2 ******************************************************************************
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3 * @file stm32f7xx_hal_can.h
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4 * @author MCD Application Team
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6 * @date 06-March-2015
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7 * @brief Header file of CAN HAL module.
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8 ******************************************************************************
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11 * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
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13 * Redistribution and use in source and binary forms, with or without modification,
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14 * are permitted provided that the following conditions are met:
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15 * 1. Redistributions of source code must retain the above copyright notice,
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16 * this list of conditions and the following disclaimer.
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17 * 2. Redistributions in binary form must reproduce the above copyright notice,
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18 * this list of conditions and the following disclaimer in the documentation
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19 * and/or other materials provided with the distribution.
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20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
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21 * may be used to endorse or promote products derived from this software
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22 * without specific prior written permission.
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24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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35 ******************************************************************************
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38 /* Define to prevent recursive inclusion -------------------------------------*/
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39 #ifndef __STM32F7xx_HAL_CAN_H
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40 #define __STM32F7xx_HAL_CAN_H
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46 /* Includes ------------------------------------------------------------------*/
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47 #include "stm32f7xx_hal_def.h"
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49 /** @addtogroup STM32F7xx_HAL_Driver
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57 /* Exported types ------------------------------------------------------------*/
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58 /** @defgroup CAN_Exported_Types CAN Exported Types
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63 * @brief HAL State structures definition
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67 HAL_CAN_STATE_RESET = 0x00, /*!< CAN not yet initialized or disabled */
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68 HAL_CAN_STATE_READY = 0x01, /*!< CAN initialized and ready for use */
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69 HAL_CAN_STATE_BUSY = 0x02, /*!< CAN process is ongoing */
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70 HAL_CAN_STATE_BUSY_TX = 0x12, /*!< CAN process is ongoing */
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71 HAL_CAN_STATE_BUSY_RX = 0x22, /*!< CAN process is ongoing */
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72 HAL_CAN_STATE_BUSY_TX_RX = 0x32, /*!< CAN process is ongoing */
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73 HAL_CAN_STATE_TIMEOUT = 0x03, /*!< Timeout state */
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74 HAL_CAN_STATE_ERROR = 0x04 /*!< CAN error state */
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76 }HAL_CAN_StateTypeDef;
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79 * @brief CAN init structure definition
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83 uint32_t Prescaler; /*!< Specifies the length of a time quantum.
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84 This parameter must be a number between Min_Data = 1 and Max_Data = 1024 */
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86 uint32_t Mode; /*!< Specifies the CAN operating mode.
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87 This parameter can be a value of @ref CAN_operating_mode */
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89 uint32_t SJW; /*!< Specifies the maximum number of time quanta
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90 the CAN hardware is allowed to lengthen or
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91 shorten a bit to perform resynchronization.
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92 This parameter can be a value of @ref CAN_synchronisation_jump_width */
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94 uint32_t BS1; /*!< Specifies the number of time quanta in Bit Segment 1.
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95 This parameter can be a value of @ref CAN_time_quantum_in_bit_segment_1 */
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97 uint32_t BS2; /*!< Specifies the number of time quanta in Bit Segment 2.
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98 This parameter can be a value of @ref CAN_time_quantum_in_bit_segment_2 */
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100 uint32_t TTCM; /*!< Enable or disable the time triggered communication mode.
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101 This parameter can be set to ENABLE or DISABLE. */
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103 uint32_t ABOM; /*!< Enable or disable the automatic bus-off management.
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104 This parameter can be set to ENABLE or DISABLE */
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106 uint32_t AWUM; /*!< Enable or disable the automatic wake-up mode.
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107 This parameter can be set to ENABLE or DISABLE */
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109 uint32_t NART; /*!< Enable or disable the non-automatic retransmission mode.
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110 This parameter can be set to ENABLE or DISABLE */
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112 uint32_t RFLM; /*!< Enable or disable the receive FIFO Locked mode.
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113 This parameter can be set to ENABLE or DISABLE */
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115 uint32_t TXFP; /*!< Enable or disable the transmit FIFO priority.
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116 This parameter can be set to ENABLE or DISABLE */
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120 * @brief CAN filter configuration structure definition
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124 uint32_t FilterIdHigh; /*!< Specifies the filter identification number (MSBs for a 32-bit
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125 configuration, first one for a 16-bit configuration).
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126 This parameter must be a number between Min_Data = 0x0000 and Max_Data = 0xFFFF */
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128 uint32_t FilterIdLow; /*!< Specifies the filter identification number (LSBs for a 32-bit
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129 configuration, second one for a 16-bit configuration).
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130 This parameter must be a number between Min_Data = 0x0000 and Max_Data = 0xFFFF */
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132 uint32_t FilterMaskIdHigh; /*!< Specifies the filter mask number or identification number,
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133 according to the mode (MSBs for a 32-bit configuration,
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134 first one for a 16-bit configuration).
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135 This parameter must be a number between Min_Data = 0x0000 and Max_Data = 0xFFFF */
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137 uint32_t FilterMaskIdLow; /*!< Specifies the filter mask number or identification number,
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138 according to the mode (LSBs for a 32-bit configuration,
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139 second one for a 16-bit configuration).
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140 This parameter must be a number between Min_Data = 0x0000 and Max_Data = 0xFFFF */
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142 uint32_t FilterFIFOAssignment; /*!< Specifies the FIFO (0 or 1) which will be assigned to the filter.
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143 This parameter can be a value of @ref CAN_filter_FIFO */
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145 uint32_t FilterNumber; /*!< Specifies the filter which will be initialized.
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146 This parameter must be a number between Min_Data = 0 and Max_Data = 27 */
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148 uint32_t FilterMode; /*!< Specifies the filter mode to be initialized.
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149 This parameter can be a value of @ref CAN_filter_mode */
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151 uint32_t FilterScale; /*!< Specifies the filter scale.
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152 This parameter can be a value of @ref CAN_filter_scale */
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154 uint32_t FilterActivation; /*!< Enable or disable the filter.
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155 This parameter can be set to ENABLE or DISABLE. */
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157 uint32_t BankNumber; /*!< Select the start slave bank filter.
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158 This parameter must be a number between Min_Data = 0 and Max_Data = 28 */
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160 }CAN_FilterConfTypeDef;
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163 * @brief CAN Tx message structure definition
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167 uint32_t StdId; /*!< Specifies the standard identifier.
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168 This parameter must be a number between Min_Data = 0 and Max_Data = 0x7FF */
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170 uint32_t ExtId; /*!< Specifies the extended identifier.
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171 This parameter must be a number between Min_Data = 0 and Max_Data = 0x1FFFFFFF */
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173 uint32_t IDE; /*!< Specifies the type of identifier for the message that will be transmitted.
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174 This parameter can be a value of @ref CAN_Identifier_Type */
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176 uint32_t RTR; /*!< Specifies the type of frame for the message that will be transmitted.
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177 This parameter can be a value of @ref CAN_remote_transmission_request */
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179 uint32_t DLC; /*!< Specifies the length of the frame that will be transmitted.
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180 This parameter must be a number between Min_Data = 0 and Max_Data = 8 */
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182 uint32_t Data[8]; /*!< Contains the data to be transmitted.
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183 This parameter must be a number between Min_Data = 0 and Max_Data = 0xFF */
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188 * @brief CAN Rx message structure definition
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192 uint32_t StdId; /*!< Specifies the standard identifier.
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193 This parameter must be a number between Min_Data = 0 and Max_Data = 0x7FF */
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195 uint32_t ExtId; /*!< Specifies the extended identifier.
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196 This parameter must be a number between Min_Data = 0 and Max_Data = 0x1FFFFFFF */
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198 uint32_t IDE; /*!< Specifies the type of identifier for the message that will be received.
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199 This parameter can be a value of @ref CAN_Identifier_Type */
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201 uint32_t RTR; /*!< Specifies the type of frame for the received message.
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202 This parameter can be a value of @ref CAN_remote_transmission_request */
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204 uint32_t DLC; /*!< Specifies the length of the frame that will be received.
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205 This parameter must be a number between Min_Data = 0 and Max_Data = 8 */
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207 uint32_t Data[8]; /*!< Contains the data to be received.
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208 This parameter must be a number between Min_Data = 0 and Max_Data = 0xFF */
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210 uint32_t FMI; /*!< Specifies the index of the filter the message stored in the mailbox passes through.
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211 This parameter must be a number between Min_Data = 0 and Max_Data = 0xFF */
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213 uint32_t FIFONumber; /*!< Specifies the receive FIFO number.
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214 This parameter can be CAN_FIFO0 or CAN_FIFO1 */
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219 * @brief CAN handle Structure definition
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223 CAN_TypeDef *Instance; /*!< Register base address */
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225 CAN_InitTypeDef Init; /*!< CAN required parameters */
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227 CanTxMsgTypeDef* pTxMsg; /*!< Pointer to transmit structure */
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229 CanRxMsgTypeDef* pRxMsg; /*!< Pointer to reception structure */
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231 __IO HAL_CAN_StateTypeDef State; /*!< CAN communication state */
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233 HAL_LockTypeDef Lock; /*!< CAN locking object */
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235 __IO uint32_t ErrorCode; /*!< CAN Error code */
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237 }CAN_HandleTypeDef;
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243 /* Exported constants --------------------------------------------------------*/
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244 /** @defgroup CAN_Exported_Constants CAN Exported Constants
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248 /** @defgroup HAL_CAN_Error_Code HAL CAN Error Code
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251 #define HAL_CAN_ERROR_NONE 0x00 /*!< No error */
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252 #define HAL_CAN_ERROR_EWG 0x01 /*!< EWG error */
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253 #define HAL_CAN_ERROR_EPV 0x02 /*!< EPV error */
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254 #define HAL_CAN_ERROR_BOF 0x04 /*!< BOF error */
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255 #define HAL_CAN_ERROR_STF 0x08 /*!< Stuff error */
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256 #define HAL_CAN_ERROR_FOR 0x10 /*!< Form error */
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257 #define HAL_CAN_ERROR_ACK 0x20 /*!< Acknowledgment error */
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258 #define HAL_CAN_ERROR_BR 0x40 /*!< Bit recessive */
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259 #define HAL_CAN_ERROR_BD 0x80 /*!< LEC dominant */
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260 #define HAL_CAN_ERROR_CRC 0x100 /*!< LEC transfer error */
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265 /** @defgroup CAN_InitStatus CAN InitStatus
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268 #define CAN_INITSTATUS_FAILED ((uint8_t)0x00) /*!< CAN initialization failed */
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269 #define CAN_INITSTATUS_SUCCESS ((uint8_t)0x01) /*!< CAN initialization OK */
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274 /** @defgroup CAN_operating_mode CAN Operating Mode
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277 #define CAN_MODE_NORMAL ((uint32_t)0x00000000) /*!< Normal mode */
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278 #define CAN_MODE_LOOPBACK ((uint32_t)CAN_BTR_LBKM) /*!< Loopback mode */
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279 #define CAN_MODE_SILENT ((uint32_t)CAN_BTR_SILM) /*!< Silent mode */
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280 #define CAN_MODE_SILENT_LOOPBACK ((uint32_t)(CAN_BTR_LBKM | CAN_BTR_SILM)) /*!< Loopback combined with silent mode */
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285 /** @defgroup CAN_synchronisation_jump_width CAN Synchronisation Jump Width
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288 #define CAN_SJW_1TQ ((uint32_t)0x00000000) /*!< 1 time quantum */
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289 #define CAN_SJW_2TQ ((uint32_t)CAN_BTR_SJW_0) /*!< 2 time quantum */
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290 #define CAN_SJW_3TQ ((uint32_t)CAN_BTR_SJW_1) /*!< 3 time quantum */
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291 #define CAN_SJW_4TQ ((uint32_t)CAN_BTR_SJW) /*!< 4 time quantum */
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296 /** @defgroup CAN_time_quantum_in_bit_segment_1 CAN Time Quantum in bit segment 1
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299 #define CAN_BS1_1TQ ((uint32_t)0x00000000) /*!< 1 time quantum */
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300 #define CAN_BS1_2TQ ((uint32_t)CAN_BTR_TS1_0) /*!< 2 time quantum */
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301 #define CAN_BS1_3TQ ((uint32_t)CAN_BTR_TS1_1) /*!< 3 time quantum */
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302 #define CAN_BS1_4TQ ((uint32_t)(CAN_BTR_TS1_1 | CAN_BTR_TS1_0)) /*!< 4 time quantum */
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303 #define CAN_BS1_5TQ ((uint32_t)CAN_BTR_TS1_2) /*!< 5 time quantum */
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304 #define CAN_BS1_6TQ ((uint32_t)(CAN_BTR_TS1_2 | CAN_BTR_TS1_0)) /*!< 6 time quantum */
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305 #define CAN_BS1_7TQ ((uint32_t)(CAN_BTR_TS1_2 | CAN_BTR_TS1_1)) /*!< 7 time quantum */
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306 #define CAN_BS1_8TQ ((uint32_t)(CAN_BTR_TS1_2 | CAN_BTR_TS1_1 | CAN_BTR_TS1_0)) /*!< 8 time quantum */
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307 #define CAN_BS1_9TQ ((uint32_t)CAN_BTR_TS1_3) /*!< 9 time quantum */
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308 #define CAN_BS1_10TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_0)) /*!< 10 time quantum */
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309 #define CAN_BS1_11TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_1)) /*!< 11 time quantum */
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310 #define CAN_BS1_12TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_1 | CAN_BTR_TS1_0)) /*!< 12 time quantum */
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311 #define CAN_BS1_13TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_2)) /*!< 13 time quantum */
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312 #define CAN_BS1_14TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_2 | CAN_BTR_TS1_0)) /*!< 14 time quantum */
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313 #define CAN_BS1_15TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_2 | CAN_BTR_TS1_1)) /*!< 15 time quantum */
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314 #define CAN_BS1_16TQ ((uint32_t)CAN_BTR_TS1) /*!< 16 time quantum */
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319 /** @defgroup CAN_time_quantum_in_bit_segment_2 CAN Time Quantum in bit segment 2
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322 #define CAN_BS2_1TQ ((uint32_t)0x00000000) /*!< 1 time quantum */
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323 #define CAN_BS2_2TQ ((uint32_t)CAN_BTR_TS2_0) /*!< 2 time quantum */
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324 #define CAN_BS2_3TQ ((uint32_t)CAN_BTR_TS2_1) /*!< 3 time quantum */
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325 #define CAN_BS2_4TQ ((uint32_t)(CAN_BTR_TS2_1 | CAN_BTR_TS2_0)) /*!< 4 time quantum */
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326 #define CAN_BS2_5TQ ((uint32_t)CAN_BTR_TS2_2) /*!< 5 time quantum */
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327 #define CAN_BS2_6TQ ((uint32_t)(CAN_BTR_TS2_2 | CAN_BTR_TS2_0)) /*!< 6 time quantum */
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328 #define CAN_BS2_7TQ ((uint32_t)(CAN_BTR_TS2_2 | CAN_BTR_TS2_1)) /*!< 7 time quantum */
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329 #define CAN_BS2_8TQ ((uint32_t)CAN_BTR_TS2) /*!< 8 time quantum */
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334 /** @defgroup CAN_filter_mode CAN Filter Mode
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337 #define CAN_FILTERMODE_IDMASK ((uint8_t)0x00) /*!< Identifier mask mode */
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338 #define CAN_FILTERMODE_IDLIST ((uint8_t)0x01) /*!< Identifier list mode */
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343 /** @defgroup CAN_filter_scale CAN Filter Scale
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346 #define CAN_FILTERSCALE_16BIT ((uint8_t)0x00) /*!< Two 16-bit filters */
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347 #define CAN_FILTERSCALE_32BIT ((uint8_t)0x01) /*!< One 32-bit filter */
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352 /** @defgroup CAN_filter_FIFO CAN Filter FIFO
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355 #define CAN_FILTER_FIFO0 ((uint8_t)0x00) /*!< Filter FIFO 0 assignment for filter x */
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356 #define CAN_FILTER_FIFO1 ((uint8_t)0x01) /*!< Filter FIFO 1 assignment for filter x */
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357 /* Legacy defines */
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358 #define CAN_FilterFIFO0 CAN_FILTER_FIFO0
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359 #define CAN_FilterFIFO1 CAN_FILTER_FIFO1
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364 /** @defgroup CAN_Identifier_Type CAN Identifier Type
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367 #define CAN_ID_STD ((uint32_t)0x00000000) /*!< Standard Id */
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368 #define CAN_ID_EXT ((uint32_t)0x00000004) /*!< Extended Id */
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373 /** @defgroup CAN_remote_transmission_request CAN Remote Transmission Request
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376 #define CAN_RTR_DATA ((uint32_t)0x00000000) /*!< Data frame */
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377 #define CAN_RTR_REMOTE ((uint32_t)0x00000002) /*!< Remote frame */
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382 /** @defgroup CAN_receive_FIFO_number_constants CAN Receive FIFO Number Constants
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385 #define CAN_FIFO0 ((uint8_t)0x00) /*!< CAN FIFO 0 used to receive */
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386 #define CAN_FIFO1 ((uint8_t)0x01) /*!< CAN FIFO 1 used to receive */
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391 /** @defgroup CAN_flags CAN Flags
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394 /* If the flag is 0x3XXXXXXX, it means that it can be used with CAN_GetFlagStatus()
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395 and CAN_ClearFlag() functions. */
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396 /* If the flag is 0x1XXXXXXX, it means that it can only be used with
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397 CAN_GetFlagStatus() function. */
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399 /* Transmit Flags */
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400 #define CAN_FLAG_RQCP0 ((uint32_t)0x00000500) /*!< Request MailBox0 flag */
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401 #define CAN_FLAG_RQCP1 ((uint32_t)0x00000508) /*!< Request MailBox1 flag */
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402 #define CAN_FLAG_RQCP2 ((uint32_t)0x00000510) /*!< Request MailBox2 flag */
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403 #define CAN_FLAG_TXOK0 ((uint32_t)0x00000501) /*!< Transmission OK MailBox0 flag */
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404 #define CAN_FLAG_TXOK1 ((uint32_t)0x00000509) /*!< Transmission OK MailBox1 flag */
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405 #define CAN_FLAG_TXOK2 ((uint32_t)0x00000511) /*!< Transmission OK MailBox2 flag */
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406 #define CAN_FLAG_TME0 ((uint32_t)0x0000051A) /*!< Transmit mailbox 0 empty flag */
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407 #define CAN_FLAG_TME1 ((uint32_t)0x0000051B) /*!< Transmit mailbox 0 empty flag */
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408 #define CAN_FLAG_TME2 ((uint32_t)0x0000051C) /*!< Transmit mailbox 0 empty flag */
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410 /* Receive Flags */
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411 #define CAN_FLAG_FF0 ((uint32_t)0x00000203) /*!< FIFO 0 Full flag */
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412 #define CAN_FLAG_FOV0 ((uint32_t)0x00000204) /*!< FIFO 0 Overrun flag */
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414 #define CAN_FLAG_FF1 ((uint32_t)0x00000403) /*!< FIFO 1 Full flag */
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415 #define CAN_FLAG_FOV1 ((uint32_t)0x00000404) /*!< FIFO 1 Overrun flag */
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417 /* Operating Mode Flags */
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418 #define CAN_FLAG_WKU ((uint32_t)0x00000103) /*!< Wake up flag */
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419 #define CAN_FLAG_SLAK ((uint32_t)0x00000101) /*!< Sleep acknowledge flag */
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420 #define CAN_FLAG_SLAKI ((uint32_t)0x00000104) /*!< Sleep acknowledge flag */
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421 /* @note When SLAK interrupt is disabled (SLKIE=0), no polling on SLAKI is possible.
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422 In this case the SLAK bit can be polled.*/
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425 #define CAN_FLAG_EWG ((uint32_t)0x00000300) /*!< Error warning flag */
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426 #define CAN_FLAG_EPV ((uint32_t)0x00000301) /*!< Error passive flag */
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427 #define CAN_FLAG_BOF ((uint32_t)0x00000302) /*!< Bus-Off flag */
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432 /** @defgroup CAN_Interrupts CAN Interrupts
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435 #define CAN_IT_TME ((uint32_t)CAN_IER_TMEIE) /*!< Transmit mailbox empty interrupt */
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437 /* Receive Interrupts */
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438 #define CAN_IT_FMP0 ((uint32_t)CAN_IER_FMPIE0) /*!< FIFO 0 message pending interrupt */
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439 #define CAN_IT_FF0 ((uint32_t)CAN_IER_FFIE0) /*!< FIFO 0 full interrupt */
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440 #define CAN_IT_FOV0 ((uint32_t)CAN_IER_FOVIE0) /*!< FIFO 0 overrun interrupt */
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441 #define CAN_IT_FMP1 ((uint32_t)CAN_IER_FMPIE1) /*!< FIFO 1 message pending interrupt */
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442 #define CAN_IT_FF1 ((uint32_t)CAN_IER_FFIE1) /*!< FIFO 1 full interrupt */
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443 #define CAN_IT_FOV1 ((uint32_t)CAN_IER_FOVIE1) /*!< FIFO 1 overrun interrupt */
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445 /* Operating Mode Interrupts */
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446 #define CAN_IT_WKU ((uint32_t)CAN_IER_WKUIE) /*!< Wake-up interrupt */
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447 #define CAN_IT_SLK ((uint32_t)CAN_IER_SLKIE) /*!< Sleep acknowledge interrupt */
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449 /* Error Interrupts */
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450 #define CAN_IT_EWG ((uint32_t)CAN_IER_EWGIE) /*!< Error warning interrupt */
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451 #define CAN_IT_EPV ((uint32_t)CAN_IER_EPVIE) /*!< Error passive interrupt */
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452 #define CAN_IT_BOF ((uint32_t)CAN_IER_BOFIE) /*!< Bus-off interrupt */
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453 #define CAN_IT_LEC ((uint32_t)CAN_IER_LECIE) /*!< Last error code interrupt */
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454 #define CAN_IT_ERR ((uint32_t)CAN_IER_ERRIE) /*!< Error Interrupt */
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456 /* Flags named as Interrupts : kept only for FW compatibility */
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457 #define CAN_IT_RQCP0 CAN_IT_TME
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458 #define CAN_IT_RQCP1 CAN_IT_TME
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459 #define CAN_IT_RQCP2 CAN_IT_TME
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464 /** @defgroup CAN_Mailboxes_Definition CAN Mailboxes Definition
\r
467 #define CAN_TXMAILBOX_0 ((uint8_t)0x00)
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468 #define CAN_TXMAILBOX_1 ((uint8_t)0x01)
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469 #define CAN_TXMAILBOX_2 ((uint8_t)0x02)
\r
478 /* Exported macro ------------------------------------------------------------*/
\r
479 /** @defgroup CAN_Exported_Macros CAN Exported Macros
\r
483 /** @brief Reset CAN handle state
\r
484 * @param __HANDLE__: specifies the CAN Handle.
\r
487 #define __HAL_CAN_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_CAN_STATE_RESET)
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490 * @brief Enable the specified CAN interrupts.
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491 * @param __HANDLE__: CAN handle
\r
492 * @param __INTERRUPT__: CAN Interrupt
\r
495 #define __HAL_CAN_ENABLE_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->IER) |= (__INTERRUPT__))
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498 * @brief Disable the specified CAN interrupts.
\r
499 * @param __HANDLE__: CAN handle
\r
500 * @param __INTERRUPT__: CAN Interrupt
\r
503 #define __HAL_CAN_DISABLE_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->IER) &= ~(__INTERRUPT__))
\r
506 * @brief Return the number of pending received messages.
\r
507 * @param __HANDLE__: CAN handle
\r
508 * @param __FIFONUMBER__: Receive FIFO number, CAN_FIFO0 or CAN_FIFO1.
\r
509 * @retval The number of pending message.
\r
511 #define __HAL_CAN_MSG_PENDING(__HANDLE__, __FIFONUMBER__) (((__FIFONUMBER__) == CAN_FIFO0)? \
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512 ((uint8_t)((__HANDLE__)->Instance->RF0R&(uint32_t)0x03)) : ((uint8_t)((__HANDLE__)->Instance->RF1R&(uint32_t)0x03)))
\r
514 /** @brief Check whether the specified CAN flag is set or not.
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515 * @param __HANDLE__: CAN Handle
\r
516 * @param __FLAG__: specifies the flag to check.
\r
517 * This parameter can be one of the following values:
\r
518 * @arg CAN_TSR_RQCP0: Request MailBox0 Flag
\r
519 * @arg CAN_TSR_RQCP1: Request MailBox1 Flag
\r
520 * @arg CAN_TSR_RQCP2: Request MailBox2 Flag
\r
521 * @arg CAN_FLAG_TXOK0: Transmission OK MailBox0 Flag
\r
522 * @arg CAN_FLAG_TXOK1: Transmission OK MailBox1 Flag
\r
523 * @arg CAN_FLAG_TXOK2: Transmission OK MailBox2 Flag
\r
524 * @arg CAN_FLAG_TME0: Transmit mailbox 0 empty Flag
\r
525 * @arg CAN_FLAG_TME1: Transmit mailbox 1 empty Flag
\r
526 * @arg CAN_FLAG_TME2: Transmit mailbox 2 empty Flag
\r
527 * @arg CAN_FLAG_FMP0: FIFO 0 Message Pending Flag
\r
528 * @arg CAN_FLAG_FF0: FIFO 0 Full Flag
\r
529 * @arg CAN_FLAG_FOV0: FIFO 0 Overrun Flag
\r
530 * @arg CAN_FLAG_FMP1: FIFO 1 Message Pending Flag
\r
531 * @arg CAN_FLAG_FF1: FIFO 1 Full Flag
\r
532 * @arg CAN_FLAG_FOV1: FIFO 1 Overrun Flag
\r
533 * @arg CAN_FLAG_WKU: Wake up Flag
\r
534 * @arg CAN_FLAG_SLAK: Sleep acknowledge Flag
\r
535 * @arg CAN_FLAG_SLAKI: Sleep acknowledge Flag
\r
536 * @arg CAN_FLAG_EWG: Error Warning Flag
\r
537 * @arg CAN_FLAG_EPV: Error Passive Flag
\r
538 * @arg CAN_FLAG_BOF: Bus-Off Flag
\r
539 * @retval The new state of __FLAG__ (TRUE or FALSE).
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541 #define __HAL_CAN_GET_FLAG(__HANDLE__, __FLAG__) \
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542 ((((__FLAG__) >> 8) == 5)? ((((__HANDLE__)->Instance->TSR) & (1 << ((__FLAG__) & CAN_FLAG_MASK))) == (1 << ((__FLAG__) & CAN_FLAG_MASK))): \
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543 (((__FLAG__) >> 8) == 2)? ((((__HANDLE__)->Instance->RF0R) & (1 << ((__FLAG__) & CAN_FLAG_MASK))) == (1 << ((__FLAG__) & CAN_FLAG_MASK))): \
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544 (((__FLAG__) >> 8) == 4)? ((((__HANDLE__)->Instance->RF1R) & (1 << ((__FLAG__) & CAN_FLAG_MASK))) == (1 << ((__FLAG__) & CAN_FLAG_MASK))): \
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545 (((__FLAG__) >> 8) == 1)? ((((__HANDLE__)->Instance->MSR) & (1 << ((__FLAG__) & CAN_FLAG_MASK))) == (1 << ((__FLAG__) & CAN_FLAG_MASK))): \
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546 ((((__HANDLE__)->Instance->ESR) & (1 << ((__FLAG__) & CAN_FLAG_MASK))) == (1 << ((__FLAG__) & CAN_FLAG_MASK))))
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548 /** @brief Clear the specified CAN pending flag.
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549 * @param __HANDLE__: CAN Handle.
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550 * @param __FLAG__: specifies the flag to check.
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551 * This parameter can be one of the following values:
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552 * @arg CAN_TSR_RQCP0: Request MailBox0 Flag
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553 * @arg CAN_TSR_RQCP1: Request MailBox1 Flag
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554 * @arg CAN_TSR_RQCP2: Request MailBox2 Flag
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555 * @arg CAN_FLAG_TXOK0: Transmission OK MailBox0 Flag
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556 * @arg CAN_FLAG_TXOK1: Transmission OK MailBox1 Flag
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557 * @arg CAN_FLAG_TXOK2: Transmission OK MailBox2 Flag
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558 * @arg CAN_FLAG_TME0: Transmit mailbox 0 empty Flag
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559 * @arg CAN_FLAG_TME1: Transmit mailbox 1 empty Flag
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560 * @arg CAN_FLAG_TME2: Transmit mailbox 2 empty Flag
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561 * @arg CAN_FLAG_FMP0: FIFO 0 Message Pending Flag
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562 * @arg CAN_FLAG_FF0: FIFO 0 Full Flag
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563 * @arg CAN_FLAG_FOV0: FIFO 0 Overrun Flag
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564 * @arg CAN_FLAG_FMP1: FIFO 1 Message Pending Flag
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565 * @arg CAN_FLAG_FF1: FIFO 1 Full Flag
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566 * @arg CAN_FLAG_FOV1: FIFO 1 Overrun Flag
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567 * @arg CAN_FLAG_WKU: Wake up Flag
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568 * @arg CAN_FLAG_SLAK: Sleep acknowledge Flag
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569 * @arg CAN_FLAG_SLAKI: Sleep acknowledge Flag
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570 * @arg CAN_FLAG_EWG: Error Warning Flag
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571 * @arg CAN_FLAG_EPV: Error Passive Flag
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572 * @arg CAN_FLAG_BOF: Bus-Off Flag
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573 * @retval The new state of __FLAG__ (TRUE or FALSE).
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575 #define __HAL_CAN_CLEAR_FLAG(__HANDLE__, __FLAG__) \
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576 ((((__FLAG__) >> 8) == 5)? (((__HANDLE__)->Instance->TSR) = ~((uint32_t)1 << ((__FLAG__) & CAN_FLAG_MASK))): \
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577 (((__FLAG__) >> 8) == 2)? (((__HANDLE__)->Instance->RF0R) = ~((uint32_t)1 << ((__FLAG__) & CAN_FLAG_MASK))): \
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578 (((__FLAG__) >> 8) == 4)? (((__HANDLE__)->Instance->RF1R) = ~((uint32_t)1 << ((__FLAG__) & CAN_FLAG_MASK))): \
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579 (((__FLAG__) >> 8) == 1)? (((__HANDLE__)->Instance->MSR) = ~((uint32_t)1 << ((__FLAG__) & CAN_FLAG_MASK))): \
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580 (((__HANDLE__)->Instance->ESR) = ~((uint32_t)1 << ((__FLAG__) & CAN_FLAG_MASK))))
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582 /** @brief Check if the specified CAN interrupt source is enabled or disabled.
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583 * @param __HANDLE__: CAN Handle
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584 * @param __INTERRUPT__: specifies the CAN interrupt source to check.
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585 * This parameter can be one of the following values:
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586 * @arg CAN_IT_TME: Transmit mailbox empty interrupt enable
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587 * @arg CAN_IT_FMP0: FIFO0 message pending interrupt enable
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588 * @arg CAN_IT_FMP1: FIFO1 message pending interrupt enable
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589 * @retval The new state of __IT__ (TRUE or FALSE).
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591 #define __HAL_CAN_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) ((((__HANDLE__)->Instance->IER & (__INTERRUPT__)) == (__INTERRUPT__)) ? SET : RESET)
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594 * @brief Check the transmission status of a CAN Frame.
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595 * @param __HANDLE__: CAN Handle
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596 * @param __TRANSMITMAILBOX__: the number of the mailbox that is used for transmission.
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597 * @retval The new status of transmission (TRUE or FALSE).
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599 #define __HAL_CAN_TRANSMIT_STATUS(__HANDLE__, __TRANSMITMAILBOX__)\
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600 (((__TRANSMITMAILBOX__) == CAN_TXMAILBOX_0)? ((((__HANDLE__)->Instance->TSR) & (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0)) == (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0)) :\
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601 ((__TRANSMITMAILBOX__) == CAN_TXMAILBOX_1)? ((((__HANDLE__)->Instance->TSR) & (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1)) == (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1)) :\
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602 ((((__HANDLE__)->Instance->TSR) & (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2)) == (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2)))
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605 * @brief Release the specified receive FIFO.
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606 * @param __HANDLE__: CAN handle
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607 * @param __FIFONUMBER__: Receive FIFO number, CAN_FIFO0 or CAN_FIFO1.
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610 #define __HAL_CAN_FIFO_RELEASE(__HANDLE__, __FIFONUMBER__) (((__FIFONUMBER__) == CAN_FIFO0)? \
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611 ((__HANDLE__)->Instance->RF0R |= CAN_RF0R_RFOM0) : ((__HANDLE__)->Instance->RF1R |= CAN_RF1R_RFOM1))
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614 * @brief Cancel a transmit request.
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615 * @param __HANDLE__: CAN Handle
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616 * @param __TRANSMITMAILBOX__: the number of the mailbox that is used for transmission.
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619 #define __HAL_CAN_CANCEL_TRANSMIT(__HANDLE__, __TRANSMITMAILBOX__)\
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620 (((__TRANSMITMAILBOX__) == CAN_TXMAILBOX_0)? ((__HANDLE__)->Instance->TSR |= CAN_TSR_ABRQ0) :\
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621 ((__TRANSMITMAILBOX__) == CAN_TXMAILBOX_1)? ((__HANDLE__)->Instance->TSR |= CAN_TSR_ABRQ1) :\
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622 ((__HANDLE__)->Instance->TSR |= CAN_TSR_ABRQ2))
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625 * @brief Enable or disable the DBG Freeze for CAN.
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626 * @param __HANDLE__: CAN Handle
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627 * @param __NEWSTATE__: new state of the CAN peripheral.
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628 * This parameter can be: ENABLE (CAN reception/transmission is frozen
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629 * during debug. Reception FIFOs can still be accessed/controlled normally)
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630 * or DISABLE (CAN is working during debug).
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633 #define __HAL_CAN_DBG_FREEZE(__HANDLE__, __NEWSTATE__) (((__NEWSTATE__) == ENABLE)? \
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634 ((__HANDLE__)->Instance->MCR |= CAN_MCR_DBF) : ((__HANDLE__)->Instance->MCR &= ~CAN_MCR_DBF))
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640 /* Exported functions --------------------------------------------------------*/
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641 /** @addtogroup CAN_Exported_Functions
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645 /** @addtogroup CAN_Exported_Functions_Group1
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648 /* Initialization/de-initialization functions ***********************************/
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649 HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef* hcan);
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650 HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef* hcan, CAN_FilterConfTypeDef* sFilterConfig);
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651 HAL_StatusTypeDef HAL_CAN_DeInit(CAN_HandleTypeDef* hcan);
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652 void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan);
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653 void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan);
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658 /** @addtogroup CAN_Exported_Functions_Group2
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661 /* I/O operation functions ******************************************************/
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662 HAL_StatusTypeDef HAL_CAN_Transmit(CAN_HandleTypeDef *hcan, uint32_t Timeout);
\r
663 HAL_StatusTypeDef HAL_CAN_Transmit_IT(CAN_HandleTypeDef *hcan);
\r
664 HAL_StatusTypeDef HAL_CAN_Receive(CAN_HandleTypeDef *hcan, uint8_t FIFONumber, uint32_t Timeout);
\r
665 HAL_StatusTypeDef HAL_CAN_Receive_IT(CAN_HandleTypeDef *hcan, uint8_t FIFONumber);
\r
666 HAL_StatusTypeDef HAL_CAN_Sleep(CAN_HandleTypeDef *hcan);
\r
667 HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef *hcan);
\r
668 void HAL_CAN_IRQHandler(CAN_HandleTypeDef* hcan);
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669 void HAL_CAN_TxCpltCallback(CAN_HandleTypeDef* hcan);
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670 void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan);
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671 void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan);
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676 /** @addtogroup CAN_Exported_Functions_Group3
\r
679 /* Peripheral State functions ***************************************************/
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680 uint32_t HAL_CAN_GetError(CAN_HandleTypeDef *hcan);
\r
681 HAL_CAN_StateTypeDef HAL_CAN_GetState(CAN_HandleTypeDef* hcan);
\r
690 /* Private types -------------------------------------------------------------*/
\r
691 /** @defgroup CAN_Private_Types CAN Private Types
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699 /* Private variables ---------------------------------------------------------*/
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700 /** @defgroup CAN_Private_Variables CAN Private Variables
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708 /* Private constants ---------------------------------------------------------*/
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709 /** @defgroup CAN_Private_Constants CAN Private Constants
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712 #define CAN_TXSTATUS_FAILED ((uint8_t)0x00) /*!< CAN transmission failed */
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713 #define CAN_TXSTATUS_OK ((uint8_t)0x01) /*!< CAN transmission succeeded */
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714 #define CAN_TXSTATUS_PENDING ((uint8_t)0x02) /*!< CAN transmission pending */
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715 #define CAN_TXSTATUS_NOMAILBOX ((uint8_t)0x04) /*!< CAN cell did not provide CAN_TxStatus_NoMailBox */
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716 #define CAN_FLAG_MASK ((uint32_t)0x000000FF)
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721 /* Private macros ------------------------------------------------------------*/
\r
722 /** @defgroup CAN_Private_Macros CAN Private Macros
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725 #define IS_CAN_MODE(MODE) (((MODE) == CAN_MODE_NORMAL) || \
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726 ((MODE) == CAN_MODE_LOOPBACK)|| \
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727 ((MODE) == CAN_MODE_SILENT) || \
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728 ((MODE) == CAN_MODE_SILENT_LOOPBACK))
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729 #define IS_CAN_SJW(SJW) (((SJW) == CAN_SJW_1TQ) || ((SJW) == CAN_SJW_2TQ)|| \
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730 ((SJW) == CAN_SJW_3TQ) || ((SJW) == CAN_SJW_4TQ))
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731 #define IS_CAN_BS1(BS1) ((BS1) <= CAN_BS1_16TQ)
\r
732 #define IS_CAN_BS2(BS2) ((BS2) <= CAN_BS2_8TQ)
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733 #define IS_CAN_PRESCALER(PRESCALER) (((PRESCALER) >= 1) && ((PRESCALER) <= 1024))
\r
734 #define IS_CAN_FILTER_NUMBER(NUMBER) ((NUMBER) <= 27)
\r
735 #define IS_CAN_FILTER_MODE(MODE) (((MODE) == CAN_FILTERMODE_IDMASK) || \
\r
736 ((MODE) == CAN_FILTERMODE_IDLIST))
\r
737 #define IS_CAN_FILTER_SCALE(SCALE) (((SCALE) == CAN_FILTERSCALE_16BIT) || \
\r
738 ((SCALE) == CAN_FILTERSCALE_32BIT))
\r
739 #define IS_CAN_FILTER_FIFO(FIFO) (((FIFO) == CAN_FILTER_FIFO0) || \
\r
740 ((FIFO) == CAN_FILTER_FIFO1))
\r
741 #define IS_CAN_BANKNUMBER(BANKNUMBER) ((BANKNUMBER) <= 28)
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743 #define IS_CAN_TRANSMITMAILBOX(TRANSMITMAILBOX) ((TRANSMITMAILBOX) <= ((uint8_t)0x02))
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744 #define IS_CAN_STDID(STDID) ((STDID) <= ((uint32_t)0x7FF))
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745 #define IS_CAN_EXTID(EXTID) ((EXTID) <= ((uint32_t)0x1FFFFFFF))
\r
746 #define IS_CAN_DLC(DLC) ((DLC) <= ((uint8_t)0x08))
\r
748 #define IS_CAN_IDTYPE(IDTYPE) (((IDTYPE) == CAN_ID_STD) || \
\r
749 ((IDTYPE) == CAN_ID_EXT))
\r
750 #define IS_CAN_RTR(RTR) (((RTR) == CAN_RTR_DATA) || ((RTR) == CAN_RTR_REMOTE))
\r
751 #define IS_CAN_FIFO(FIFO) (((FIFO) == CAN_FIFO0) || ((FIFO) == CAN_FIFO1))
\r
753 #define IS_CAN_GET_FLAG(FLAG) (((FLAG) == CAN_FLAG_RQCP2) || ((FLAG) == CAN_FLAG_BOF) || \
\r
754 ((FLAG) == CAN_FLAG_EPV) || ((FLAG) == CAN_FLAG_EWG) || \
\r
755 ((FLAG) == CAN_FLAG_WKU) || ((FLAG) == CAN_FLAG_FOV0) || \
\r
756 ((FLAG) == CAN_FLAG_FF0) || ((FLAG) == CAN_FLAG_SLAK) || \
\r
757 ((FLAG) == CAN_FLAG_FOV1) || ((FLAG) == CAN_FLAG_FF1) || \
\r
758 ((FLAG) == CAN_FLAG_RQCP1) || ((FLAG) == CAN_FLAG_RQCP0))
\r
761 #define IS_CAN_CLEAR_FLAG(FLAG)(((FLAG) == CAN_FLAG_SLAK) || ((FLAG) == CAN_FLAG_RQCP2) || \
\r
762 ((FLAG) == CAN_FLAG_RQCP1) || ((FLAG) == CAN_FLAG_RQCP0) || \
\r
763 ((FLAG) == CAN_FLAG_FF0) || ((FLAG) == CAN_FLAG_FOV0) || \
\r
764 ((FLAG) == CAN_FLAG_FF1) || ((FLAG) == CAN_FLAG_FOV1) || \
\r
765 ((FLAG) == CAN_FLAG_WKU))
\r
767 #define IS_CAN_IT(IT) (((IT) == CAN_IT_TME) || ((IT) == CAN_IT_FMP0) ||\
\r
768 ((IT) == CAN_IT_FF0) || ((IT) == CAN_IT_FOV0) ||\
\r
769 ((IT) == CAN_IT_FMP1) || ((IT) == CAN_IT_FF1) ||\
\r
770 ((IT) == CAN_IT_FOV1) || ((IT) == CAN_IT_EWG) ||\
\r
771 ((IT) == CAN_IT_EPV) || ((IT) == CAN_IT_BOF) ||\
\r
772 ((IT) == CAN_IT_LEC) || ((IT) == CAN_IT_ERR) ||\
\r
773 ((IT) == CAN_IT_WKU) || ((IT) == CAN_IT_SLK))
\r
775 #define IS_CAN_CLEAR_IT(IT) (((IT) == CAN_IT_TME) || ((IT) == CAN_IT_FF0) ||\
\r
776 ((IT) == CAN_IT_FOV0)|| ((IT) == CAN_IT_FF1) ||\
\r
777 ((IT) == CAN_IT_FOV1)|| ((IT) == CAN_IT_EWG) ||\
\r
778 ((IT) == CAN_IT_EPV) || ((IT) == CAN_IT_BOF) ||\
\r
779 ((IT) == CAN_IT_LEC) || ((IT) == CAN_IT_ERR) ||\
\r
780 ((IT) == CAN_IT_WKU) || ((IT) == CAN_IT_SLK))
\r
786 /* Private functions ---------------------------------------------------------*/
\r
787 /** @defgroup CAN_Private_Functions CAN Private Functions
\r
806 #endif /* __STM32F7xx_CAN_H */
\r
809 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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