**
+ * @brief CAN Tx message header 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. */
+
+ FunctionalState TransmitGlobalTime; /*!< Specifies whether the timestamp counter value captured on start
+ of frame transmission, is sent in DATA6 and DATA7 replacing pData[6] and pData[7].
+ @note: Time Triggered Communication Mode must be enabled.
+ @note: DLC must be programmed as 8 bytes, in order these 2 bytes are sent.
+ This parameter can be set to ENABLE or DISABLE. */
+
+} CAN_TxHeaderTypeDef;
+
+/**
+ * @brief CAN Rx message header 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. */
+
+ uint32_t Timestamp; /*!< Specifies the timestamp counter value captured on start of frame reception.
+ @note: Time Triggered Communication Mode must be enabled.
+ This parameter must be a number between Min_Data = 0 and Max_Data = 0xFFFF. */
+
+ uint32_t FilterMatchIndex; /*!< Specifies the index of matching acceptance filter element.
+ This parameter must be a number between Min_Data = 0 and Max_Data = 0xFF. */
+
+} CAN_RxHeaderTypeDef;
+
+/**
+ * @brief CAN handle Structure definition
+ */
+typedef struct __CAN_HandleTypeDef
+{
+ CAN_TypeDef *Instance; /*!< Register base address */
+
+ CAN_InitTypeDef Init; /*!< CAN required parameters */
+
+ __IO HAL_CAN_StateTypeDef State; /*!< CAN communication state */
+
+ __IO uint32_t ErrorCode; /*!< CAN Error code.
+ This parameter can be a value of @ref CAN_Error_Code */
+
+#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
+ void (* TxMailbox0CompleteCallback)(struct __CAN_HandleTypeDef *hcan);/*!< CAN Tx Mailbox 0 complete callback */
+ void (* TxMailbox1CompleteCallback)(struct __CAN_HandleTypeDef *hcan);/*!< CAN Tx Mailbox 1 complete callback */
+ void (* TxMailbox2CompleteCallback)(struct __CAN_HandleTypeDef *hcan);/*!< CAN Tx Mailbox 2 complete callback */
+ void (* TxMailbox0AbortCallback)(struct __CAN_HandleTypeDef *hcan); /*!< CAN Tx Mailbox 0 abort callback */
+ void (* TxMailbox1AbortCallback)(struct __CAN_HandleTypeDef *hcan); /*!< CAN Tx Mailbox 1 abort callback */
+ void (* TxMailbox2AbortCallback)(struct __CAN_HandleTypeDef *hcan); /*!< CAN Tx Mailbox 2 abort callback */
+ void (* RxFifo0MsgPendingCallback)(struct __CAN_HandleTypeDef *hcan); /*!< CAN Rx FIFO 0 msg pending callback */
+ void (* RxFifo0FullCallback)(struct __CAN_HandleTypeDef *hcan); /*!< CAN Rx FIFO 0 full callback */
+ void (* RxFifo1MsgPendingCallback)(struct __CAN_HandleTypeDef *hcan); /*!< CAN Rx FIFO 1 msg pending callback */
+ void (* RxFifo1FullCallback)(struct __CAN_HandleTypeDef *hcan); /*!< CAN Rx FIFO 1 full callback */
+ void (* SleepCallback)(struct __CAN_HandleTypeDef *hcan); /*!< CAN Sleep callback */
+ void (* WakeUpFromRxMsgCallback)(struct __CAN_HandleTypeDef *hcan); /*!< CAN Wake Up from Rx msg callback */
+ void (* ErrorCallback)(struct __CAN_HandleTypeDef *hcan); /*!< CAN Error callback */
+
+ void (* MspInitCallback)(struct __CAN_HandleTypeDef *hcan); /*!< CAN Msp Init callback */
+ void (* MspDeInitCallback)(struct __CAN_HandleTypeDef *hcan); /*!< CAN Msp DeInit callback */
+
+#endif /* (USE_HAL_CAN_REGISTER_CALLBACKS) */
+} CAN_HandleTypeDef;
+
+#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
+/**
+ * @brief HAL CAN common Callback ID enumeration definition
+ */
+typedef enum
+{
+ HAL_CAN_TX_MAILBOX0_COMPLETE_CB_ID = 0x00U, /*!< CAN Tx Mailbox 0 complete callback ID */
+ HAL_CAN_TX_MAILBOX1_COMPLETE_CB_ID = 0x01U, /*!< CAN Tx Mailbox 1 complete callback ID */
+ HAL_CAN_TX_MAILBOX2_COMPLETE_CB_ID = 0x02U, /*!< CAN Tx Mailbox 2 complete callback ID */
+ HAL_CAN_TX_MAILBOX0_ABORT_CB_ID = 0x03U, /*!< CAN Tx Mailbox 0 abort callback ID */
+ HAL_CAN_TX_MAILBOX1_ABORT_CB_ID = 0x04U, /*!< CAN Tx Mailbox 1 abort callback ID */
+ HAL_CAN_TX_MAILBOX2_ABORT_CB_ID = 0x05U, /*!< CAN Tx Mailbox 2 abort callback ID */
+ HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID = 0x06U, /*!< CAN Rx FIFO 0 message pending callback ID */
+ HAL_CAN_RX_FIFO0_FULL_CB_ID = 0x07U, /*!< CAN Rx FIFO 0 full callback ID */
+ HAL_CAN_RX_FIFO1_MSG_PENDING_CB_ID = 0x08U, /*!< CAN Rx FIFO 1 message pending callback ID */
+ HAL_CAN_RX_FIFO1_FULL_CB_ID = 0x09U, /*!< CAN Rx FIFO 1 full callback ID */
+ HAL_CAN_SLEEP_CB_ID = 0x0AU, /*!< CAN Sleep callback ID */
+ HAL_CAN_WAKEUP_FROM_RX_MSG_CB_ID = 0x0BU, /*!< CAN Wake Up fropm Rx msg callback ID */
+ HAL_CAN_ERROR_CB_ID = 0x0CU, /*!< CAN Error callback ID */
+
+ HAL_CAN_MSPINIT_CB_ID = 0x0DU, /*!< CAN MspInit callback ID */
+ HAL_CAN_MSPDEINIT_CB_ID = 0x0EU, /*!< CAN MspDeInit callback ID */
+
+} HAL_CAN_CallbackIDTypeDef;
+
+/**
+ * @brief HAL CAN Callback pointer definition
+ */
+typedef void (*pCAN_CallbackTypeDef)(CAN_HandleTypeDef *hcan); /*!< pointer to a CAN callback function */
+
+#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
+/**
+ * @}
+ */
+
+/* Exported constants --------------------------------------------------------*/
+
+/** @defgroup CAN_Exported_Constants CAN Exported Constants
+ * @{
+ */
+
+/** @defgroup CAN_Error_Code CAN Error Code
+ * @{
+ */
+#define HAL_CAN_ERROR_NONE (0x00000000U) /*!< No error */
+#define HAL_CAN_ERROR_EWG (0x00000001U) /*!< Protocol Error Warning */
+#define HAL_CAN_ERROR_EPV (0x00000002U) /*!< Error Passive */
+#define HAL_CAN_ERROR_BOF (0x00000004U) /*!< Bus-off error */
+#define HAL_CAN_ERROR_STF (0x00000008U) /*!< Stuff error */
+#define HAL_CAN_ERROR_FOR (0x00000010U) /*!< Form error */
+#define HAL_CAN_ERROR_ACK (0x00000020U) /*!< Acknowledgment error */
+#define HAL_CAN_ERROR_BR (0x00000040U) /*!< Bit recessive error */
+#define HAL_CAN_ERROR_BD (0x00000080U) /*!< Bit dominant error */
+#define HAL_CAN_ERROR_CRC (0x00000100U) /*!< CRC error */
+#define HAL_CAN_ERROR_RX_FOV0 (0x00000200U) /*!< Rx FIFO0 overrun error */
+#define HAL_CAN_ERROR_RX_FOV1 (0x00000400U) /*!< Rx FIFO1 overrun error */
+#define HAL_CAN_ERROR_TX_ALST0 (0x00000800U) /*!< TxMailbox 0 transmit failure due to arbitration lost */
+#define HAL_CAN_ERROR_TX_TERR0 (0x00001000U) /*!< TxMailbox 1 transmit failure due to tranmit error */
+#define HAL_CAN_ERROR_TX_ALST1 (0x00002000U) /*!< TxMailbox 0 transmit failure due to arbitration lost */
+#define HAL_CAN_ERROR_TX_TERR1 (0x00004000U) /*!< TxMailbox 1 transmit failure due to tranmit error */
+#define HAL_CAN_ERROR_TX_ALST2 (0x00008000U) /*!< TxMailbox 0 transmit failure due to arbitration lost */
+#define HAL_CAN_ERROR_TX_TERR2 (0x00010000U) /*!< TxMailbox 1 transmit failure due to tranmit error */
+#define HAL_CAN_ERROR_TIMEOUT (0x00020000U) /*!< Timeout error */
+#define HAL_CAN_ERROR_NOT_INITIALIZED (0x00040000U) /*!< Peripheral not initialized */
+#define HAL_CAN_ERROR_NOT_READY (0x00080000U) /*!< Peripheral not ready */
+#define HAL_CAN_ERROR_NOT_STARTED (0x00100000U) /*!< Peripheral not started */
+#define HAL_CAN_ERROR_PARAM (0x00200000U) /*!< Parameter error */
+
+#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
+#define HAL_CAN_ERROR_INVALID_CALLBACK (0x00400000U) /*!< Invalid Callback error */
+#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
+#define HAL_CAN_ERROR_INTERNAL (0x00800000U) /*!< Internal error */
+
+/**
+ * @}
+ */
+
+/** @defgroup CAN_InitStatus CAN InitStatus
+ * @{
+ */
+#define CAN_INITSTATUS_FAILED (0x00000000U) /*!< CAN initialization failed */
+#define CAN_INITSTATUS_SUCCESS (0x00000001U) /*!< 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 Synchronization 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 (0x00000000U) /*!< Identifier mask mode */
+#define CAN_FILTERMODE_IDLIST (0x00000001U) /*!< Identifier list mode */
+/**
+ * @}
+ */
+
+/** @defgroup CAN_filter_scale CAN Filter Scale
+ * @{
+ */
+#define CAN_FILTERSCALE_16BIT (0x00000000U) /*!< Two 16-bit filters */
+#define CAN_FILTERSCALE_32BIT (0x00000001U) /*!< One 32-bit filter */
+/**
+ * @}
+ */
+
+/** @defgroup CAN_filter_activation CAN Filter Activation
+ * @{
+ */
+#define CAN_FILTER_DISABLE (0x00000000U) /*!< Disable filter */
+#define CAN_FILTER_ENABLE (0x00000001U) /*!< Enable filter */
+/**
+ * @}
+ */
+
+/** @defgroup CAN_filter_FIFO CAN Filter FIFO
+ * @{
+ */
+#define CAN_FILTER_FIFO0 (0x00000000U) /*!< Filter FIFO 0 assignment for filter x */
+#define CAN_FILTER_FIFO1 (0x00000001U) /*!< 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 CAN Receive FIFO Number
+ * @{
+ */
+#define CAN_RX_FIFO0 (0x00000000U) /*!< CAN receive FIFO 0 */
+#define CAN_RX_FIFO1 (0x00000001U) /*!< CAN receive FIFO 1 */
+/**
+ * @}
+ */
+
+/** @defgroup CAN_Tx_Mailboxes CAN Tx Mailboxes
+ * @{
+ */
+#define CAN_TX_MAILBOX0 (0x00000001U) /*!< Tx Mailbox 0 */
+#define CAN_TX_MAILBOX1 (0x00000002U) /*!< Tx Mailbox 1 */
+#define CAN_TX_MAILBOX2 (0x00000004U) /*!< Tx Mailbox 2 */
+/**
+ * @}
+ */
+
+/** @defgroup CAN_flags CAN Flags
+ * @{
+ */
+/* Transmit Flags */
+#define CAN_FLAG_RQCP0 (0x00000500U) /*!< Request complete MailBox 0 flag */
+#define CAN_FLAG_TXOK0 (0x00000501U) /*!< Transmission OK MailBox 0 flag */
+#define CAN_FLAG_ALST0 (0x00000502U) /*!< Arbitration Lost MailBox 0 flag */
+#define CAN_FLAG_TERR0 (0x00000503U) /*!< Transmission error MailBox 0 flag */
+#define CAN_FLAG_RQCP1 (0x00000508U) /*!< Request complete MailBox1 flag */
+#define CAN_FLAG_TXOK1 (0x00000509U) /*!< Transmission OK MailBox 1 flag */
+#define CAN_FLAG_ALST1 (0x0000050AU) /*!< Arbitration Lost MailBox 1 flag */
+#define CAN_FLAG_TERR1 (0x0000050BU) /*!< Transmission error MailBox 1 flag */
+#define CAN_FLAG_RQCP2 (0x00000510U) /*!< Request complete MailBox2 flag */
+#define CAN_FLAG_TXOK2 (0x00000511U) /*!< Transmission OK MailBox 2 flag */
+#define CAN_FLAG_ALST2 (0x00000512U) /*!< Arbitration Lost MailBox 2 flag */
+#define CAN_FLAG_TERR2 (0x00000513U) /*!< Transmission error MailBox 2 flag */
+#define CAN_FLAG_TME0 (0x0000051AU) /*!< Transmit mailbox 0 empty flag */
+#define CAN_FLAG_TME1 (0x0000051BU) /*!< Transmit mailbox 1 empty flag */
+#define CAN_FLAG_TME2 (0x0000051CU) /*!< Transmit mailbox 2 empty flag */
+#define CAN_FLAG_LOW0 (0x0000051DU) /*!< Lowest priority mailbox 0 flag */
+#define CAN_FLAG_LOW1 (0x0000051EU) /*!< Lowest priority mailbox 1 flag */
+#define CAN_FLAG_LOW2 (0x0000051FU) /*!< Lowest priority mailbox 2 flag */
+
+/* Receive Flags */
+#define CAN_FLAG_FF0 (0x00000203U) /*!< RX FIFO 0 Full flag */
+#define CAN_FLAG_FOV0 (0x00000204U) /*!< RX FIFO 0 Overrun flag */
+#define CAN_FLAG_FF1 (0x00000403U) /*!< RX FIFO 1 Full flag */
+#define CAN_FLAG_FOV1 (0x00000404U) /*!< RX 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 interrupt flag */
+#define CAN_FLAG_SLAKI (0x00000104U) /*!< Sleep acknowledge interrupt flag */
+
+/* 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
+ * @{
+ */
+/* Transmit Interrupt */
+#define CAN_IT_TX_MAILBOX_EMPTY ((uint32_t)CAN_IER_TMEIE) /*!< Transmit mailbox empty interrupt */
+
+/* Receive Interrupts */
+#define CAN_IT_RX_FIFO0_MSG_PENDING ((uint32_t)CAN_IER_FMPIE0) /*!< FIFO 0 message pending interrupt */
+#define CAN_IT_RX_FIFO0_FULL ((uint32_t)CAN_IER_FFIE0) /*!< FIFO 0 full interrupt */
+#define CAN_IT_RX_FIFO0_OVERRUN ((uint32_t)CAN_IER_FOVIE0) /*!< FIFO 0 overrun interrupt */
+#define CAN_IT_RX_FIFO1_MSG_PENDING ((uint32_t)CAN_IER_FMPIE1) /*!< FIFO 1 message pending interrupt */
+#define CAN_IT_RX_FIFO1_FULL ((uint32_t)CAN_IER_FFIE1) /*!< FIFO 1 full interrupt */
+#define CAN_IT_RX_FIFO1_OVERRUN ((uint32_t)CAN_IER_FOVIE1) /*!< FIFO 1 overrun interrupt */
+
+/* Operating Mode Interrupts */
+#define CAN_IT_WAKEUP ((uint32_t)CAN_IER_WKUIE) /*!< Wake-up interrupt */
+#define CAN_IT_SLEEP_ACK ((uint32_t)CAN_IER_SLKIE) /*!< Sleep acknowledge interrupt */
+
+/* Error Interrupts */
+#define CAN_IT_ERROR_WARNING ((uint32_t)CAN_IER_EWGIE) /*!< Error warning interrupt */
+#define CAN_IT_ERROR_PASSIVE ((uint32_t)CAN_IER_EPVIE) /*!< Error passive interrupt */
+#define CAN_IT_BUSOFF ((uint32_t)CAN_IER_BOFIE) /*!< Bus-off interrupt */
+#define CAN_IT_LAST_ERROR_CODE ((uint32_t)CAN_IER_LECIE) /*!< Last error code interrupt */
+#define CAN_IT_ERROR ((uint32_t)CAN_IER_ERRIE) /*!< Error Interrupt */
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/* Exported macros -----------------------------------------------------------*/
+/** @defgroup CAN_Exported_Macros CAN Exported Macros
+ * @{
+ */
+
+/** @brief Reset CAN handle state
+ * @param __HANDLE__ CAN handle.
+ * @retval None
+ */
+#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
+#define __HAL_CAN_RESET_HANDLE_STATE(__HANDLE__) do{ \
+ (__HANDLE__)->State = HAL_CAN_STATE_RESET; \
+ (__HANDLE__)->MspInitCallback = NULL; \
+ (__HANDLE__)->MspDeInitCallback = NULL; \
+ } while(0)
+#else
+#define __HAL_CAN_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_CAN_STATE_RESET)
+#endif /*USE_HAL_CAN_REGISTER_CALLBACKS */
+
+/**
+ * @brief Enable the specified CAN interrupts.
+ * @param __HANDLE__ CAN handle.
+ * @param __INTERRUPT__ CAN Interrupt sources to enable.
+ * This parameter can be any combination of @arg CAN_Interrupts
+ * @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 sources to disable.
+ * This parameter can be any combination of @arg CAN_Interrupts
+ * @retval None
+ */
+#define __HAL_CAN_DISABLE_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->IER) &= ~(__INTERRUPT__))
+
+/** @brief Check if the specified CAN interrupt source is enabled or disabled.
+ * @param __HANDLE__ specifies the CAN Handle.
+ * @param __INTERRUPT__ specifies the CAN interrupt source to check.
+ * This parameter can be a value of @arg CAN_Interrupts
+ * @retval The state of __IT__ (TRUE or FALSE).
+ */
+#define __HAL_CAN_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->IER) & (__INTERRUPT__))
+
+/** @brief Check whether the specified CAN flag is set or not.
+ * @param __HANDLE__ specifies the CAN Handle.
+ * @param __FLAG__ specifies the flag to check.
+ * This parameter can be one of @arg CAN_flags
+ * @retval The 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))): \
+ (((__FLAG__) >> 8U) == 3U)? ((((__HANDLE__)->Instance->ESR) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))): 0U)
+
+/** @brief Clear the specified CAN pending flag.
+ * @param __HANDLE__ specifies the CAN Handle.
+ * @param __FLAG__ specifies the flag to check.
+ * This parameter can be one of the following values:
+ * @arg CAN_FLAG_RQCP0: Request complete MailBox 0 Flag
+ * @arg CAN_FLAG_TXOK0: Transmission OK MailBox 0 Flag
+ * @arg CAN_FLAG_ALST0: Arbitration Lost MailBox 0 Flag
+ * @arg CAN_FLAG_TERR0: Transmission error MailBox 0 Flag
+ * @arg CAN_FLAG_RQCP1: Request complete MailBox 1 Flag
+ * @arg CAN_FLAG_TXOK1: Transmission OK MailBox 1 Flag
+ * @arg CAN_FLAG_ALST1: Arbitration Lost MailBox 1 Flag
+ * @arg CAN_FLAG_TERR1: Transmission error MailBox 1 Flag
+ * @arg CAN_FLAG_RQCP2: Request complete MailBox 2 Flag
+ * @arg CAN_FLAG_TXOK2: Transmission OK MailBox 2 Flag
+ * @arg CAN_FLAG_ALST2: Arbitration Lost MailBox 2 Flag
+ * @arg CAN_FLAG_TERR2: Transmission error MailBox 2 Flag
+ * @arg CAN_FLAG_FF0: RX FIFO 0 Full Flag
+ * @arg CAN_FLAG_FOV0: RX FIFO 0 Overrun Flag
+ * @arg CAN_FLAG_FF1: RX FIFO 1 Full Flag
+ * @arg CAN_FLAG_FOV1: RX FIFO 1 Overrun Flag
+ * @arg CAN_FLAG_WKUI: Wake up Interrupt Flag
+ * @arg CAN_FLAG_SLAKI: Sleep acknowledge Interrupt Flag
+ * @retval None
+ */
+#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))): \
+ (((__FLAG__) >> 8U) == 1U)? (((__HANDLE__)->Instance->MSR) = (1U << ((__FLAG__) & CAN_FLAG_MASK))): 0U)
+
+/**
+ * @}
+ */
+
+/* Exported functions --------------------------------------------------------*/
+/** @addtogroup CAN_Exported_Functions CAN Exported Functions
+ * @{
+ */
+
+/** @addtogroup CAN_Exported_Functions_Group1 Initialization and de-initialization functions
+ * @brief Initialization and Configuration functions
+ * @{
+ */
+
+/* Initialization and de-initialization functions *****************************/
+HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef *hcan);
+HAL_StatusTypeDef HAL_CAN_DeInit(CAN_HandleTypeDef *hcan);
+void HAL_CAN_MspInit(CAN_HandleTypeDef *hcan);
+void HAL_CAN_MspDeInit(CAN_HandleTypeDef *hcan);
+
+#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
+/* Callbacks Register/UnRegister functions ***********************************/
+HAL_StatusTypeDef HAL_CAN_RegisterCallback(CAN_HandleTypeDef *hcan, HAL_CAN_CallbackIDTypeDef CallbackID, void (* pCallback)(CAN_HandleTypeDef *_hcan));
+HAL_StatusTypeDef HAL_CAN_UnRegisterCallback(CAN_HandleTypeDef *hcan, HAL_CAN_CallbackIDTypeDef CallbackID);
+
+#endif /* (USE_HAL_CAN_REGISTER_CALLBACKS) */
+/**
+ * @}
+ */
+
+/** @addtogroup CAN_Exported_Functions_Group2 Configuration functions
+ * @brief Configuration functions
+ * @{
+ */
+
+/* Configuration functions ****************************************************/
+HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef *hcan, CAN_FilterTypeDef *sFilterConfig);
+
+/**
+ * @}
+ */
+
+/** @addtogroup CAN_Exported_Functions_Group3 Control functions
+ * @brief Control functions
+ * @{
+ */
+
+/* Control functions **********************************************************/
+HAL_StatusTypeDef HAL_CAN_Start(CAN_HandleTypeDef *hcan);
+HAL_StatusTypeDef HAL_CAN_Stop(CAN_HandleTypeDef *hcan);
+HAL_StatusTypeDef HAL_CAN_RequestSleep(CAN_HandleTypeDef *hcan);
+HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef *hcan);
+uint32_t HAL_CAN_IsSleepActive(CAN_HandleTypeDef *hcan);
+HAL_StatusTypeDef HAL_CAN_AddTxMessage(CAN_HandleTypeDef *hcan, CAN_TxHeaderTypeDef *pHeader, uint8_t aData[], uint32_t *pTxMailbox);
+HAL_StatusTypeDef HAL_CAN_AbortTxRequest(CAN_HandleTypeDef *hcan, uint32_t TxMailboxes);
+uint32_t HAL_CAN_GetTxMailboxesFreeLevel(CAN_HandleTypeDef *hcan);
+uint32_t HAL_CAN_IsTxMessagePending(CAN_HandleTypeDef *hcan, uint32_t TxMailboxes);
+uint32_t HAL_CAN_GetTxTimestamp(CAN_HandleTypeDef *hcan, uint32_t TxMailbox);
+HAL_StatusTypeDef HAL_CAN_GetRxMessage(CAN_HandleTypeDef *hcan, uint32_t RxFifo, CAN_RxHeaderTypeDef *pHeader, uint8_t aData[]);
+uint32_t HAL_CAN_GetRxFifoFillLevel(CAN_HandleTypeDef *hcan, uint32_t RxFifo);
+
+/**
+ * @}
+ */
+
+/** @addtogroup CAN_Exported_Functions_Group4 Interrupts management
+ * @brief Interrupts management
+ * @{
+ */
+/* Interrupts management ******************************************************/
+HAL_StatusTypeDef HAL_CAN_ActivateNotification(CAN_HandleTypeDef *hcan, uint32_t ActiveITs);
+HAL_StatusTypeDef HAL_CAN_DeactivateNotification(CAN_HandleTypeDef *hcan, uint32_t InactiveITs);
+void HAL_CAN_IRQHandler(CAN_HandleTypeDef *hcan);
+
+/**
+ * @}
+ */
+
+/** @addtogroup CAN_Exported_Functions_Group5 Callback functions
+ * @brief Callback functions
+ * @{
+ */
+/* Callbacks functions ********************************************************/
+
+void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan);
+void HAL_CAN_TxMailbox1CompleteCallback(CAN_HandleTypeDef *hcan);
+void HAL_CAN_TxMailbox2CompleteCallback(CAN_HandleTypeDef *hcan);
+void HAL_CAN_TxMailbox0AbortCallback(CAN_HandleTypeDef *hcan);
+void HAL_CAN_TxMailbox1AbortCallback(CAN_HandleTypeDef *hcan);
+void HAL_CAN_TxMailbox2AbortCallback(CAN_HandleTypeDef *hcan);
+void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan);
+void HAL_CAN_RxFifo0FullCallback(CAN_HandleTypeDef *hcan);
+void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan);
+void HAL_CAN_RxFifo1FullCallback(CAN_HandleTypeDef *hcan);
+void HAL_CAN_SleepCallback(CAN_HandleTypeDef *hcan);
+void HAL_CAN_WakeUpFromRxMsgCallback(CAN_HandleTypeDef *hcan);
+void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan);
+
+/**
+ * @}
+ */
+
+/** @addtogroup CAN_Exported_Functions_Group6 Peripheral State and Error functions
+ * @brief CAN Peripheral State functions
+ * @{
+ */
+/* Peripheral State and Error functions ***************************************/
+HAL_CAN_StateTypeDef HAL_CAN_GetState(CAN_HandleTypeDef *hcan);
+uint32_t HAL_CAN_GetError(CAN_HandleTypeDef *hcan);
+HAL_StatusTypeDef HAL_CAN_ResetError(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_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_1TQ) || ((BS1) == CAN_BS1_2TQ) || \
+ ((BS1) == CAN_BS1_3TQ) || ((BS1) == CAN_BS1_4TQ) || \
+ ((BS1) == CAN_BS1_5TQ) || ((BS1) == CAN_BS1_6TQ) || \
+ ((BS1) == CAN_BS1_7TQ) || ((BS1) == CAN_BS1_8TQ) || \
+ ((BS1) == CAN_BS1_9TQ) || ((BS1) == CAN_BS1_10TQ)|| \
+ ((BS1) == CAN_BS1_11TQ)|| ((BS1) == CAN_BS1_12TQ)|| \
+ ((BS1) == CAN_BS1_13TQ)|| ((BS1) == CAN_BS1_14TQ)|| \
+ ((BS1) == CAN_BS1_15TQ)|| ((BS1) == CAN_BS1_16TQ))
+#define IS_CAN_BS2(BS2) (((BS2) == CAN_BS2_1TQ) || ((BS2) == CAN_BS2_2TQ) || \
+ ((BS2) == CAN_BS2_3TQ) || ((BS2) == CAN_BS2_4TQ) || \
+ ((BS2) == CAN_BS2_5TQ) || ((BS2) == CAN_BS2_6TQ) || \
+ ((BS2) == CAN_BS2_7TQ) || ((BS2) == CAN_BS2_8TQ))
+#define IS_CAN_PRESCALER(PRESCALER) (((PRESCALER) >= 1U) && ((PRESCALER) <= 1024U))
+#define IS_CAN_FILTER_ID_HALFWORD(HALFWORD) ((HALFWORD) <= 0xFFFFU)
+#define IS_CAN_FILTER_BANK_DUAL(BANK) ((BANK) <= 27U)
+#define IS_CAN_FILTER_BANK_SINGLE(BANK) ((BANK) <= 13U)
+#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_ACTIVATION(ACTIVATION) (((ACTIVATION) == CAN_FILTER_DISABLE) || \
+ ((ACTIVATION) == CAN_FILTER_ENABLE))
+#define IS_CAN_FILTER_FIFO(FIFO) (((FIFO) == CAN_FILTER_FIFO0) || \
+ ((FIFO) == CAN_FILTER_FIFO1))
+#define IS_CAN_TX_MAILBOX(TRANSMITMAILBOX) (((TRANSMITMAILBOX) == CAN_TX_MAILBOX0 ) || \
+ ((TRANSMITMAILBOX) == CAN_TX_MAILBOX1 ) || \
+ ((TRANSMITMAILBOX) == CAN_TX_MAILBOX2 ))
+#define IS_CAN_TX_MAILBOX_LIST(TRANSMITMAILBOX) ((TRANSMITMAILBOX) <= (CAN_TX_MAILBOX0 | CAN_TX_MAILBOX1 | CAN_TX_MAILBOX2))
+#define IS_CAN_STDID(STDID) ((STDID) <= 0x7FFU)
+#define IS_CAN_EXTID(EXTID) ((EXTID) <= 0x1FFFFFFFU)
+#define IS_CAN_DLC(DLC) ((DLC) <= 8U)
+#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_RX_FIFO(FIFO) (((FIFO) == CAN_RX_FIFO0) || ((FIFO) == CAN_RX_FIFO1))
+#define IS_CAN_IT(IT) ((IT) <= (CAN_IT_TX_MAILBOX_EMPTY | CAN_IT_RX_FIFO0_MSG_PENDING | \
+ CAN_IT_RX_FIFO0_FULL | CAN_IT_RX_FIFO0_OVERRUN | \
+ CAN_IT_RX_FIFO1_MSG_PENDING | CAN_IT_RX_FIFO1_FULL | \
+ CAN_IT_RX_FIFO1_OVERRUN | CAN_IT_WAKEUP | \
+ CAN_IT_SLEEP_ACK | CAN_IT_ERROR_WARNING | \
+ CAN_IT_ERROR_PASSIVE | CAN_IT_BUSOFF | \
+ CAN_IT_LAST_ERROR_CODE | CAN_IT_ERROR))
+
+/**
+ * @}
+ */
+/* End of private macros -----------------------------------------------------*/
+
+/**
+ * @}
+ */
+
+
+#endif /* CAN1 */
+/**
+ * @}
+ */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* STM32F4xx_HAL_CAN_H */
+
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/Standard_robot/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c b/Standard_robot/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c
new file mode 100644
index 0000000000000000000000000000000000000000..009a4473fd032c93d10f46f7c6b5a30c64c34cc7
--- /dev/null
+++ b/Standard_robot/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c
@@ -0,0 +1,2464 @@
+/**
+ ******************************************************************************
+ * @file stm32f4xx_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
+ ==============================================================================
+ ##### How to use this driver #####
+ ==============================================================================
+ [..]
+ (#) Initialize the CAN low level resources by implementing the
+ HAL_CAN_MspInit():
+ (++) Enable the CAN interface clock using __HAL_RCC_CANx_CLK_ENABLE()
+ (++) Configure CAN pins
+ (+++) 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())
+ (+++) Configure the CAN interrupt priority using
+ HAL_NVIC_SetPriority()
+ (+++) Enable the CAN IRQ handler using HAL_NVIC_EnableIRQ()
+ (+++) In CAN IRQ handler, call HAL_CAN_IRQHandler()
+
+ (#) Initialize the CAN peripheral using HAL_CAN_Init() function. This
+ function resorts to HAL_CAN_MspInit() for low-level initialization.
+
+ (#) Configure the reception filters using the following configuration
+ functions:
+ (++) HAL_CAN_ConfigFilter()
+
+ (#) Start the CAN module using HAL_CAN_Start() function. At this level
+ the node is active on the bus: it receive messages, and can send
+ messages.
+
+ (#) To manage messages transmission, the following Tx control functions
+ can be used:
+ (++) HAL_CAN_AddTxMessage() to request transmission of a new
+ message.
+ (++) HAL_CAN_AbortTxRequest() to abort transmission of a pending
+ message.
+ (++) HAL_CAN_GetTxMailboxesFreeLevel() to get the number of free Tx
+ mailboxes.
+ (++) HAL_CAN_IsTxMessagePending() to check if a message is pending
+ in a Tx mailbox.
+ (++) HAL_CAN_GetTxTimestamp() to get the timestamp of Tx message
+ sent, if time triggered communication mode is enabled.
+
+ (#) When a message is received into the CAN Rx FIFOs, it can be retrieved
+ using the HAL_CAN_GetRxMessage() function. The function
+ HAL_CAN_GetRxFifoFillLevel() allows to know how many Rx message are
+ stored in the Rx Fifo.
+
+ (#) Calling the HAL_CAN_Stop() function stops the CAN module.
+
+ (#) The deinitialization is achieved with HAL_CAN_DeInit() function.
+
+
+ *** Polling mode operation ***
+ ==============================
+ [..]
+ (#) Reception:
+ (++) Monitor reception of message using HAL_CAN_GetRxFifoFillLevel()
+ until at least one message is received.
+ (++) Then get the message using HAL_CAN_GetRxMessage().
+
+ (#) Transmission:
+ (++) Monitor the Tx mailboxes availability until at least one Tx
+ mailbox is free, using HAL_CAN_GetTxMailboxesFreeLevel().
+ (++) Then request transmission of a message using
+ HAL_CAN_AddTxMessage().
+
+
+ *** Interrupt mode operation ***
+ ================================
+ [..]
+ (#) Notifications are activated using HAL_CAN_ActivateNotification()
+ function. Then, the process can be controlled through the
+ available user callbacks: HAL_CAN_xxxCallback(), using same APIs
+ HAL_CAN_GetRxMessage() and HAL_CAN_AddTxMessage().
+
+ (#) Notifications can be deactivated using
+ HAL_CAN_DeactivateNotification() function.
+
+ (#) Special care should be taken for CAN_IT_RX_FIFO0_MSG_PENDING and
+ CAN_IT_RX_FIFO1_MSG_PENDING notifications. These notifications trig
+ the callbacks HAL_CAN_RxFIFO0MsgPendingCallback() and
+ HAL_CAN_RxFIFO1MsgPendingCallback(). User has two possible options
+ here.
+ (++) Directly get the Rx message in the callback, using
+ HAL_CAN_GetRxMessage().
+ (++) Or deactivate the notification in the callback without
+ getting the Rx message. The Rx message can then be got later
+ using HAL_CAN_GetRxMessage(). Once the Rx message have been
+ read, the notification can be activated again.
+
+
+ *** Sleep mode ***
+ ==================
+ [..]
+ (#) The CAN peripheral can be put in sleep mode (low power), using
+ HAL_CAN_RequestSleep(). The sleep mode will be entered as soon as the
+ current CAN activity (transmission or reception of a CAN frame) will
+ be completed.
+
+ (#) A notification can be activated to be informed when the sleep mode
+ will be entered.
+
+ (#) It can be checked if the sleep mode is entered using
+ 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
+ submitted (the sleep mode is not yet entered), and become
+ HAL_CAN_STATE_SLEEP_ACTIVE when the sleep mode is effective.
+
+ (#) The wake-up from sleep mode can be trigged by two ways:
+ (++) Using HAL_CAN_WakeUp(). When returning from this function,
+ the sleep mode is exited (if return status is HAL_OK).
+ (++) When a start of Rx CAN frame is detected by the CAN peripheral,
+ if automatic wake up mode is enabled.
+
+ *** Callback registration ***
+ =============================================
+
+ The compilation define USE_HAL_CAN_REGISTER_CALLBACKS when set to 1
+ allows the user to configure dynamically the driver callbacks.
+ Use Function @ref HAL_CAN_RegisterCallback() to register an interrupt callback.
+
+ Function @ref HAL_CAN_RegisterCallback() allows to register following callbacks:
+ (+) TxMailbox0CompleteCallback : Tx Mailbox 0 Complete Callback.
+ (+) TxMailbox1CompleteCallback : Tx Mailbox 1 Complete Callback.
+ (+) TxMailbox2CompleteCallback : Tx Mailbox 2 Complete Callback.
+ (+) TxMailbox0AbortCallback : Tx Mailbox 0 Abort Callback.
+ (+) TxMailbox1AbortCallback : Tx Mailbox 1 Abort Callback.
+ (+) TxMailbox2AbortCallback : Tx Mailbox 2 Abort Callback.
+ (+) RxFifo0MsgPendingCallback : Rx Fifo 0 Message Pending Callback.
+ (+) RxFifo0FullCallback : Rx Fifo 0 Full Callback.
+ (+) RxFifo1MsgPendingCallback : Rx Fifo 1 Message Pending Callback.
+ (+) RxFifo1FullCallback : Rx Fifo 1 Full Callback.
+ (+) SleepCallback : Sleep Callback.
+ (+) WakeUpFromRxMsgCallback : Wake Up From Rx Message Callback.
+ (+) ErrorCallback : Error Callback.
+ (+) MspInitCallback : CAN MspInit.
+ (+) MspDeInitCallback : CAN MspDeInit.
+ This function takes as parameters the HAL peripheral handle, the Callback ID
+ and a pointer to the user callback function.
+
+ Use function @ref HAL_CAN_UnRegisterCallback() to reset a callback to the default
+ weak function.
+ @ref HAL_CAN_UnRegisterCallback takes as parameters the HAL peripheral handle,
+ and the Callback ID.
+ This function allows to reset following callbacks:
+ (+) TxMailbox0CompleteCallback : Tx Mailbox 0 Complete Callback.
+ (+) TxMailbox1CompleteCallback : Tx Mailbox 1 Complete Callback.
+ (+) TxMailbox2CompleteCallback : Tx Mailbox 2 Complete Callback.
+ (+) TxMailbox0AbortCallback : Tx Mailbox 0 Abort Callback.
+ (+) TxMailbox1AbortCallback : Tx Mailbox 1 Abort Callback.
+ (+) TxMailbox2AbortCallback : Tx Mailbox 2 Abort Callback.
+ (+) RxFifo0MsgPendingCallback : Rx Fifo 0 Message Pending Callback.
+ (+) RxFifo0FullCallback : Rx Fifo 0 Full Callback.
+ (+) RxFifo1MsgPendingCallback : Rx Fifo 1 Message Pending Callback.
+ (+) RxFifo1FullCallback : Rx Fifo 1 Full Callback.
+ (+) SleepCallback : Sleep Callback.
+ (+) WakeUpFromRxMsgCallback : Wake Up From Rx Message Callback.
+ (+) ErrorCallback : Error Callback.
+ (+) MspInitCallback : CAN MspInit.
+ (+) MspDeInitCallback : CAN MspDeInit.
+
+ By default, after the @ref HAL_CAN_Init() and when the state is HAL_CAN_STATE_RESET,
+ all callbacks are set to the corresponding weak functions:
+ example @ref HAL_CAN_ErrorCallback().
+ Exception done for MspInit and MspDeInit functions that are
+ reset to the legacy weak function in the @ref HAL_CAN_Init()/ @ref HAL_CAN_DeInit() only when
+ these callbacks are null (not registered beforehand).
+ if not, MspInit or MspDeInit are not null, the @ref HAL_CAN_Init()/ @ref HAL_CAN_DeInit()
+ keep and use the user MspInit/MspDeInit callbacks (registered beforehand)
+
+ Callbacks can be registered/unregistered in HAL_CAN_STATE_READY state only.
+ Exception done MspInit/MspDeInit that can be registered/unregistered
+ in HAL_CAN_STATE_READY or HAL_CAN_STATE_RESET state,
+ thus registered (user) MspInit/DeInit callbacks can be used during the Init/DeInit.
+ In that case first register the MspInit/MspDeInit user callbacks
+ using @ref HAL_CAN_RegisterCallback() before calling @ref HAL_CAN_DeInit()
+ or @ref HAL_CAN_Init() function.
+
+ When The compilation define USE_HAL_CAN_REGISTER_CALLBACKS is set to 0 or
+ not defined, the callback registration feature is not available and all callbacks
+ are set to the corresponding weak functions.
+
+ @endverbatim
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© Copyright (c) 2016 STMicroelectronics.
+ * All rights reserved.</center></h2>
+ *
+ * This software component is licensed by ST under BSD 3-Clause license,
+ * the "License"; You may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at:
+ * opensource.org/licenses/BSD-3-Clause
+ *
+ ******************************************************************************
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_hal.h"
+
+/** @addtogroup STM32F4xx_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"
+#endif
+
+/* 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) */
+
+ /* 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;
+ }
+ }
+
+ /* 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;
+ }
+ }
+
+ /* 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_CALLBACK_CB_ID Tx Mailbox 0 Complete callback ID
+ * @arg @ref HAL_CAN_TX_MAILBOX1_COMPLETE_CALLBACK_CB_ID Tx Mailbox 1 Complete callback ID
+ * @arg @ref HAL_CAN_TX_MAILBOX2_COMPLETE_CALLBACK_CB_ID Tx Mailbox 2 Complete callback ID
+ * @arg @ref HAL_CAN_TX_MAILBOX0_ABORT_CALLBACK_CB_ID Tx Mailbox 0 Abort callback ID
+ * @arg @ref HAL_CAN_TX_MAILBOX1_ABORT_CALLBACK_CB_ID Tx Mailbox 1 Abort callback ID
+ * @arg @ref HAL_CAN_TX_MAILBOX2_ABORT_CALLBACK_CB_ID Tx Mailbox 2 Abort callback ID
+ * @arg @ref HAL_CAN_RX_FIFO0_MSG_PENDING_CALLBACK_CB_ID Rx Fifo 0 message pending callback ID
+ * @arg @ref HAL_CAN_RX_FIFO0_FULL_CALLBACK_CB_ID Rx Fifo 0 full callback ID
+ * @arg @ref HAL_CAN_RX_FIFO1_MSGPENDING_CALLBACK_CB_ID Rx Fifo 1 message pending callback ID
+ * @arg @ref HAL_CAN_RX_FIFO1_FULL_CALLBACK_CB_ID Rx Fifo 1 full callback ID
+ * @arg @ref HAL_CAN_SLEEP_CALLBACK_CB_ID Sleep callback ID
+ * @arg @ref HAL_CAN_WAKEUP_FROM_RX_MSG_CALLBACK_CB_ID Wake Up from Rx message callback ID
+ * @arg @ref HAL_CAN_ERROR_CALLBACK_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 status = HAL_OK;
+
+ if (pCallback == NULL)
+ {
+ /* Update the error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
+
+ return HAL_ERROR;
+ }
+
+ if (hcan->State == HAL_CAN_STATE_READY)
+ {
+ switch (CallbackID)
+ {
+ case HAL_CAN_TX_MAILBOX0_COMPLETE_CB_ID :
+ hcan->TxMailbox0CompleteCallback = pCallback;
+ break;
+
+ case HAL_CAN_TX_MAILBOX1_COMPLETE_CB_ID :
+ hcan->TxMailbox1CompleteCallback = pCallback;
+ break;
+
+ case HAL_CAN_TX_MAILBOX2_COMPLETE_CB_ID :
+ hcan->TxMailbox2CompleteCallback = pCallback;
+ break;
+
+ case HAL_CAN_TX_MAILBOX0_ABORT_CB_ID :
+ hcan->TxMailbox0AbortCallback = pCallback;
+ break;
+
+ case HAL_CAN_TX_MAILBOX1_ABORT_CB_ID :
+ hcan->TxMailbox1AbortCallback = pCallback;
+ break;
+
+ case HAL_CAN_TX_MAILBOX2_ABORT_CB_ID :
+ hcan->TxMailbox2AbortCallback = pCallback;
+ break;
+
+ case HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID :
+ hcan->RxFifo0MsgPendingCallback = pCallback;
+ break;
+
+ case HAL_CAN_RX_FIFO0_FULL_CB_ID :
+ hcan->RxFifo0FullCallback = pCallback;
+ break;
+
+ case HAL_CAN_RX_FIFO1_MSG_PENDING_CB_ID :
+ hcan->RxFifo1MsgPendingCallback = pCallback;
+ break;
+
+ case HAL_CAN_RX_FIFO1_FULL_CB_ID :
+ hcan->RxFifo1FullCallback = pCallback;
+ break;
+
+ case HAL_CAN_SLEEP_CB_ID :
+ hcan->SleepCallback = pCallback;
+ break;
+
+ case HAL_CAN_WAKEUP_FROM_RX_MSG_CB_ID :
+ hcan->WakeUpFromRxMsgCallback = pCallback;
+ break;
+
+ case HAL_CAN_ERROR_CB_ID :
+ hcan->ErrorCallback = pCallback;
+ break;
+
+ case HAL_CAN_MSPINIT_CB_ID :
+ hcan->MspInitCallback = pCallback;
+ break;
+
+ case HAL_CAN_MSPDEINIT_CB_ID :
+ hcan->MspDeInitCallback = pCallback;
+ break;
+
+ default :
+ /* Update the error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
+
+ /* Return error status */
+ status = HAL_ERROR;
+ break;
+ }
+ }
+ else if (hcan->State == HAL_CAN_STATE_RESET)
+ {
+ switch (CallbackID)
+ {
+ case HAL_CAN_MSPINIT_CB_ID :
+ hcan->MspInitCallback = pCallback;
+ break;
+
+ case HAL_CAN_MSPDEINIT_CB_ID :
+ hcan->MspDeInitCallback = pCallback;
+ break;
+
+ default :
+ /* Update the error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
+
+ /* Return error status */
+ status = HAL_ERROR;
+ break;
+ }
+ }
+ else
+ {
+ /* Update the error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
+
+ /* Return error status */
+ status = HAL_ERROR;
+ }
+
+ return status;
+}
+
+/**
+ * @brief Unregister a CAN CallBack.
+ * CAN callabck is redirected to 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 unregistered
+ * This parameter can be one of the following values:
+ * @arg @ref HAL_CAN_TX_MAILBOX0_COMPLETE_CALLBACK_CB_ID Tx Mailbox 0 Complete callback ID
+ * @arg @ref HAL_CAN_TX_MAILBOX1_COMPLETE_CALLBACK_CB_ID Tx Mailbox 1 Complete callback ID
+ * @arg @ref HAL_CAN_TX_MAILBOX2_COMPLETE_CALLBACK_CB_ID Tx Mailbox 2 Complete callback ID
+ * @arg @ref HAL_CAN_TX_MAILBOX0_ABORT_CALLBACK_CB_ID Tx Mailbox 0 Abort callback ID
+ * @arg @ref HAL_CAN_TX_MAILBOX1_ABORT_CALLBACK_CB_ID Tx Mailbox 1 Abort callback ID
+ * @arg @ref HAL_CAN_TX_MAILBOX2_ABORT_CALLBACK_CB_ID Tx Mailbox 2 Abort callback ID
+ * @arg @ref HAL_CAN_RX_FIFO0_MSG_PENDING_CALLBACK_CB_ID Rx Fifo 0 message pending callback ID
+ * @arg @ref HAL_CAN_RX_FIFO0_FULL_CALLBACK_CB_ID Rx Fifo 0 full callback ID
+ * @arg @ref HAL_CAN_RX_FIFO1_MSGPENDING_CALLBACK_CB_ID Rx Fifo 1 message pending callback ID
+ * @arg @ref HAL_CAN_RX_FIFO1_FULL_CALLBACK_CB_ID Rx Fifo 1 full callback ID
+ * @arg @ref HAL_CAN_SLEEP_CALLBACK_CB_ID Sleep callback ID
+ * @arg @ref HAL_CAN_WAKEUP_FROM_RX_MSG_CALLBACK_CB_ID Wake Up from Rx message callback ID
+ * @arg @ref HAL_CAN_ERROR_CALLBACK_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
+ * @retval HAL status
+ */
+HAL_StatusTypeDef HAL_CAN_UnRegisterCallback(CAN_HandleTypeDef *hcan, HAL_CAN_CallbackIDTypeDef CallbackID)
+{
+ HAL_StatusTypeDef status = HAL_OK;
+
+ if (hcan->State == HAL_CAN_STATE_READY)
+ {
+ switch (CallbackID)
+ {
+ case HAL_CAN_TX_MAILBOX0_COMPLETE_CB_ID :
+ hcan->TxMailbox0CompleteCallback = HAL_CAN_TxMailbox0CompleteCallback;
+ break;
+
+ case HAL_CAN_TX_MAILBOX1_COMPLETE_CB_ID :
+ hcan->TxMailbox1CompleteCallback = HAL_CAN_TxMailbox1CompleteCallback;
+ break;
+
+ case HAL_CAN_TX_MAILBOX2_COMPLETE_CB_ID :
+ hcan->TxMailbox2CompleteCallback = HAL_CAN_TxMailbox2CompleteCallback;
+ break;
+
+ case HAL_CAN_TX_MAILBOX0_ABORT_CB_ID :
+ hcan->TxMailbox0AbortCallback = HAL_CAN_TxMailbox0AbortCallback;
+ break;
+
+ case HAL_CAN_TX_MAILBOX1_ABORT_CB_ID :
+ hcan->TxMailbox1AbortCallback = HAL_CAN_TxMailbox1AbortCallback;
+ break;
+
+ case HAL_CAN_TX_MAILBOX2_ABORT_CB_ID :
+ hcan->TxMailbox2AbortCallback = HAL_CAN_TxMailbox2AbortCallback;
+ break;
+
+ case HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID :
+ hcan->RxFifo0MsgPendingCallback = HAL_CAN_RxFifo0MsgPendingCallback;
+ break;
+
+ case HAL_CAN_RX_FIFO0_FULL_CB_ID :
+ hcan->RxFifo0FullCallback = HAL_CAN_RxFifo0FullCallback;
+ break;
+
+ case HAL_CAN_RX_FIFO1_MSG_PENDING_CB_ID :
+ hcan->RxFifo1MsgPendingCallback = HAL_CAN_RxFifo1MsgPendingCallback;
+ break;
+
+ case HAL_CAN_RX_FIFO1_FULL_CB_ID :
+ hcan->RxFifo1FullCallback = HAL_CAN_RxFifo1FullCallback;
+ break;
+
+ case HAL_CAN_SLEEP_CB_ID :
+ hcan->SleepCallback = HAL_CAN_SleepCallback;
+ break;
+
+ case HAL_CAN_WAKEUP_FROM_RX_MSG_CB_ID :
+ hcan->WakeUpFromRxMsgCallback = HAL_CAN_WakeUpFromRxMsgCallback;
+ break;
+
+ case HAL_CAN_ERROR_CB_ID :
+ hcan->ErrorCallback = HAL_CAN_ErrorCallback;
+ break;
+
+ case HAL_CAN_MSPINIT_CB_ID :
+ hcan->MspInitCallback = HAL_CAN_MspInit;
+ break;
+
+ case HAL_CAN_MSPDEINIT_CB_ID :
+ hcan->MspDeInitCallback = HAL_CAN_MspDeInit;
+ break;
+
+ default :
+ /* Update the error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
+
+ /* Return error status */
+ status = HAL_ERROR;
+ break;
+ }
+ }
+ else if (hcan->State == HAL_CAN_STATE_RESET)
+ {
+ switch (CallbackID)
+ {
+ case HAL_CAN_MSPINIT_CB_ID :
+ hcan->MspInitCallback = HAL_CAN_MspInit;
+ break;
+
+ case HAL_CAN_MSPDEINIT_CB_ID :
+ hcan->MspDeInitCallback = HAL_CAN_MspDeInit;
+ break;
+
+ default :
+ /* Update the error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
+
+ /* Return error status */
+ status = HAL_ERROR;
+ break;
+ }
+ }
+ else
+ {
+ /* Update the error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK;
+
+ /* Return error status */
+ status = HAL_ERROR;
+ }
+
+ return status;
+}
+#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
+
+/**
+ * @}
+ */
+
+/** @defgroup CAN_Exported_Functions_Group2 Configuration functions
+ * @brief Configuration functions.
+ *
+@verbatim
+ ==============================================================================
+ ##### Configuration functions #####
+ ==============================================================================
+ [..] This section provides functions allowing to:
+ (+) HAL_CAN_ConfigFilter : Configure the CAN reception filters
+
+@endverbatim
+ * @{
+ */
+
+/**
+ * @brief Configures the CAN reception filter according to the specified
+ * parameters in the CAN_FilterInitStruct.
+ * @param hcan pointer to a CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @param sFilterConfig pointer to a CAN_FilterTypeDef structure that
+ * contains the filter configuration information.
+ * @retval None
+ */
+HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef *hcan, CAN_FilterTypeDef *sFilterConfig)
+{
+ uint32_t filternbrbitpos;
+ CAN_TypeDef *can_ip = hcan->Instance;
+ HAL_CAN_StateTypeDef state = hcan->State;
+
+ if ((state == HAL_CAN_STATE_READY) ||
+ (state == HAL_CAN_STATE_LISTENING))
+ {
+ /* Check the parameters */
+ assert_param(IS_CAN_FILTER_ID_HALFWORD(sFilterConfig->FilterIdHigh));
+ assert_param(IS_CAN_FILTER_ID_HALFWORD(sFilterConfig->FilterIdLow));
+ assert_param(IS_CAN_FILTER_ID_HALFWORD(sFilterConfig->FilterMaskIdHigh));
+ assert_param(IS_CAN_FILTER_ID_HALFWORD(sFilterConfig->FilterMaskIdLow));
+ assert_param(IS_CAN_FILTER_MODE(sFilterConfig->FilterMode));
+ assert_param(IS_CAN_FILTER_SCALE(sFilterConfig->FilterScale));
+ assert_param(IS_CAN_FILTER_FIFO(sFilterConfig->FilterFIFOAssignment));
+ assert_param(IS_CAN_FILTER_ACTIVATION(sFilterConfig->FilterActivation));
+
+#if defined(CAN3)
+ /* Check the CAN instance */
+ if (hcan->Instance == CAN3)
+ {
+ /* CAN3 is single instance with 14 dedicated filters banks */
+
+ /* Check the parameters */
+ assert_param(IS_CAN_FILTER_BANK_SINGLE(sFilterConfig->FilterBank));
+ }
+ else
+ {
+ /* CAN1 and CAN2 are dual instances with 28 common filters banks */
+ /* Select master instance to access the filter banks */
+ can_ip = CAN1;
+
+ /* Check the parameters */
+ assert_param(IS_CAN_FILTER_BANK_DUAL(sFilterConfig->FilterBank));
+ assert_param(IS_CAN_FILTER_BANK_DUAL(sFilterConfig->SlaveStartFilterBank));
+ }
+#elif defined(CAN2)
+ /* CAN1 and CAN2 are dual instances with 28 common filters banks */
+ /* Select master instance to access the filter banks */
+ can_ip = CAN1;
+
+ /* Check the parameters */
+ assert_param(IS_CAN_FILTER_BANK_DUAL(sFilterConfig->FilterBank));
+ assert_param(IS_CAN_FILTER_BANK_DUAL(sFilterConfig->SlaveStartFilterBank));
+#else
+ /* CAN1 is single instance with 14 dedicated filters banks */
+
+ /* Check the parameters */
+ assert_param(IS_CAN_FILTER_BANK_SINGLE(sFilterConfig->FilterBank));
+#endif
+
+ /* Initialisation mode for the filter */
+ SET_BIT(can_ip->FMR, CAN_FMR_FINIT);
+
+#if defined(CAN3)
+ /* Check the CAN instance */
+ if (can_ip == CAN1)
+ {
+ /* Select the start filter number of CAN2 slave instance */
+ CLEAR_BIT(can_ip->FMR, CAN_FMR_CAN2SB);
+ SET_BIT(can_ip->FMR, sFilterConfig->SlaveStartFilterBank << CAN_FMR_CAN2SB_Pos);
+ }
+
+#elif defined(CAN2)
+ /* Select the start filter number of CAN2 slave instance */
+ 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 */
+ filternbrbitpos = (uint32_t)1 << (sFilterConfig->FilterBank & 0x1FU);
+
+ /* Filter Deactivation */
+ CLEAR_BIT(can_ip->FA1R, filternbrbitpos);
+
+ /* Filter Scale */
+ if (sFilterConfig->FilterScale == CAN_FILTERSCALE_16BIT)
+ {
+ /* 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 */
+ can_ip->sFilterRegister[sFilterConfig->FilterBank].FR1 =
+ ((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 */
+ can_ip->sFilterRegister[sFilterConfig->FilterBank].FR2 =
+ ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16U) |
+ (0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdHigh);
+ }
+
+ if (sFilterConfig->FilterScale == CAN_FILTERSCALE_32BIT)
+ {
+ /* 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 =
+ ((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 =
+ ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16U) |
+ (0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdLow);
+ }
+
+ /* Filter Mode */
+ if (sFilterConfig->FilterMode == CAN_FILTERMODE_IDMASK)
+ {
+ /* Id/Mask mode for the filter*/
+ CLEAR_BIT(can_ip->FM1R, filternbrbitpos);
+ }
+ else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */
+ {
+ /* Identifier list mode for the filter*/
+ SET_BIT(can_ip->FM1R, filternbrbitpos);
+ }
+
+ /* Filter FIFO assignment */
+ if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO0)
+ {
+ /* FIFO 0 assignation for the filter */
+ CLEAR_BIT(can_ip->FFA1R, filternbrbitpos);
+ }
+ else
+ {
+ /* FIFO 1 assignation for the filter */
+ SET_BIT(can_ip->FFA1R, filternbrbitpos);
+ }
+
+ /* Filter activation */
+ if (sFilterConfig->FilterActivation == CAN_FILTER_ENABLE)
+ {
+ SET_BIT(can_ip->FA1R, filternbrbitpos);
+ }
+
+ /* Leave the initialisation mode for the filter */
+ CLEAR_BIT(can_ip->FMR, CAN_FMR_FINIT);
+
+ /* Return function status */
+ return HAL_OK;
+ }
+ else
+ {
+ /* Update error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
+
+ return HAL_ERROR;
+ }
+}
+
+/**
+ * @}
+ */
+
+/** @defgroup CAN_Exported_Functions_Group3 Control functions
+ * @brief Control functions
+ *
+@verbatim
+ ==============================================================================
+ ##### Control functions #####
+ ==============================================================================
+ [..] This section provides functions allowing to:
+ (+) HAL_CAN_Start : Start the CAN module
+ (+) HAL_CAN_Stop : Stop the CAN module
+ (+) HAL_CAN_RequestSleep : Request sleep mode entry.
+ (+) HAL_CAN_WakeUp : Wake up from sleep mode.
+ (+) HAL_CAN_IsSleepActive : Check is sleep mode is active.
+ (+) HAL_CAN_AddTxMessage : Add a message to the Tx mailboxes
+ and activate the corresponding
+ transmission request
+ (+) HAL_CAN_AbortTxRequest : Abort transmission request
+ (+) HAL_CAN_GetTxMailboxesFreeLevel : Return Tx mailboxes free level
+ (+) HAL_CAN_IsTxMessagePending : Check if a transmission request is
+ pending on the selected Tx mailbox
+ (+) HAL_CAN_GetRxMessage : Get a CAN frame from the Rx FIFO
+ (+) HAL_CAN_GetRxFifoFillLevel : Return Rx FIFO fill level
+
+@endverbatim
+ * @{
+ */
+
+/**
+ * @brief Start the CAN module.
+ * @param hcan pointer to an CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @retval HAL status
+ */
+HAL_StatusTypeDef HAL_CAN_Start(CAN_HandleTypeDef *hcan)
+{
+ uint32_t tickstart;
+
+ if (hcan->State == HAL_CAN_STATE_READY)
+ {
+ /* Change CAN peripheral state */
+ hcan->State = HAL_CAN_STATE_LISTENING;
+
+ /* Request leave initialisation */
+ CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_INRQ);
+
+ /* Get tick */
+ tickstart = HAL_GetTick();
+
+ /* Wait the acknowledge */
+ while ((hcan->Instance->MSR & CAN_MSR_INAK) != 0U)
+ {
+ /* Check for the Timeout */
+ 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;
+ }
+ }
+
+ /* Reset the CAN ErrorCode */
+ hcan->ErrorCode = HAL_CAN_ERROR_NONE;
+
+ /* Return function status */
+ return HAL_OK;
+ }
+ else
+ {
+ /* Update error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_NOT_READY;
+
+ return HAL_ERROR;
+ }
+}
+
+/**
+ * @brief Stop the CAN module and enable access to configuration registers.
+ * @param hcan pointer to an CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @retval HAL status
+ */
+HAL_StatusTypeDef HAL_CAN_Stop(CAN_HandleTypeDef *hcan)
+{
+ uint32_t tickstart;
+
+ if (hcan->State == HAL_CAN_STATE_LISTENING)
+ {
+ /* Request initialisation */
+ SET_BIT(hcan->Instance->MCR, CAN_MCR_INRQ);
+
+ /* Get tick */
+ tickstart = HAL_GetTick();
+
+ /* Wait the acknowledge */
+ while ((hcan->Instance->MSR & CAN_MSR_INAK) == 0U)
+ {
+ /* Check for the Timeout */
+ 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);
+
+ /* Change CAN peripheral state */
+ hcan->State = HAL_CAN_STATE_READY;
+
+ /* Return function status */
+ return HAL_OK;
+ }
+ else
+ {
+ /* Update error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_NOT_STARTED;
+
+ return HAL_ERROR;
+ }
+}
+
+/**
+ * @brief Request the sleep mode (low power) entry.
+ * When returning from this function, Sleep mode will be entered
+ * as soon as the current CAN activity (transmission or reception
+ * of a CAN frame) has been completed.
+ * @param hcan pointer to a CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @retval HAL status.
+ */
+HAL_StatusTypeDef HAL_CAN_RequestSleep(CAN_HandleTypeDef *hcan)
+{
+ HAL_CAN_StateTypeDef state = hcan->State;
+
+ if ((state == HAL_CAN_STATE_READY) ||
+ (state == HAL_CAN_STATE_LISTENING))
+ {
+ /* Request Sleep mode */
+ SET_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
+
+ /* Return function status */
+ return HAL_OK;
+ }
+ else
+ {
+ /* Update error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
+
+ /* Return function status */
+ return HAL_ERROR;
+ }
+}
+
+/**
+ * @brief Wake up from sleep mode.
+ * When returning with HAL_OK status from this function, Sleep mode
+ * is exited.
+ * @param hcan pointer to a CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @retval HAL status.
+ */
+HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef *hcan)
+{
+ __IO uint32_t count = 0;
+ uint32_t timeout = 1000000U;
+ HAL_CAN_StateTypeDef state = hcan->State;
+
+ if ((state == HAL_CAN_STATE_READY) ||
+ (state == HAL_CAN_STATE_LISTENING))
+ {
+ /* Wake up request */
+ CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
+
+ /* Wait sleep mode is exited */
+ do
+ {
+ /* Increment counter */
+ count++;
+
+ /* Check if timeout is reached */
+ if (count > timeout)
+ {
+ /* Update error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;
+
+ return HAL_ERROR;
+ }
+ }
+ while ((hcan->Instance->MSR & CAN_MSR_SLAK) != 0U);
+
+ /* Return function status */
+ return HAL_OK;
+ }
+ else
+ {
+ /* Update error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
+
+ return HAL_ERROR;
+ }
+}
+
+/**
+ * @brief Check is sleep mode is active.
+ * @param hcan pointer to a CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @retval Status
+ * - 0 : Sleep mode is not active.
+ * - 1 : Sleep mode is active.
+ */
+uint32_t HAL_CAN_IsSleepActive(CAN_HandleTypeDef *hcan)
+{
+ uint32_t status = 0U;
+ HAL_CAN_StateTypeDef state = hcan->State;
+
+ if ((state == HAL_CAN_STATE_READY) ||
+ (state == HAL_CAN_STATE_LISTENING))
+ {
+ /* Check Sleep mode */
+ if ((hcan->Instance->MSR & CAN_MSR_SLAK) != 0U)
+ {
+ status = 1U;
+ }
+ }
+
+ /* Return function status */
+ return status;
+}
+
+/**
+ * @brief Add a message to the first free Tx mailbox and activate the
+ * corresponding transmission request.
+ * @param hcan pointer to a CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @param pHeader pointer to a CAN_TxHeaderTypeDef structure.
+ * @param aData array containing the payload of the Tx frame.
+ * @param pTxMailbox pointer to a variable where the function will return
+ * the TxMailbox used to store the Tx message.
+ * 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)
+{
+ uint32_t transmitmailbox;
+ HAL_CAN_StateTypeDef state = hcan->State;
+ uint32_t tsr = READ_REG(hcan->Instance->TSR);
+
+ /* Check the parameters */
+ assert_param(IS_CAN_IDTYPE(pHeader->IDE));
+ assert_param(IS_CAN_RTR(pHeader->RTR));
+ assert_param(IS_CAN_DLC(pHeader->DLC));
+ if (pHeader->IDE == CAN_ID_STD)
+ {
+ assert_param(IS_CAN_STDID(pHeader->StdId));
+ }
+ else
+ {
+ assert_param(IS_CAN_EXTID(pHeader->ExtId));
+ }
+ assert_param(IS_FUNCTIONAL_STATE(pHeader->TransmitGlobalTime));
+
+ if ((state == HAL_CAN_STATE_READY) ||
+ (state == HAL_CAN_STATE_LISTENING))
+ {
+ /* Check that all the Tx mailboxes are not full */
+ if (((tsr & CAN_TSR_TME0) != 0U) ||
+ ((tsr & CAN_TSR_TME1) != 0U) ||
+ ((tsr & CAN_TSR_TME2) != 0U))
+ {
+ /* Select an empty transmit mailbox */
+ transmitmailbox = (tsr & CAN_TSR_CODE) >> CAN_TSR_CODE_Pos;
+
+ /* Check transmit mailbox value */
+ if (transmitmailbox > 2U)
+ {
+ /* Update error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_INTERNAL;
+
+ return HAL_ERROR;
+ }
+
+ /* Store the Tx mailbox */
+ *pTxMailbox = (uint32_t)1 << transmitmailbox;
+
+ /* Set up the Id */
+ if (pHeader->IDE == CAN_ID_STD)
+ {
+ hcan->Instance->sTxMailBox[transmitmailbox].TIR = ((pHeader->StdId << CAN_TI0R_STID_Pos) |
+ pHeader->RTR);
+ }
+ else
+ {
+ hcan->Instance->sTxMailBox[transmitmailbox].TIR = ((pHeader->ExtId << CAN_TI0R_EXID_Pos) |
+ pHeader->IDE |
+ pHeader->RTR);
+ }
+
+ /* Set up the DLC */
+ hcan->Instance->sTxMailBox[transmitmailbox].TDTR = (pHeader->DLC);
+
+ /* Set up the Transmit Global Time mode */
+ if (pHeader->TransmitGlobalTime == ENABLE)
+ {
+ SET_BIT(hcan->Instance->sTxMailBox[transmitmailbox].TDTR, CAN_TDT0R_TGT);
+ }
+
+ /* Set up the data field */
+ WRITE_REG(hcan->Instance->sTxMailBox[transmitmailbox].TDHR,
+ ((uint32_t)aData[7] << CAN_TDH0R_DATA7_Pos) |
+ ((uint32_t)aData[6] << CAN_TDH0R_DATA6_Pos) |
+ ((uint32_t)aData[5] << CAN_TDH0R_DATA5_Pos) |
+ ((uint32_t)aData[4] << CAN_TDH0R_DATA4_Pos));
+ WRITE_REG(hcan->Instance->sTxMailBox[transmitmailbox].TDLR,
+ ((uint32_t)aData[3] << CAN_TDL0R_DATA3_Pos) |
+ ((uint32_t)aData[2] << CAN_TDL0R_DATA2_Pos) |
+ ((uint32_t)aData[1] << CAN_TDL0R_DATA1_Pos) |
+ ((uint32_t)aData[0] << CAN_TDL0R_DATA0_Pos));
+
+ /* Request transmission */
+ SET_BIT(hcan->Instance->sTxMailBox[transmitmailbox].TIR, CAN_TI0R_TXRQ);
+
+ /* Return function status */
+ return HAL_OK;
+ }
+ else
+ {
+ /* Update error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_PARAM;
+
+ return HAL_ERROR;
+ }
+ }
+ else
+ {
+ /* Update error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
+
+ return HAL_ERROR;
+ }
+}
+
+/**
+ * @brief Abort transmission requests
+ * @param hcan pointer to an CAN_HandleTypeDef structure that contains
+ * 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
+ */
+HAL_StatusTypeDef HAL_CAN_AbortTxRequest(CAN_HandleTypeDef *hcan, uint32_t TxMailboxes)
+{
+ HAL_CAN_StateTypeDef state = hcan->State;
+
+ /* Check function parameters */
+ assert_param(IS_CAN_TX_MAILBOX_LIST(TxMailboxes));
+
+ if ((state == HAL_CAN_STATE_READY) ||
+ (state == HAL_CAN_STATE_LISTENING))
+ {
+ /* Check Tx Mailbox 0 */
+ if ((TxMailboxes & CAN_TX_MAILBOX0) != 0U)
+ {
+ /* Add cancellation request for Tx Mailbox 0 */
+ SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ0);
+ }
+
+ /* Check Tx Mailbox 1 */
+ if ((TxMailboxes & CAN_TX_MAILBOX1) != 0U)
+ {
+ /* Add cancellation request for Tx Mailbox 1 */
+ SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ1);
+ }
+
+ /* Check Tx Mailbox 2 */
+ if ((TxMailboxes & CAN_TX_MAILBOX2) != 0U)
+ {
+ /* Add cancellation request for Tx Mailbox 2 */
+ SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ2);
+ }
+
+ /* Return function status */
+ return HAL_OK;
+ }
+ else
+ {
+ /* Update error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
+
+ return HAL_ERROR;
+ }
+}
+
+/**
+ * @brief Return Tx Mailboxes free level: number of free Tx Mailboxes.
+ * @param hcan pointer to a CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @retval Number of free Tx Mailboxes.
+ */
+uint32_t HAL_CAN_GetTxMailboxesFreeLevel(CAN_HandleTypeDef *hcan)
+{
+ uint32_t freelevel = 0U;
+ HAL_CAN_StateTypeDef state = hcan->State;
+
+ if ((state == HAL_CAN_STATE_READY) ||
+ (state == HAL_CAN_STATE_LISTENING))
+ {
+ /* Check Tx Mailbox 0 status */
+ if ((hcan->Instance->TSR & CAN_TSR_TME0) != 0U)
+ {
+ freelevel++;
+ }
+
+ /* Check Tx Mailbox 1 status */
+ if ((hcan->Instance->TSR & CAN_TSR_TME1) != 0U)
+ {
+ freelevel++;
+ }
+
+ /* Check Tx Mailbox 2 status */
+ if ((hcan->Instance->TSR & CAN_TSR_TME2) != 0U)
+ {
+ freelevel++;
+ }
+ }
+
+ /* Return Tx Mailboxes free level */
+ return freelevel;
+}
+
+/**
+ * @brief Check if a transmission request is pending on the selected Tx
+ * Mailboxes.
+ * @param hcan pointer to an CAN_HandleTypeDef structure that contains
+ * 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
+ * - 0 : No pending transmission request on any selected Tx Mailboxes.
+ * - 1 : Pending transmission request on at least one of the selected
+ * Tx Mailbox.
+ */
+uint32_t HAL_CAN_IsTxMessagePending(CAN_HandleTypeDef *hcan, uint32_t TxMailboxes)
+{
+ uint32_t status = 0U;
+ HAL_CAN_StateTypeDef state = hcan->State;
+
+ /* Check function parameters */
+ assert_param(IS_CAN_TX_MAILBOX_LIST(TxMailboxes));
+
+ if ((state == HAL_CAN_STATE_READY) ||
+ (state == HAL_CAN_STATE_LISTENING))
+ {
+ /* Check pending transmission request on the selected Tx Mailboxes */
+ if ((hcan->Instance->TSR & (TxMailboxes << CAN_TSR_TME0_Pos)) != (TxMailboxes << CAN_TSR_TME0_Pos))
+ {
+ status = 1U;
+ }
+ }
+
+ /* Return status */
+ return status;
+}
+
+/**
+ * @brief Return timestamp of Tx message sent, if time triggered communication
+ mode is enabled.
+ * @param hcan pointer to a CAN_HandleTypeDef structure that contains
+ * 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.
+ * @retval Timestamp of message sent from Tx Mailbox.
+ */
+uint32_t HAL_CAN_GetTxTimestamp(CAN_HandleTypeDef *hcan, uint32_t TxMailbox)
+{
+ uint32_t timestamp = 0U;
+ uint32_t transmitmailbox;
+ HAL_CAN_StateTypeDef state = hcan->State;
+
+ /* Check function parameters */
+ assert_param(IS_CAN_TX_MAILBOX(TxMailbox));
+
+ if ((state == HAL_CAN_STATE_READY) ||
+ (state == HAL_CAN_STATE_LISTENING))
+ {
+ /* Select the Tx mailbox */
+ transmitmailbox = POSITION_VAL(TxMailbox);
+
+ /* Get timestamp */
+ timestamp = (hcan->Instance->sTxMailBox[transmitmailbox].TDTR & CAN_TDT0R_TIME) >> CAN_TDT0R_TIME_Pos;
+ }
+
+ /* Return the timestamp */
+ return timestamp;
+}
+
+/**
+ * @brief Get an CAN frame from the Rx FIFO zone into the message RAM.
+ * @param hcan pointer to an CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @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.
+ * @param aData array where the payload of the Rx frame will be stored.
+ * @retval HAL status
+ */
+HAL_StatusTypeDef HAL_CAN_GetRxMessage(CAN_HandleTypeDef *hcan, uint32_t RxFifo, CAN_RxHeaderTypeDef *pHeader, uint8_t aData[])
+{
+ HAL_CAN_StateTypeDef state = hcan->State;
+
+ assert_param(IS_CAN_RX_FIFO(RxFifo));
+
+ if ((state == HAL_CAN_STATE_READY) ||
+ (state == HAL_CAN_STATE_LISTENING))
+ {
+ /* Check the Rx FIFO */
+ if (RxFifo == CAN_RX_FIFO0) /* Rx element is assigned to Rx FIFO 0 */
+ {
+ /* Check that the Rx FIFO 0 is not empty */
+ if ((hcan->Instance->RF0R & CAN_RF0R_FMP0) == 0U)
+ {
+ /* Update error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_PARAM;
+
+ return HAL_ERROR;
+ }
+ }
+ else /* Rx element is assigned to Rx FIFO 1 */
+ {
+ /* Check that the Rx FIFO 1 is not empty */
+ if ((hcan->Instance->RF1R & CAN_RF1R_FMP1) == 0U)
+ {
+ /* Update error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_PARAM;
+
+ return HAL_ERROR;
+ }
+ }
+
+ /* Get the header */
+ pHeader->IDE = CAN_RI0R_IDE & hcan->Instance->sFIFOMailBox[RxFifo].RIR;
+ if (pHeader->IDE == CAN_ID_STD)
+ {
+ pHeader->StdId = (CAN_RI0R_STID & hcan->Instance->sFIFOMailBox[RxFifo].RIR) >> CAN_TI0R_STID_Pos;
+ }
+ else
+ {
+ pHeader->ExtId = ((CAN_RI0R_EXID | CAN_RI0R_STID) & hcan->Instance->sFIFOMailBox[RxFifo].RIR) >> CAN_RI0R_EXID_Pos;
+ }
+ pHeader->RTR = (CAN_RI0R_RTR & hcan->Instance->sFIFOMailBox[RxFifo].RIR);
+ pHeader->DLC = (CAN_RDT0R_DLC & hcan->Instance->sFIFOMailBox[RxFifo].RDTR) >> CAN_RDT0R_DLC_Pos;
+ 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;
+
+ /* Get the data */
+ aData[0] = (uint8_t)((CAN_RDL0R_DATA0 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA0_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);
+ aData[3] = (uint8_t)((CAN_RDL0R_DATA3 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA3_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);
+ aData[6] = (uint8_t)((CAN_RDH0R_DATA6 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA6_Pos);
+ aData[7] = (uint8_t)((CAN_RDH0R_DATA7 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA7_Pos);
+
+ /* Release the FIFO */
+ if (RxFifo == CAN_RX_FIFO0) /* Rx element is assigned to Rx FIFO 0 */
+ {
+ /* Release RX FIFO 0 */
+ SET_BIT(hcan->Instance->RF0R, CAN_RF0R_RFOM0);
+ }
+ else /* Rx element is assigned to Rx FIFO 1 */
+ {
+ /* Release RX FIFO 1 */
+ SET_BIT(hcan->Instance->RF1R, CAN_RF1R_RFOM1);
+ }
+
+ /* Return function status */
+ return HAL_OK;
+ }
+ else
+ {
+ /* 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.
+ * This parameter can be a value of @arg CAN_receive_FIFO_number.
+ * @retval Number of messages available in Rx FIFO.
+ */
+uint32_t HAL_CAN_GetRxFifoFillLevel(CAN_HandleTypeDef *hcan, uint32_t RxFifo)
+{
+ uint32_t filllevel = 0U;
+ HAL_CAN_StateTypeDef state = hcan->State;
+
+ /* Check function parameters */
+ assert_param(IS_CAN_RX_FIFO(RxFifo));
+
+ if ((state == HAL_CAN_STATE_READY) ||
+ (state == HAL_CAN_STATE_LISTENING))
+ {
+ if (RxFifo == CAN_RX_FIFO0)
+ {
+ filllevel = hcan->Instance->RF0R & CAN_RF0R_FMP0;
+ }
+ else /* RxFifo == CAN_RX_FIFO1 */
+ {
+ filllevel = hcan->Instance->RF1R & CAN_RF1R_FMP1;
+ }
+ }
+
+ /* Return Rx FIFO fill level */
+ return filllevel;
+}
+
+/**
+ * @}
+ */
+
+/** @defgroup CAN_Exported_Functions_Group4 Interrupts management
+ * @brief Interrupts management
+ *
+@verbatim
+ ==============================================================================
+ ##### Interrupts management #####
+ ==============================================================================
+ [..] This section provides functions allowing to:
+ (+) HAL_CAN_ActivateNotification : Enable interrupts
+ (+) 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.
+ * This parameter can be any combination of @arg CAN_Interrupts.
+ * @retval HAL status
+ */
+HAL_StatusTypeDef HAL_CAN_ActivateNotification(CAN_HandleTypeDef *hcan, uint32_t ActiveITs)
+{
+ HAL_CAN_StateTypeDef state = hcan->State;
+
+ /* Check function parameters */
+ assert_param(IS_CAN_IT(ActiveITs));
+
+ if ((state == HAL_CAN_STATE_READY) ||
+ (state == HAL_CAN_STATE_LISTENING))
+ {
+ /* Enable the selected interrupts */
+ __HAL_CAN_ENABLE_IT(hcan, ActiveITs);
+
+ /* Return function status */
+ return HAL_OK;
+ }
+ else
+ {
+ /* 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.
+ * This parameter can be any combination of @arg CAN_Interrupts.
+ * @retval HAL status
+ */
+HAL_StatusTypeDef HAL_CAN_DeactivateNotification(CAN_HandleTypeDef *hcan, uint32_t InactiveITs)
+{
+ HAL_CAN_StateTypeDef state = hcan->State;
+
+ /* Check function parameters */
+ assert_param(IS_CAN_IT(InactiveITs));
+
+ if ((state == HAL_CAN_STATE_READY) ||
+ (state == HAL_CAN_STATE_LISTENING))
+ {
+ /* Disable the selected interrupts */
+ __HAL_CAN_DISABLE_IT(hcan, InactiveITs);
+
+ /* Return function status */
+ return HAL_OK;
+ }
+ else
+ {
+ /* 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
+ */
+void HAL_CAN_IRQHandler(CAN_HandleTypeDef *hcan)
+{
+ uint32_t errorcode = HAL_CAN_ERROR_NONE;
+ uint32_t interrupts = READ_REG(hcan->Instance->IER);
+ uint32_t msrflags = READ_REG(hcan->Instance->MSR);
+ uint32_t tsrflags = READ_REG(hcan->Instance->TSR);
+ uint32_t rf0rflags = READ_REG(hcan->Instance->RF0R);
+ uint32_t rf1rflags = READ_REG(hcan->Instance->RF1R);
+ uint32_t esrflags = READ_REG(hcan->Instance->ESR);
+
+ /* Transmit Mailbox empty interrupt management *****************************/
+ if ((interrupts & CAN_IT_TX_MAILBOX_EMPTY) != 0U)
+ {
+ /* Transmit Mailbox 0 management *****************************************/
+ if ((tsrflags & CAN_TSR_RQCP0) != 0U)
+ {
+ /* Clear the Transmission Complete flag (and TXOK0,ALST0,TERR0 bits) */
+ __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_RQCP0);
+
+ if ((tsrflags & CAN_TSR_TXOK0) != 0U)
+ {
+ /* Transmission Mailbox 0 complete callback */
+#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
+ /* Call registered callback*/
+ hcan->TxMailbox0CompleteCallback(hcan);
+#else
+ /* Call weak (surcharged) callback */
+ HAL_CAN_TxMailbox0CompleteCallback(hcan);
+#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
+ }
+ else
+ {
+ if ((tsrflags & CAN_TSR_ALST0) != 0U)
+ {
+ /* Update error code */
+ errorcode |= HAL_CAN_ERROR_TX_ALST0;
+ }
+ else if ((tsrflags & CAN_TSR_TERR0) != 0U)
+ {
+ /* Update error code */
+ errorcode |= HAL_CAN_ERROR_TX_TERR0;
+ }
+ else
+ {
+ /* Transmission Mailbox 0 abort callback */
+#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
+ /* Call registered callback*/
+ hcan->TxMailbox0AbortCallback(hcan);
+#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) */
+ __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_RQCP1);
+
+ if ((tsrflags & CAN_TSR_TXOK1) != 0U)
+ {
+ /* Transmission Mailbox 1 complete callback */
+#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
+ /* Call registered callback*/
+ hcan->TxMailbox1CompleteCallback(hcan);
+#else
+ /* Call weak (surcharged) callback */
+ HAL_CAN_TxMailbox1CompleteCallback(hcan);
+#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
+ }
+ else
+ {
+ if ((tsrflags & CAN_TSR_ALST1) != 0U)
+ {
+ /* Update error code */
+ errorcode |= HAL_CAN_ERROR_TX_ALST1;
+ }
+ else if ((tsrflags & CAN_TSR_TERR1) != 0U)
+ {
+ /* Update error code */
+ errorcode |= HAL_CAN_ERROR_TX_TERR1;
+ }
+ else
+ {
+ /* Transmission Mailbox 1 abort callback */
+#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
+ /* Call registered callback*/
+ hcan->TxMailbox1AbortCallback(hcan);
+#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) */
+ __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_RQCP2);
+
+ if ((tsrflags & CAN_TSR_TXOK2) != 0U)
+ {
+ /* Transmission Mailbox 2 complete callback */
+#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
+ /* Call registered callback*/
+ hcan->TxMailbox2CompleteCallback(hcan);
+#else
+ /* Call weak (surcharged) callback */
+ HAL_CAN_TxMailbox2CompleteCallback(hcan);
+#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */
+ }
+ else
+ {
+ if ((tsrflags & CAN_TSR_ALST2) != 0U)
+ {
+ /* Update error code */
+ errorcode |= HAL_CAN_ERROR_TX_ALST2;
+ }
+ else if ((tsrflags & CAN_TSR_TERR2) != 0U)
+ {
+ /* Update error code */
+ errorcode |= HAL_CAN_ERROR_TX_TERR2;
+ }
+ else
+ {
+ /* Transmission Mailbox 2 abort callback */
+#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
+ /* Call registered callback*/
+ hcan->TxMailbox2AbortCallback(hcan);
+#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)
+ {
+ /* Set CAN error code to Rx Fifo 0 overrun error */
+ 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)
+ {
+ /* Clear FIFO 0 full Flag */
+ __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF0);
+
+ /* Receive FIFO 0 full Callback */
+#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
+ /* Call registered callback*/
+ hcan->RxFifo0FullCallback(hcan);
+#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 */
+ if ((hcan->Instance->RF0R & CAN_RF0R_FMP0) != 0U)
+ {
+ /* Receive FIFO 0 mesage pending Callback */
+#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
+ /* Call registered callback*/
+ hcan->RxFifo0MsgPendingCallback(hcan);
+#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)
+ {
+ /* Set CAN error code to Rx Fifo 1 overrun error */
+ 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)
+ {
+ /* Clear FIFO 1 full Flag */
+ __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF1);
+
+ /* Receive FIFO 1 full Callback */
+#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
+ /* Call registered callback*/
+ hcan->RxFifo1FullCallback(hcan);
+#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 */
+ if ((hcan->Instance->RF1R & CAN_RF1R_FMP1) != 0U)
+ {
+ /* Receive FIFO 1 mesage pending Callback */
+#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
+ /* Call registered callback*/
+ hcan->RxFifo1MsgPendingCallback(hcan);
+#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)
+ {
+ /* Clear Sleep interrupt Flag */
+ __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_SLAKI);
+
+ /* Sleep Callback */
+#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
+ /* Call registered callback*/
+ hcan->SleepCallback(hcan);
+#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)
+ {
+ /* Clear WakeUp Flag */
+ __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_WKU);
+
+ /* WakeUp Callback */
+#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
+ /* Call registered callback*/
+ hcan->WakeUpFromRxMsgCallback(hcan);
+#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)
+ {
+ /* Check Error Warning Flag */
+ if (((interrupts & CAN_IT_ERROR_WARNING) != 0U) &&
+ ((esrflags & CAN_ESR_EWGF) != 0U))
+ {
+ /* Set CAN error code to Error Warning */
+ errorcode |= HAL_CAN_ERROR_EWG;
+
+ /* No need for clear of Error Warning Flag as read-only */
+ }
+
+ /* Check Error Passive Flag */
+ if (((interrupts & CAN_IT_ERROR_PASSIVE) != 0U) &&
+ ((esrflags & CAN_ESR_EPVF) != 0U))
+ {
+ /* Set CAN error code to Error Passive */
+ errorcode |= HAL_CAN_ERROR_EPV;
+
+ /* No need for clear of Error Passive Flag as read-only */
+ }
+
+ /* Check Bus-off Flag */
+ if (((interrupts & CAN_IT_BUSOFF) != 0U) &&
+ ((esrflags & CAN_ESR_BOFF) != 0U))
+ {
+ /* Set CAN error code to Bus-Off */
+ errorcode |= HAL_CAN_ERROR_BOF;
+
+ /* No need for clear of Error Bus-Off as read-only */
+ }
+
+ /* Check Last Error Code Flag */
+ if (((interrupts & CAN_IT_LAST_ERROR_CODE) != 0U) &&
+ ((esrflags & CAN_ESR_LEC) != 0U))
+ {
+ switch (esrflags & CAN_ESR_LEC)
+ {
+ case (CAN_ESR_LEC_0):
+ /* Set CAN error code to Stuff error */
+ errorcode |= HAL_CAN_ERROR_STF;
+ break;
+ case (CAN_ESR_LEC_1):
+ /* Set CAN error code to Form error */
+ errorcode |= HAL_CAN_ERROR_FOR;
+ break;
+ case (CAN_ESR_LEC_1 | CAN_ESR_LEC_0):
+ /* Set CAN error code to Acknowledgement error */
+ errorcode |= HAL_CAN_ERROR_ACK;
+ break;
+ case (CAN_ESR_LEC_2):
+ /* Set CAN error code to Bit recessive error */
+ errorcode |= HAL_CAN_ERROR_BR;
+ break;
+ case (CAN_ESR_LEC_2 | CAN_ESR_LEC_0):
+ /* Set CAN error code to Bit Dominant error */
+ errorcode |= HAL_CAN_ERROR_BD;
+ break;
+ case (CAN_ESR_LEC_2 | CAN_ESR_LEC_1):
+ /* Set CAN error code to CRC error */
+ errorcode |= HAL_CAN_ERROR_CRC;
+ break;
+ default:
+ break;
+ }
+
+ /* Clear Last error code Flag */
+ CLEAR_BIT(hcan->Instance->ESR, CAN_ESR_LEC);
+ }
+ }
+
+ /* Clear ERRI Flag */
+ __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_ERRI);
+ }
+
+ /* Call the Error call Back in case of Errors */
+ if (errorcode != HAL_CAN_ERROR_NONE)
+ {
+ /* Update error code in handle */
+ hcan->ErrorCode |= errorcode;
+
+ /* Call Error callback function */
+#if USE_HAL_CAN_REGISTER_CALLBACKS == 1
+ /* Call registered callback*/
+ hcan->ErrorCallback(hcan);
+#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
+ ==============================================================================
+ ##### Callback functions #####
+ ==============================================================================
+ [..]
+ This subsection provides the following callback functions:
+ (+) HAL_CAN_TxMailbox0CompleteCallback
+ (+) HAL_CAN_TxMailbox1CompleteCallback
+ (+) HAL_CAN_TxMailbox2CompleteCallback
+ (+) HAL_CAN_TxMailbox0AbortCallback
+ (+) HAL_CAN_TxMailbox1AbortCallback
+ (+) HAL_CAN_TxMailbox2AbortCallback
+ (+) HAL_CAN_RxFifo0MsgPendingCallback
+ (+) HAL_CAN_RxFifo0FullCallback
+ (+) HAL_CAN_RxFifo1MsgPendingCallback
+ (+) HAL_CAN_RxFifo1FullCallback
+ (+) HAL_CAN_SleepCallback
+ (+) 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
+ */
+__weak void HAL_CAN_TxMailbox0CompleteCallback(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_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
+ */
+__weak void HAL_CAN_TxMailbox1CompleteCallback(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_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
+ */
+__weak void HAL_CAN_TxMailbox2CompleteCallback(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_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
+ */
+__weak void HAL_CAN_TxMailbox0AbortCallback(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_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
+ */
+__weak void HAL_CAN_TxMailbox1AbortCallback(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_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
+ */
+__weak void HAL_CAN_TxMailbox2AbortCallback(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_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
+ */
+__weak void HAL_CAN_RxFifo0MsgPendingCallback(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_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
+ */
+__weak void HAL_CAN_RxFifo0FullCallback(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_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
+ */
+__weak void HAL_CAN_RxFifo1MsgPendingCallback(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_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
+ */
+__weak void HAL_CAN_RxFifo1FullCallback(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_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
+ */
+__weak void HAL_CAN_SleepCallback(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_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
+ */
+__weak void HAL_CAN_WakeUpFromRxMsgCallback(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_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
+ */
+__weak void HAL_CAN_ErrorCallback(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_ErrorCallback could be implemented in the user file
+ */
+}
+
+/**
+ * @}
+ */
+
+/** @defgroup CAN_Exported_Functions_Group6 Peripheral State and Error functions
+ * @brief CAN Peripheral State functions
+ *
+@verbatim
+ ==============================================================================
+ ##### Peripheral State and Error functions #####
+ ==============================================================================
+ [..]
+ This subsection provides functions allowing to :
+ (+) 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.
+
+@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
+ */
+HAL_CAN_StateTypeDef HAL_CAN_GetState(CAN_HandleTypeDef *hcan)
+{
+ HAL_CAN_StateTypeDef state = hcan->State;
+
+ if ((state == HAL_CAN_STATE_READY) ||
+ (state == HAL_CAN_STATE_LISTENING))
+ {
+ /* Check sleep mode acknowledge flag */
+ if ((hcan->Instance->MSR & CAN_MSR_SLAK) != 0U)
+ {
+ /* Sleep mode is active */
+ state = HAL_CAN_STATE_SLEEP_ACTIVE;
+ }
+ /* Check sleep mode request flag */
+ else if ((hcan->Instance->MCR & CAN_MCR_SLEEP) != 0U)
+ {
+ /* Sleep mode request is pending */
+ state = HAL_CAN_STATE_SLEEP_PENDING;
+ }
+ else
+ {
+ /* Neither sleep mode request nor sleep mode acknowledge */
+ }
+ }
+
+ /* 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
+ */
+uint32_t HAL_CAN_GetError(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
+ */
+HAL_StatusTypeDef HAL_CAN_ResetError(CAN_HandleTypeDef *hcan)
+{
+ HAL_StatusTypeDef status = HAL_OK;
+ HAL_CAN_StateTypeDef state = hcan->State;
+
+ if ((state == HAL_CAN_STATE_READY) ||
+ (state == HAL_CAN_STATE_LISTENING))
+ {
+ /* Reset CAN error code */
+ hcan->ErrorCode = 0U;
+ }
+ else
+ {
+ /* Update error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
+
+ status = HAL_ERROR;
+ }
+
+ /* Return the status */
+ return status;
+}
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+#endif /* HAL_CAN_MODULE_ENABLED */
+
+/**
+ * @}
+ */
+
+#endif /* CAN1 */
+
+/**
+ * @}
+ */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/Standard_robot/Inc/can.h b/Standard_robot/Inc/can.h
new file mode 100644
index 0000000000000000000000000000000000000000..8e586fd26015883575faf25e3eb0929b94ecd4c3
--- /dev/null
+++ b/Standard_robot/Inc/can.h
@@ -0,0 +1,58 @@
+/**
+ ******************************************************************************
+ * File Name : CAN.h
+ * Description : This file provides code for the configuration
+ * of the CAN instances.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© Copyright (c) 2020 STMicroelectronics.
+ * All rights reserved.</center></h2>
+ *
+ * This software component is licensed by ST under BSD 3-Clause license,
+ * the "License"; You may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at:
+ * opensource.org/licenses/BSD-3-Clause
+ *
+ ******************************************************************************
+ */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __can_H
+#define __can_H
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+extern CAN_HandleTypeDef hcan1;
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+void MX_CAN1_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+#endif /*__ can_H */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/Standard_robot/Inc/main.h b/Standard_robot/Inc/main.h
index e64a2287fa0c5736498ea1caca0adfb88391713d..3eaffd9977089e1731d19971c5254e6c47fff0f0 100644
--- a/Standard_robot/Inc/main.h
+++ b/Standard_robot/Inc/main.h
@@ -61,6 +61,8 @@ void Error_Handler(void);
/* Private defines -----------------------------------------------------------*/
#define OLED_DC_Pin GPIO_PIN_9
#define OLED_DC_GPIO_Port GPIOB
+#define Z_Pin GPIO_PIN_2
+#define Z_GPIO_Port GPIOI
#define POWER1_CTRL_Pin GPIO_PIN_2
#define POWER1_CTRL_GPIO_Port GPIOH
#define POWER2_CTRL_Pin GPIO_PIN_3
diff --git a/Standard_robot/Inc/tim.h b/Standard_robot/Inc/tim.h
new file mode 100644
index 0000000000000000000000000000000000000000..b573a6b215d8f66ee99f4e10b8e6b4ca309592f4
--- /dev/null
+++ b/Standard_robot/Inc/tim.h
@@ -0,0 +1,60 @@
+/**
+ ******************************************************************************
+ * File Name : TIM.h
+ * Description : This file provides code for the configuration
+ * of the TIM instances.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© Copyright (c) 2020 STMicroelectronics.
+ * All rights reserved.</center></h2>
+ *
+ * This software component is licensed by ST under BSD 3-Clause license,
+ * the "License"; You may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at:
+ * opensource.org/licenses/BSD-3-Clause
+ *
+ ******************************************************************************
+ */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __tim_H
+#define __tim_H
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+extern TIM_HandleTypeDef htim1;
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+void MX_TIM1_Init(void);
+
+void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+#endif /*__ tim_H */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/Standard_robot/MDK-ARM/Standard_robot.uvguix.charl b/Standard_robot/MDK-ARM/Standard_robot.uvguix.charl
index 0c49e0193cf95bb1584cf0205960a9265e9a3411..1af8b016c891c53007fd9e81d09bde5a77f2259f 100644
--- a/Standard_robot/MDK-ARM/Standard_robot.uvguix.charl
+++ b/Standard_robot/MDK-ARM/Standard_robot.uvguix.charl
@@ -6,7 +6,7 @@
<Header>### uVision Project, (C) Keil Software</Header>
<PrjGuiSettings>
- <LastAddFilePath>D:\charl\Documents\Git\RM-Controle\Standard_robot\BSP\Driver</LastAddFilePath>
+ <LastAddFilePath>D:\charl\Documents\Git\RM-Controle\Standard_robot\BSP\Device</LastAddFilePath>
</PrjGuiSettings>
<ViewPool/>
@@ -93,8 +93,8 @@
<flags>2</flags>
<showCmd>3</showCmd>
<MinPosition>
- <xPos>-1</xPos>
- <yPos>-1</yPos>
+ <xPos>-32000</xPos>
+ <yPos>-32000</yPos>
</MinPosition>
<MaxPosition>
<xPos>-1</xPos>
@@ -110,8 +110,8 @@
<MDIClientArea>
<RegID>0</RegID>
<MDITabState>
- <Len>720</Len>
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+ <Len>820</Len>
+ <Data>0100000004000000010000000100000001000000010000000000000002000000000000000100000001000000000000002800000028000000010000000700000000000000010000003C443A5C636861726C5C446F63756D656E74735C4769745C524D2D436F6E74726F6C655C5374616E646172645F726F626F745C5372635C6D61696E2E6300000000066D61696E2E6300000000C5D4F200FFFFFFFF44443A5C636861726C5C446F63756D656E74735C4769745C524D2D436F6E74726F6C655C5374616E646172645F726F626F745C4253505C4465766963655C6D6F746F722E6300000000076D6F746F722E6300000000FFDC7800FFFFFFFF44443A5C636861726C5C446F63756D656E74735C4769745C524D2D436F6E74726F6C655C5374616E646172645F726F626F745C4253505C4465766963655C6D6F746F722E6800000000076D6F746F722E6800000000BECEA100FFFFFFFF46443A5C636861726C5C446F63756D656E74735C4769745C524D2D436F6E74726F6C655C5374616E646172645F726F626F745C4253505C4472697665725C6273705F63616E2E6300000000096273705F63616E2E6300000000F0A0A100FFFFFFFF46443A5C636861726C5C446F63756D656E74735C4769745C524D2D436F6E74726F6C655C5374616E646172645F726F626F745C4253505C4472697665725C6273705F63616E2E6800000000096273705F63616E2E6800000000BCA8E100FFFFFFFF45443A5C636861726C5C446F63756D656E74735C4769745C524D2D436F6E74726F6C655C5374616E646172645F726F626F745C4253505C416C676F726974686D5C7069642E6300000000057069642E63000000009CC1B600FFFFFFFF45443A5C636861726C5C446F63756D656E74735C4769745C524D2D436F6E74726F6C655C5374616E646172645F726F626F745C4253505C416C676F726974686D5C7069642E6800000000057069642E6800000000F7B88600FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD500010000000000000002000000F3000000660000005805000091020000</Data>
</MDITabState>
</MDIClientArea>
<ViewEx>
@@ -150,7 +150,7 @@
<RecentRowIndex>0</RecentRowIndex>
<RectRecentDocked>
<Len>16</Len>
- <Data>0300000066000000A80000005E020000</Data>
+ <Data>0300000066000000EC00000061020000</Data>
</RectRecentDocked>
<RectRecentFloat>
<Len>16</Len>
@@ -170,7 +170,7 @@
<RecentRowIndex>0</RecentRowIndex>
<RectRecentDocked>
<Len>16</Len>
- <Data>0300000066000000A80000005E020000</Data>
+ <Data>0300000066000000EC00000061020000</Data>
</RectRecentDocked>
<RectRecentFloat>
<Len>16</Len>
@@ -450,7 +450,7 @@
<RecentRowIndex>0</RecentRowIndex>
<RectRecentDocked>
<Len>16</Len>
- <Data>0300000066000000A80000005E020000</Data>
+ <Data>0300000066000000EC00000061020000</Data>
</RectRecentDocked>
<RectRecentFloat>
<Len>16</Len>
@@ -470,7 +470,7 @@
<RecentRowIndex>0</RecentRowIndex>
<RectRecentDocked>
<Len>16</Len>
- <Data>0300000066000000A80000005E020000</Data>
+ <Data>0300000066000000EC00000061020000</Data>
</RectRecentDocked>
<RectRecentFloat>
<Len>16</Len>
@@ -490,7 +490,7 @@
<RecentRowIndex>0</RecentRowIndex>
<RectRecentDocked>
<Len>16</Len>
- <Data>000000008F0200005805000048030000</Data>
+ <Data>00000000920200005805000048030000</Data>
</RectRecentDocked>
<RectRecentFloat>
<Len>16</Len>
@@ -530,7 +530,7 @@
<RecentRowIndex>0</RecentRowIndex>
<RectRecentDocked>
<Len>16</Len>
- <Data>0300000092020000EF030000D7020000</Data>
+ <Data>0300000095020000EF030000DA020000</Data>
</RectRecentDocked>
<RectRecentFloat>
<Len>16</Len>
@@ -1170,7 +1170,7 @@
<RecentRowIndex>0</RecentRowIndex>
<RectRecentDocked>
<Len>16</Len>
- <Data>000000008F020000F2030000F0020000</Data>
+ <Data>0000000092020000F2030000F3020000</Data>
</RectRecentDocked>
<RectRecentFloat>
<Len>16</Len>
@@ -1190,7 +1190,7 @@
<RecentRowIndex>0</RecentRowIndex>
<RectRecentDocked>
<Len>16</Len>
- <Data>0300000092020000EF030000D7020000</Data>
+ <Data>0300000095020000EF030000DA020000</Data>
</RectRecentDocked>
<RectRecentFloat>
<Len>16</Len>
@@ -1250,7 +1250,7 @@
<RecentRowIndex>0</RecentRowIndex>
<RectRecentDocked>
<Len>16</Len>
- <Data>0300000092020000EF030000D7020000</Data>
+ <Data>0300000095020000EF030000DA020000</Data>
</RectRecentDocked>
<RectRecentFloat>
<Len>16</Len>
@@ -1270,7 +1270,7 @@
<RecentRowIndex>0</RecentRowIndex>
<RectRecentDocked>
<Len>16</Len>
- <Data>0300000092020000EF030000D7020000</Data>
+ <Data>0300000095020000EF030000DA020000</Data>
</RectRecentDocked>
<RectRecentFloat>
<Len>16</Len>
@@ -1799,14 +1799,14 @@
</Window>
<DockMan>
<Len>3312</Len>
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<MDIGroup>
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+ <ActiveTab>0</ActiveTab>
<Doc>
<Name>../Src/main.c</Name>
- <ColumnNumber>0</ColumnNumber>
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<Doc>
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- <TopLine>158</TopLine>
- <CurrentLine>263</CurrentLine>
+ <Name>..\BSP\Device\motor.c</Name>
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<Folding>1</Folding>
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+ <Name>..\BSP\Device\motor.h</Name>
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<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
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</Doc>
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+ <Name>..\BSP\Driver\bsp_can.c</Name>
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- <Name>../Inc/main.h</Name>
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diff --git a/Standard_robot/MDK-ARM/Standard_robot.uvoptx b/Standard_robot/MDK-ARM/Standard_robot.uvoptx
index 3c8374c59db11036c544798bcfa9c73ac1a812fa..2bb4092e93a36ada6b68ac05eb4f3b991ec51a3f 100644
--- a/Standard_robot/MDK-ARM/Standard_robot.uvoptx
+++ b/Standard_robot/MDK-ARM/Standard_robot.uvoptx
@@ -128,7 +128,24 @@
<Name>-U-O142 -O2254 -S0 -C0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_2048.FLM -FS08000000 -FL0200000 -FP0($$Device:STM32F427IIHx$CMSIS\Flash\STM32F4xx_2048.FLM)</Name>
</SetRegEntry>
</TargetDriverDllRegistry>
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+ <Bp>
+ <Number>0</Number>
+ <Type>0</Type>
+ <LineNumber>150</LineNumber>
+ <EnabledFlag>1</EnabledFlag>
+ <Address>0</Address>
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+ <ManyObjects>0</ManyObjects>
+ <SizeOfObject>0</SizeOfObject>
+ <BreakByAccess>0</BreakByAccess>
+ <BreakIfRCount>0</BreakIfRCount>
+ <Filename>../Src/main.c</Filename>
+ <ExecCommand></ExecCommand>
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+ </Bp>
+ </Breakpoint>
<Tracepoint>
<THDelay>0</THDelay>
</Tracepoint>
@@ -203,7 +220,7 @@
<Group>
<GroupName>Application/User</GroupName>
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+ <tvExpOptDlg>0</tvExpOptDlg>
+ <bDave2>0</bDave2>
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@@ -477,7 +506,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>21</FileNumber>
+ <FileNumber>22</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -489,7 +518,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>22</FileNumber>
+ <FileNumber>23</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -501,7 +530,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>23</FileNumber>
+ <FileNumber>24</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -513,7 +542,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>24</FileNumber>
+ <FileNumber>25</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -525,7 +554,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>25</FileNumber>
+ <FileNumber>26</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -537,7 +566,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>26</FileNumber>
+ <FileNumber>27</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -549,7 +578,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>27</FileNumber>
+ <FileNumber>28</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -561,7 +590,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>28</FileNumber>
+ <FileNumber>29</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -573,7 +602,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>29</FileNumber>
+ <FileNumber>30</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -585,7 +614,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>30</FileNumber>
+ <FileNumber>31</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -597,7 +626,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>31</FileNumber>
+ <FileNumber>32</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -609,7 +638,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>32</FileNumber>
+ <FileNumber>33</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -621,7 +650,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>33</FileNumber>
+ <FileNumber>34</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -633,7 +662,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>34</FileNumber>
+ <FileNumber>35</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -645,7 +674,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>35</FileNumber>
+ <FileNumber>36</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -657,7 +686,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>36</FileNumber>
+ <FileNumber>37</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -669,7 +698,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>37</FileNumber>
+ <FileNumber>38</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -681,7 +710,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>38</FileNumber>
+ <FileNumber>39</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
diff --git a/Standard_robot/MDK-ARM/Standard_robot.uvprojx b/Standard_robot/MDK-ARM/Standard_robot.uvprojx
index 2e6d7087dbada03b5a36374b75fd81a43a261f4e..508c54ea5c67e1316d0f5b6aa10bd44d1b3f12e8 100644
--- a/Standard_robot/MDK-ARM/Standard_robot.uvprojx
+++ b/Standard_robot/MDK-ARM/Standard_robot.uvprojx
@@ -338,7 +338,7 @@
<MiscControls></MiscControls>
<Define>USE_HAL_DRIVER,STM32F427xx,USE_HAL_DRIVER,STM32F427xx</Define>
<Undefine></Undefine>
- <IncludePath>../Inc; ../Drivers/STM32F4xx_HAL_Driver/Inc; ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy; ../Drivers/CMSIS/Device/ST/STM32F4xx/Include; ../Drivers/CMSIS/Include; ../BSP/Algorithm; ../BSP/Controller; ../BSP/Device; ../BSP/Driver; ../BSP/Modules</IncludePath>
+ <IncludePath>../Inc; ../Drivers/STM32F4xx_HAL_Driver/Inc; ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy; ../Drivers/CMSIS/Device/ST/STM32F4xx/Include; ../Drivers/CMSIS/Include; ../BSP/Algorithm; ../BSP/Controller; ../BSP/Device; ../BSP/Driver; ../BSP/Modules</IncludePath>
</VariousControls>
</Cads>
<Aads>
@@ -556,6 +556,11 @@
<FileType>1</FileType>
<FilePath>..\BSP\Device\oled.c</FilePath>
</File>
+ <File>
+ <FileName>motor.c</FileName>
+ <FileType>1</FileType>
+ <FilePath>..\BSP\Device\motor.c</FilePath>
+ </File>
</Files>
</Group>
<Group>
diff --git a/Standard_robot/MDK-ARM/Standard_robot/Standard_robot.hex b/Standard_robot/MDK-ARM/Standard_robot/Standard_robot.hex
index 6b6a86fbc4babf73abba950e69d695eab754c11a..2fa347e3265a1fbbf38f7564396e8b6910e58548 100644
--- a/Standard_robot/MDK-ARM/Standard_robot/Standard_robot.hex
+++ b/Standard_robot/MDK-ARM/Standard_robot/Standard_robot.hex
@@ -1,8 +1,8 @@
:020000040800F2
-:10000000880B0020C10100083F2A0008A92600082B
-:100010003D2A000871080008813000080000000037
-:10002000000000000000000000000000312B00086C
-:100030001509000800000000412A0008332B0008C1
+:10000000900A0020C1010008BB280008F92400085C
+:10001000B928000871080008FD2E00080000000043
+:10002000000000000000000000000000AD290008F2
+:100030001509000800000000BD280008AF290008CD
:10004000DB010008DB010008DB010008DB01000820
:10005000DB010008DB010008DB010008DB01000810
:10006000DB010008DB010008DB010008DB01000800
@@ -12,7 +12,7 @@
:1000A000DB010008DB010008DB010008DB010008C0
:1000B000DB010008DB010008DB010008DB010008B0
:1000C000DB010008DB010008DB010008DB010008A0
-:1000D000DB01000875300008DB010008DB010008C7
+:1000D000DB010008F12E0008DB010008DB0100084D
:1000E000DB010008DB010008DB010008DB01000880
:1000F000DB010008DB010008DB010008DB01000870
:10010000DB010008DB010008DB010008DB0100085F
@@ -26,9 +26,9 @@
:10018000DB010008DB010008DB010008DB010008DF
:10019000DB010008DB010008DB010008DB010008CF
:1001A0000000000000000000DB010008DFF80CD0B8
-:1001B00000F048FA00480047093A0008880B002080
+:1001B00000F048FA004800476D390008900A002016
:1001C0000648804706480047FEE7FEE7FEE7FEE7F1
-:1001D000FEE7FEE7FEE7FEE7FEE7FEE7BD2B0008D1
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@@ -101,7 +101,7 @@
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@@ -134,11 +134,11 @@
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diff --git a/Standard_robot/Src/gpio.c b/Standard_robot/Src/gpio.c
index c661604cf27831a82ac55a5f5de9d8fca3eb7480..2f78994346ee036490ac34cb7184d2c823ff30c5 100644
--- a/Standard_robot/Src/gpio.c
+++ b/Standard_robot/Src/gpio.c
@@ -46,6 +46,7 @@ void MX_GPIO_Init(void)
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
+ __HAL_RCC_GPIOI_CLK_ENABLE();
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOG_CLK_ENABLE();
__HAL_RCC_GPIOE_CLK_ENABLE();
@@ -54,6 +55,9 @@ void MX_GPIO_Init(void)
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, OLED_DC_Pin|OLED_RST_Pin, GPIO_PIN_RESET);
+ /*Configure GPIO pin Output Level */
+ HAL_GPIO_WritePin(Z_GPIO_Port, Z_Pin, GPIO_PIN_RESET);
+
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOH, POWER1_CTRL_Pin|POWER2_CTRL_Pin|POWER4_CTRL_Pin, GPIO_PIN_RESET);
@@ -73,6 +77,13 @@ void MX_GPIO_Init(void)
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+ /*Configure GPIO pin : PtPin */
+ GPIO_InitStruct.Pin = Z_Pin;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+ HAL_GPIO_Init(Z_GPIO_Port, &GPIO_InitStruct);
+
/*Configure GPIO pins : PHPin PHPin PHPin */
GPIO_InitStruct.Pin = POWER1_CTRL_Pin|POWER2_CTRL_Pin|POWER4_CTRL_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
diff --git a/Standard_robot/Src/main.c b/Standard_robot/Src/main.c
index 30a8159891981a866495a2a1f0abb7a512c8e59e..c5c827b5ca6bc18fdd99b95e60470a0be43ff8a7 100644
--- a/Standard_robot/Src/main.c
+++ b/Standard_robot/Src/main.c
@@ -37,6 +37,7 @@
#include "bsp_led.h"
#include "bsp_can.h"
+#include "motor.h"
#include "pid.h"
#include "oled.h"
#include "string.h"
@@ -61,10 +62,11 @@
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
-extern moto_info_t motor_info[MOTOR_MAX_NUM];
int16_t led_cnt;
-pid_struct_t motor_pid[7];
float target_speed;
+motor_t gm6020;
+motor_t m2006;
+
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
@@ -123,78 +125,59 @@ int main(void)
oled_refresh_gram();
HAL_GPIO_WritePin(LED_A_GPIO_Port, LED_A_Pin, GPIO_PIN_RESET);
- HAL_Delay(500);
+ HAL_Delay(10);
oled_clear(Pen_Clear);
oled_refresh_gram();
can_user_init(&hcan1); // config can filter, start can
- for (uint8_t i = 0; i < 3; i++)
- {
- pid_init(&motor_pid[i], 2, 0.005, 2, 16000, 16000); //init pid parameter chassis, kp=2, ki=0.005, kd=2, output limit = 16000
- }
- for (uint8_t i = 4; i < 7; i++)
- {
- pid_init(&motor_pid[i], 40, 3, 0, 30000, 30000); //init pid parameter gimbal, kp=40, ki=3, kd=0, output limit = 30000
- }
+
/* USER CODE END 2 */
-
-
+ gm6020.type = GM6020;
+ gm6020.can_info.can_id = 0;
+ gm6020.can_info.tx_id = 1;
+ gm6020.can_info.rx_id = 0x205;
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
-
- /* USER CODE BEGIN 3 */
- oled_print_button(1, 1);
+ /* USER CODE BEGIN 3 */
- /* led blink */
- led_cnt ++;
- if (led_cnt == 250)
- {
- led_cnt = 0;
- LED_RED_TOGGLE(); //blink cycle 500ms
- }
-
- /* scan is key be pressd down to change target speed and pwm pulse */
+ get_motor_data(&gm6020);
+
+ /* scan is key be pressd down to change target speed and pwm pulse */
if (key_scan())
{
- target_speed += 60.0f; // target speed increase 60rpm
- if (target_speed > 180) // if current speed = 180, press key to stop motor
+ gm6020.voltage += 10000;
+ if (gm6020.voltage > 30000)
{
- target_speed = 0;
+ gm6020.voltage = 0;
}
}
-
- /* motor speed pid calc */
- for (uint8_t i = 0; i < 3; i++)
- {
- motor_info[i].set_voltage = pid_calc(&motor_pid[i], target_speed*20, motor_info[i].rotor_speed);
- }
- for (uint8_t i = 4; i < 7; i++)
+
+ oled_printf(1, 1, "GM6020");
+ oled_printf(2, 1," Voltage: %f", gm6020.info.GM6020_info.angle);
+ oled_printf(3, 1," Angle: %f", gm6020.info.GM6020_info.angle);
+ oled_printf(4, 1," Speed: %f", gm6020.info.GM6020_info.speed);
+
+ /* led blink */
+ led_cnt ++;
+ if (led_cnt == 250)
{
- motor_info[i].set_voltage = pid_calc(&motor_pid[i], target_speed, motor_info[i].rotor_speed);
+ led_cnt = 0;
+ LED_RED_TOGGLE(); //blink cycle 500ms
}
- /* send motor control message through can bus*/
- set_motor_voltage(0,
- motor_info[0].set_voltage,
- motor_info[1].set_voltage,
- motor_info[2].set_voltage,
- motor_info[3].set_voltage);
- set_motor_voltage(1,
- motor_info[4].set_voltage,
- motor_info[5].set_voltage,
- motor_info[6].set_voltage,
- 0);
-
+ set_motor_voltage(1, &gm6020, NULL, NULL, NULL); //0x1ff
+ set_motor_voltage(0, &m2006, NULL, NULL, NULL); //0x200
+ oled_refresh_gram();
+ HAL_Delay(10);
}
- HAL_Delay(10);
/* USER CODE END 3 */
}
diff --git a/Standard_robot/Standard_robot.ioc b/Standard_robot/Standard_robot.ioc
index ed031719d674d26818e1e70a4a48483647b476d6..8255080ffd09ddde12160587fa066778e04085b3 100644
--- a/Standard_robot/Standard_robot.ioc
+++ b/Standard_robot/Standard_robot.ioc
@@ -42,32 +42,33 @@ Mcu.Name=STM32F427I(G-I)Hx
Mcu.Package=UFBGA176
Mcu.Pin0=PB4
Mcu.Pin1=PB3
-Mcu.Pin10=PH2
-Mcu.Pin11=PA8
-Mcu.Pin12=PH0/OSC_IN
-Mcu.Pin13=PH3
-Mcu.Pin14=PH1/OSC_OUT
-Mcu.Pin15=PH4
-Mcu.Pin16=PG8
-Mcu.Pin17=PH5
-Mcu.Pin18=PB2/BOOT1
-Mcu.Pin19=PE13
+Mcu.Pin10=PA9
+Mcu.Pin11=PH2
+Mcu.Pin12=PA8
+Mcu.Pin13=PH0/OSC_IN
+Mcu.Pin14=PH3
+Mcu.Pin15=PH1/OSC_OUT
+Mcu.Pin16=PH4
+Mcu.Pin17=PG8
+Mcu.Pin18=PH5
+Mcu.Pin19=PB2/BOOT1
Mcu.Pin2=PA14
-Mcu.Pin20=PA6
-Mcu.Pin21=PE11
-Mcu.Pin22=PE14
-Mcu.Pin23=PA7
-Mcu.Pin24=PF14
-Mcu.Pin25=PB10
-Mcu.Pin26=VP_SYS_VS_Systick
+Mcu.Pin20=PE13
+Mcu.Pin21=PA6
+Mcu.Pin22=PE11
+Mcu.Pin23=PE14
+Mcu.Pin24=PA7
+Mcu.Pin25=PF14
+Mcu.Pin26=PB10
+Mcu.Pin27=VP_SYS_VS_Systick
Mcu.Pin3=PA13
Mcu.Pin4=PB9
Mcu.Pin5=PB7
Mcu.Pin6=PB6
Mcu.Pin7=PD0
Mcu.Pin8=PD1
-Mcu.Pin9=PA9
-Mcu.PinsNb=27
+Mcu.Pin9=PI2
+Mcu.PinsNb=28
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32F427IIHx
@@ -168,6 +169,10 @@ PH5.GPIOParameters=GPIO_Label
PH5.GPIO_Label=POWER4_CTRL
PH5.Locked=true
PH5.Signal=GPIO_Output
+PI2.GPIOParameters=GPIO_Label
+PI2.GPIO_Label=Z
+PI2.Locked=true
+PI2.Signal=GPIO_Output
PinOutPanel.CurrentBGAView=Top
PinOutPanel.RotationAngle=0
ProjectManager.AskForMigrate=true