Initialization and de-initialization functions

Initialization and Configuration functions. More...

Functions
HAL_StatusTypeDef	HAL_CAN_Init (CAN_HandleTypeDef *hcan)
	Initializes the CAN peripheral according to the specified parameters in the CAN_InitStruct. More...
HAL_StatusTypeDef	HAL_CAN_DeInit (CAN_HandleTypeDef *hcan)
	Deinitializes the CAN peripheral registers to their default reset values. More...
void	HAL_CAN_MspInit (CAN_HandleTypeDef *hcan)
	Initializes the CAN MSP. More...
void	HAL_CAN_MspDeInit (CAN_HandleTypeDef *hcan)
	DeInitializes the CAN MSP. More...
HAL_StatusTypeDef	HAL_CAN_RegisterCallback (CAN_HandleTypeDef *hcan, HAL_CAN_CallbackIDTypeDef CallbackID, void(*pCallback)(CAN_HandleTypeDef *_hcan))
	Register a CAN CallBack. To be used instead of the weak predefined callback. More...
HAL_StatusTypeDef	HAL_CAN_UnRegisterCallback (CAN_HandleTypeDef *hcan, HAL_CAN_CallbackIDTypeDef CallbackID)
	Unregister a CAN CallBack. CAN callabck is redirected to the weak predefined callback. More...

Detailed Description

Initialization and Configuration functions.

  ==============================================================================
              ##### 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.

Function Documentation

HAL_CAN_DeInit()

HAL_StatusTypeDef HAL_CAN_DeInit

(

CAN_HandleTypeDef *

hcan

)

Deinitializes the CAN peripheral registers to their default reset values.

Parameters

hcan	pointer to a CAN_HandleTypeDef structure that contains the configuration information for the specified CAN.

Return values

HAL

status

Definition at line 459 of file stm32l4xx_hal_can.c.

{
  /* 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;
}

HAL_CAN_Init()

HAL_StatusTypeDef HAL_CAN_Init

(

CAN_HandleTypeDef *

hcan

)

Initializes the CAN peripheral according to the specified parameters in the CAN_InitStruct.

Parameters

hcan	pointer to a CAN_HandleTypeDef structure that contains the configuration information for the specified CAN.

Return values

HAL

status

Definition at line 274 of file stm32l4xx_hal_can.c.

{
  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;
}

HAL_CAN_MspDeInit()

__weak void HAL_CAN_MspDeInit

(

CAN_HandleTypeDef *

hcan

)

DeInitializes the CAN MSP.

Parameters

hcan	pointer to a CAN_HandleTypeDef structure that contains the configuration information for the specified CAN.

Return values

None

Definition at line 522 of file stm32l4xx_hal_can.c.

{
  /* 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
   */
}

HAL_CAN_MspInit()

__weak void HAL_CAN_MspInit

(

CAN_HandleTypeDef *

hcan

)

Initializes the CAN MSP.

Parameters

hcan	pointer to a CAN_HandleTypeDef structure that contains the configuration information for the specified CAN.

Return values

None

Definition at line 506 of file stm32l4xx_hal_can.c.

{
  /* 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
   */
}

HAL_CAN_RegisterCallback()

HAL_StatusTypeDef HAL_CAN_RegisterCallback	(	CAN_HandleTypeDef *	hcan,
		HAL_CAN_CallbackIDTypeDef	CallbackID,
		void(*)(CAN_HandleTypeDef *_hcan)	pCallback
	)

Register a CAN CallBack. To be used instead of the weak predefined callback.

Parameters

hcan	pointer to a CAN_HandleTypeDef structure that contains the configuration information for CAN module
CallbackID	ID of the callback to be registered This parameter can be one of the following values: HAL_CAN_TX_MAILBOX0_COMPLETE_CALLBACK_CB_ID Tx Mailbox 0 Complete callback ID HAL_CAN_TX_MAILBOX1_COMPLETE_CALLBACK_CB_ID Tx Mailbox 1 Complete callback ID HAL_CAN_TX_MAILBOX2_COMPLETE_CALLBACK_CB_ID Tx Mailbox 2 Complete callback ID HAL_CAN_TX_MAILBOX0_ABORT_CALLBACK_CB_ID Tx Mailbox 0 Abort callback ID HAL_CAN_TX_MAILBOX1_ABORT_CALLBACK_CB_ID Tx Mailbox 1 Abort callback ID HAL_CAN_TX_MAILBOX2_ABORT_CALLBACK_CB_ID Tx Mailbox 2 Abort callback ID HAL_CAN_RX_FIFO0_MSG_PENDING_CALLBACK_CB_ID Rx Fifo 0 message pending callback ID HAL_CAN_RX_FIFO0_FULL_CALLBACK_CB_ID Rx Fifo 0 full callback ID HAL_CAN_RX_FIFO1_MSGPENDING_CALLBACK_CB_ID Rx Fifo 1 message pending callback ID HAL_CAN_RX_FIFO1_FULL_CALLBACK_CB_ID Rx Fifo 1 full callback ID HAL_CAN_SLEEP_CALLBACK_CB_ID Sleep callback ID HAL_CAN_WAKEUP_FROM_RX_MSG_CALLBACK_CB_ID Wake Up from Rx message callback ID HAL_CAN_ERROR_CALLBACK_CB_ID Error callback ID HAL_CAN_MSPINIT_CB_ID MspInit callback ID HAL_CAN_MSPDEINIT_CB_ID MspDeInit callback ID
pCallback	pointer to the Callback function

Return values

HAL

status

Definition at line 558 of file stm32l4xx_hal_can.c.

{
  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;
}

HAL_CAN_UnRegisterCallback()

HAL_StatusTypeDef HAL_CAN_UnRegisterCallback	(	CAN_HandleTypeDef *	hcan,
		HAL_CAN_CallbackIDTypeDef	CallbackID
	)

Unregister a CAN CallBack. CAN callabck is redirected to the weak predefined callback.

Parameters

hcan

pointer to a CAN_HandleTypeDef structure that contains the configuration information for CAN module

CallbackID

ID of the callback to be unregistered This parameter can be one of the following values: HAL_CAN_TX_MAILBOX0_COMPLETE_CALLBACK_CB_ID Tx Mailbox 0 Complete callback ID HAL_CAN_TX_MAILBOX1_COMPLETE_CALLBACK_CB_ID Tx Mailbox 1 Complete callback ID HAL_CAN_TX_MAILBOX2_COMPLETE_CALLBACK_CB_ID Tx Mailbox 2 Complete callback ID HAL_CAN_TX_MAILBOX0_ABORT_CALLBACK_CB_ID Tx Mailbox 0 Abort callback ID HAL_CAN_TX_MAILBOX1_ABORT_CALLBACK_CB_ID Tx Mailbox 1 Abort callback ID HAL_CAN_TX_MAILBOX2_ABORT_CALLBACK_CB_ID Tx Mailbox 2 Abort callback ID HAL_CAN_RX_FIFO0_MSG_PENDING_CALLBACK_CB_ID Rx Fifo 0 message pending callback ID HAL_CAN_RX_FIFO0_FULL_CALLBACK_CB_ID Rx Fifo 0 full callback ID HAL_CAN_RX_FIFO1_MSGPENDING_CALLBACK_CB_ID Rx Fifo 1 message pending callback ID HAL_CAN_RX_FIFO1_FULL_CALLBACK_CB_ID Rx Fifo 1 full callback ID HAL_CAN_SLEEP_CALLBACK_CB_ID Sleep callback ID HAL_CAN_WAKEUP_FROM_RX_MSG_CALLBACK_CB_ID Wake Up from Rx message callback ID HAL_CAN_ERROR_CALLBACK_CB_ID Error callback ID HAL_CAN_MSPINIT_CB_ID MspInit callback ID HAL_CAN_MSPDEINIT_CB_ID MspDeInit callback ID

Return values

HAL

status

Definition at line 700 of file stm32l4xx_hal_can.c.

{
  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;
}