/**
* @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 status = CAN_INITSTATUS_FAILED; /* Default init status */
uint32_t tickstart = 0;
/* 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.TTCM));
assert_param(IS_FUNCTIONAL_STATE(hcan->Init.ABOM));
assert_param(IS_FUNCTIONAL_STATE(hcan->Init.AWUM));
assert_param(IS_FUNCTIONAL_STATE(hcan->Init.NART));
assert_param(IS_FUNCTIONAL_STATE(hcan->Init.RFLM));
assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TXFP));
assert_param(IS_CAN_MODE(hcan->Init.Mode));
assert_param(IS_CAN_SJW(hcan->Init.SJW));
assert_param(IS_CAN_BS1(hcan->Init.BS1));
assert_param(IS_CAN_BS2(hcan->Init.BS2));
assert_param(IS_CAN_PRESCALER(hcan->Init.Prescaler));
if(hcan->State == HAL_CAN_STATE_RESET)
{
/* Init the low level hardware */
HAL_CAN_MspInit(hcan);
}
/* Initialize the CAN state*/
hcan->State = HAL_CAN_STATE_BUSY;
/* Exit from sleep mode */
hcan->Instance->MCR &= (~(uint32_t)CAN_MCR_SLEEP);
/* Request initialisation */
hcan->Instance->MCR |= CAN_MCR_INRQ ;
/* Get tickstart */
tickstart = HAL_GetTick();
/* Wait the acknowledge */
while((hcan->Instance->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
{
if((HAL_GetTick() - tickstart) > HAL_CAN_DEFAULT_TIMEOUT)
{
hcan->State= HAL_CAN_STATE_TIMEOUT;
return HAL_TIMEOUT;
}
}
/* Check acknowledge */
if ((hcan->Instance->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)
{
/* Set the time triggered communication mode */
if (hcan->Init.TTCM == ENABLE)
{
hcan->Instance->MCR |= CAN_MCR_TTCM;
}
else
{
hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_TTCM;
}
/* Set the automatic bus-off management */
if (hcan->Init.ABOM == ENABLE)
{
hcan->Instance->MCR |= CAN_MCR_ABOM;
}
else
{
hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_ABOM;
}
/* Set the automatic wake-up mode */
if (hcan->Init.AWUM == ENABLE)
{
hcan->Instance->MCR |= CAN_MCR_AWUM;
}
else
{
hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_AWUM;
}
/* Set the no automatic retransmission */
if (hcan->Init.NART == ENABLE)
{
hcan->Instance->MCR |= CAN_MCR_NART;
}
else
{
hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_NART;
}
/* Set the receive FIFO locked mode */
if (hcan->Init.RFLM == ENABLE)
{
hcan->Instance->MCR |= CAN_MCR_RFLM;
}
else
{
hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_RFLM;
}
/* Set the transmit FIFO priority */
if (hcan->Init.TXFP == ENABLE)
{
hcan->Instance->MCR |= CAN_MCR_TXFP;
}
else
{
hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_TXFP;
}
/* Set the bit timing register */
hcan->Instance->BTR = (uint32_t)((uint32_t)hcan->Init.Mode) | \
((uint32_t)hcan->Init.SJW) | \
((uint32_t)hcan->Init.BS1) | \
((uint32_t)hcan->Init.BS2) | \
((uint32_t)hcan->Init.Prescaler - 1);
/* Request leave initialisation */
hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_INRQ;
/* Get timeout */
tickstart = HAL_GetTick();
/* Wait the acknowledge */
while((hcan->Instance->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)
{
if((HAL_GetTick() - tickstart) > HAL_CAN_DEFAULT_TIMEOUT)
{
hcan->State= HAL_CAN_STATE_TIMEOUT;
return HAL_TIMEOUT;
}
}
/* Check acknowledged */
if ((hcan->Instance->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
{
status = CAN_INITSTATUS_SUCCESS;
}
}
if(status == CAN_INITSTATUS_SUCCESS)
{
/* Set CAN error code to none */
hcan->ErrorCode = HAL_CAN_ERROR_NONE;
/* Initialize the CAN state */
hcan->State = HAL_CAN_STATE_READY;
/* Return function status */
return HAL_OK;
}
else
{
/* Initialize the CAN state */
hcan->State = HAL_CAN_STATE_ERROR;
/* Return function status */
return HAL_ERROR;
}
}
/**
* @brief Initializes the CAN peripheral according to the specified
* parameters in the CAN_InitStruct.
* @param CANx: where x can be 1 to select the CAN peripheral.
* @param CAN_InitStruct: pointer to a CAN_InitTypeDef structure that
* contains the configuration information for the CAN peripheral.
* @retval : Constant indicates initialization succeed which will be
* CANINITFAILED or CANINITOK.
*/
uint8_t CAN_Init(CAN_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct)
{
uint8_t InitStatus = CANINITFAILED;
uint32_t wait_ack = 0x00000000;
/* Check the parameters */
assert_param(IS_CAN_ALL_PERIPH(CANx));
assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_TTCM));
assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_ABOM));
assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_AWUM));
assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_NART));
assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_RFLM));
assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_TXFP));
assert_param(IS_CAN_MODE(CAN_InitStruct->CAN_Mode));
assert_param(IS_CAN_SJW(CAN_InitStruct->CAN_SJW));
assert_param(IS_CAN_BS1(CAN_InitStruct->CAN_BS1));
assert_param(IS_CAN_BS2(CAN_InitStruct->CAN_BS2));
assert_param(IS_CAN_PRESCALER(CAN_InitStruct->CAN_Prescaler));
/* exit from sleep mode */
CANx->MCR &= ~MCR_SLEEP;
/* Request initialisation */
CANx->MCR |= MCR_INRQ ;
/* Wait the acknowledge */
while ((wait_ack != INAK_TimeOut)&&((CANx->MSR & MSR_INAK) != MSR_INAK))
{
wait_ack++;
}
/* ...and check acknowledged */
if ((CANx->MSR & MSR_INAK) != MSR_INAK)
{
InitStatus = CANINITFAILED;
}
else
{
/* Set the time triggered communication mode */
if (CAN_InitStruct->CAN_TTCM == ENABLE)
{
CANx->MCR |= MCR_TTCM;
}
else
{
CANx->MCR &= ~MCR_TTCM;
}
/* Set the automatic bus-off management */
if (CAN_InitStruct->CAN_ABOM == ENABLE)
{
CANx->MCR |= MCR_ABOM;
}
else
{
CANx->MCR &= ~MCR_ABOM;
}
/* Set the automatic wake-up mode */
if (CAN_InitStruct->CAN_AWUM == ENABLE)
{
CANx->MCR |= MCR_AWUM;
}
else
{
CANx->MCR &= ~MCR_AWUM;
}
/* Set the no automatic retransmission */
if (CAN_InitStruct->CAN_NART == ENABLE)
{
CANx->MCR |= MCR_NART;
}
else
{
CANx->MCR &= ~MCR_NART;
}
/* Set the receive FIFO locked mode */
if (CAN_InitStruct->CAN_RFLM == ENABLE)
{
CANx->MCR |= MCR_RFLM;
}
else
{
CANx->MCR &= ~MCR_RFLM;
}
/* Set the transmit FIFO priority */
if (CAN_InitStruct->CAN_TXFP == ENABLE)
{
CANx->MCR |= MCR_TXFP;
}
else
{
CANx->MCR &= ~MCR_TXFP;
}
/* Set the bit timing register */
CANx->BTR = (uint32_t)((uint32_t)CAN_InitStruct->CAN_Mode << 30) | ((uint32_t)CAN_InitStruct->CAN_SJW << 24) |
((uint32_t)CAN_InitStruct->CAN_BS1 << 16) | ((uint32_t)CAN_InitStruct->CAN_BS2 << 20) |
((uint32_t)CAN_InitStruct->CAN_Prescaler - 1);
/* Request leave initialisation */
CANx->MCR &= ~MCR_INRQ;
/* Wait the acknowledge */
wait_ack = 0x00;
while ((wait_ack != INAK_TimeOut)&&((CANx->MSR & MSR_INAK) == MSR_INAK))
{
wait_ack++;
}
/* ...and check acknowledged */
if ((CANx->MSR & MSR_INAK) == MSR_INAK)
{
InitStatus = CANINITFAILED;
}
else
{
InitStatus = CANINITOK ;
}
}
/* At this step, return the status of initialization */
return InitStatus;
}
/*******************************************************************************
* 函数名称: CAN_Init
* 功能描述: 根据CAN_InitStruct中指定的参数初始化CAN外围模块。
* 输入参数: CAN_InitStruct: 指向结构体CAN_InitTypeDef的指针，包含了CAN外围模块的配置信息。
* 输出参数: 无.
* 返回参数: 一个说明CAN初始化是否成功的常量。CANINITFAILED ＝ 初始化失败
* CANINITOK ＝ 初始化成功
*******************************************************************************/
u8 CAN_Init(CAN_InitTypeDef* CAN_InitStruct)
{
u8 InitStatus = 0;
u16 WaitAck = 0;
/* Check the parameters [检查参数]*/
assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_TTCM));
assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_ABOM));
assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_AWUM));
assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_NART));
assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_RFLM));
assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_TXFP));
assert_param(IS_CAN_MODE(CAN_InitStruct->CAN_Mode));
assert_param(IS_CAN_SJW(CAN_InitStruct->CAN_SJW));
assert_param(IS_CAN_BS1(CAN_InitStruct->CAN_BS1));
assert_param(IS_CAN_BS2(CAN_InitStruct->CAN_BS2));
assert_param(IS_CAN_PRESCALER(CAN_InitStruct->CAN_Prescaler));
/* Request initialisation [请求初始化]*/
CAN->MCR = CAN_MCR_INRQ;
/* ...and check acknowledged [检测应答]*/
if ((CAN->MSR & CAN_MSR_INAK) == 0)
{
InitStatus = CANINITFAILED;
}
else
{
/* Set the time triggered communication mode [设置定时器触发通讯模式]*/
if (CAN_InitStruct->CAN_TTCM == ENABLE)
{
CAN->MCR |= CAN_MCR_TTCM;
}
else
{
CAN->MCR &= ~CAN_MCR_TTCM;
}
/* Set the automatic bus-off management [设置自动总线关闭管理]*/
if (CAN_InitStruct->CAN_ABOM == ENABLE)
{
CAN->MCR |= CAN_MCR_ABOM;
}
else
{
CAN->MCR &= ~CAN_MCR_ABOM;
}
/* Set the automatic wake-up mode [设置自动唤醒模式]*/
if (CAN_InitStruct->CAN_AWUM == ENABLE)
{
CAN->MCR |= CAN_MCR_AWUM;
}
else
{
CAN->MCR &= ~CAN_MCR_AWUM;
}
/* Set the no automatic retransmission [设置非自动重发]*/
if (CAN_InitStruct->CAN_NART == ENABLE)
{
CAN->MCR |= CAN_MCR_NART;
}
else
{
CAN->MCR &= ~CAN_MCR_NART;
}
/* Set the receive FIFO locked mode [设置接收FIFO锁定模式]*/
if (CAN_InitStruct->CAN_RFLM == ENABLE)
{
CAN->MCR |= CAN_MCR_RFLM;
}
else
{
CAN->MCR &= ~CAN_MCR_RFLM;
}
/* Set the transmit FIFO priority [设置发送FIFO优先级]*/
if (CAN_InitStruct->CAN_TXFP == ENABLE)
{
CAN->MCR |= CAN_MCR_TXFP;
}
else
{
CAN->MCR &= ~CAN_MCR_TXFP;
}
/* Set the bit timing register [设置定时器的位]*/
CAN->BTR = (u32)((u32)CAN_InitStruct->CAN_Mode << 30) | ((u32)CAN_InitStruct->CAN_SJW << 24) |
((u32)CAN_InitStruct->CAN_BS1 << 16) | ((u32)CAN_InitStruct->CAN_BS2 << 20) |
((u32)CAN_InitStruct->CAN_Prescaler - 1);
InitStatus = CANINITOK;
/* Request leave initialisation [请求退出初始化]*/
CAN->MCR &= ~CAN_MCR_INRQ;
/* Wait the acknowledge [等待肯定的应答]*/
for(WaitAck = 0x400; WaitAck > 0x0; WaitAck--)
{
}
/* ...and check acknowledged [检测应答]*/
if ((CAN->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)
{
InitStatus = CANINITFAILED;
}
}
/* At this step, return the status of initialization [在这步，返回初始化状态]*/
return InitStatus;
}
/*******************************************************************************
* Function Name : CAN_Init
* Description : Initializes the CAN peripheral according to the specified
* parameters in the CAN_InitStruct.
* Input : CAN_InitStruct: pointer to a CAN_InitTypeDef structure that
contains the configuration information for the CAN peripheral.
* Output : None.
* Return : Constant indicates initialization succeed which will be
* CANINITFAILED or CANINITOK.
*******************************************************************************/
u8 CAN_Init(CAN_InitTypeDef* CAN_InitStruct)
{
u8 InitStatus = 0;
u16 WaitAck = 0;
/* Check the parameters */
assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_TTCM));
assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_ABOM));
assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_AWUM));
assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_NART));
assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_RFLM));
assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_TXFP));
assert_param(IS_CAN_MODE(CAN_InitStruct->CAN_Mode));
assert_param(IS_CAN_SJW(CAN_InitStruct->CAN_SJW));
assert_param(IS_CAN_BS1(CAN_InitStruct->CAN_BS1));
assert_param(IS_CAN_BS2(CAN_InitStruct->CAN_BS2));
assert_param(IS_CAN_PRESCALER(CAN_InitStruct->CAN_Prescaler));
/* Request initialisation */
CAN->MCR = MCR_INRQ;
/* ...and check acknowledged */
if ((CAN->MSR & MSR_INAK) == 0)
{
InitStatus = CANINITFAILED;
}
else
{
/* Set the time triggered communication mode */
if (CAN_InitStruct->CAN_TTCM == ENABLE)
{
CAN->MCR |= MCR_TTCM;
}
else
{
CAN->MCR &= ~MCR_TTCM;
}
/* Set the automatic bus-off management */
if (CAN_InitStruct->CAN_ABOM == ENABLE)
{
CAN->MCR |= MCR_ABOM;
}
else
{
CAN->MCR &= ~MCR_ABOM;
}
/* Set the automatic wake-up mode */
if (CAN_InitStruct->CAN_AWUM == ENABLE)
{
CAN->MCR |= MCR_AWUM;
}
else
{
CAN->MCR &= ~MCR_AWUM;
}
/* Set the no automatic retransmission */
if (CAN_InitStruct->CAN_NART == ENABLE)
{
CAN->MCR |= MCR_NART;
}
else
{
CAN->MCR &= ~MCR_NART;
}
/* Set the receive FIFO locked mode */
if (CAN_InitStruct->CAN_RFLM == ENABLE)
{
CAN->MCR |= MCR_RFLM;
}
else
{
CAN->MCR &= ~MCR_RFLM;
}
/* Set the transmit FIFO priority */
if (CAN_InitStruct->CAN_TXFP == ENABLE)
{
CAN->MCR |= MCR_TXFP;
}
else
{
CAN->MCR &= ~MCR_TXFP;
}
/* Set the bit timing register */
CAN->BTR = (u32)((u32)CAN_InitStruct->CAN_Mode << 30) | ((u32)CAN_InitStruct->CAN_SJW << 24) |
((u32)CAN_InitStruct->CAN_BS1 << 16) | ((u32)CAN_InitStruct->CAN_BS2 << 20) |
((u32)CAN_InitStruct->CAN_Prescaler - 1);
InitStatus = CANINITOK;
/* Request leave initialisation */
CAN->MCR &= ~MCR_INRQ;
/* Wait the acknowledge */
for(WaitAck = 0x400; WaitAck > 0x0; WaitAck--)
{
}
/* ...and check acknowledged */
if ((CAN->MSR & MSR_INAK) == MSR_INAK)
{
InitStatus = CANINITFAILED;
}
}
/* At this step, return the status of initialization */
return InitStatus;
}
/**
* @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 status = CAN_INITSTATUS_FAILED; /* Default init status */
uint32_t tickstart = 0;
uint32_t tmp_mcr = 0;
/* 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.TTCM));
assert_param(IS_FUNCTIONAL_STATE(hcan->Init.ABOM));
assert_param(IS_FUNCTIONAL_STATE(hcan->Init.AWUM));
assert_param(IS_FUNCTIONAL_STATE(hcan->Init.NART));
assert_param(IS_FUNCTIONAL_STATE(hcan->Init.RFLM));
assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TXFP));
assert_param(IS_CAN_MODE(hcan->Init.Mode));
assert_param(IS_CAN_SJW(hcan->Init.SJW));
assert_param(IS_CAN_BS1(hcan->Init.BS1));
assert_param(IS_CAN_BS2(hcan->Init.BS2));
assert_param(IS_CAN_PRESCALER(hcan->Init.Prescaler));
if(hcan->State == HAL_CAN_STATE_RESET)
{
/* Allocate lock resource and initialize it */
hcan->Lock = HAL_UNLOCKED;
/* Init the low level hardware */
HAL_CAN_MspInit(hcan);
}
/* Initialize the CAN state*/
hcan->State = HAL_CAN_STATE_BUSY;
/* Exit from sleep mode */
CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
/* Request initialisation */
SET_BIT(hcan->Instance->MCR, CAN_MCR_INRQ);
/* Get timeout */
tickstart = HAL_GetTick();
/* Wait the acknowledge */
while(HAL_IS_BIT_CLR(hcan->Instance->MSR, CAN_MSR_INAK))
{
if((HAL_GetTick()-tickstart) > CAN_TIMEOUT_VALUE)
{
hcan->State= HAL_CAN_STATE_TIMEOUT;
/* Process unlocked */
__HAL_UNLOCK(hcan);
return HAL_TIMEOUT;
}
}
/* Check acknowledge */
if ((hcan->Instance->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)
{
/* Set the time triggered communication mode */
if (hcan->Init.TTCM == ENABLE)
{
SET_BIT(tmp_mcr, CAN_MCR_TTCM);
}
/* Set the automatic bus-off management */
if (hcan->Init.ABOM == ENABLE)
{
SET_BIT(tmp_mcr, CAN_MCR_ABOM);
}
/* Set the automatic wake-up mode */
if (hcan->Init.AWUM == ENABLE)
{
SET_BIT(tmp_mcr, CAN_MCR_AWUM);
}
/* Set the no automatic retransmission */
if (hcan->Init.NART == ENABLE)
{
SET_BIT(tmp_mcr, CAN_MCR_NART);
}
/* Set the receive FIFO locked mode */
if (hcan->Init.RFLM == ENABLE)
{
SET_BIT(tmp_mcr, CAN_MCR_RFLM);
}
/* Set the transmit FIFO priority */
if (hcan->Init.TXFP == ENABLE)
{
SET_BIT(tmp_mcr, CAN_MCR_TXFP);
}
/* Update register MCR */
MODIFY_REG(hcan->Instance->MCR,
CAN_MCR_TTCM |
CAN_MCR_ABOM |
CAN_MCR_AWUM |
CAN_MCR_NART |
CAN_MCR_RFLM |
CAN_MCR_TXFP,
tmp_mcr);
/* Set the bit timing register */
WRITE_REG(hcan->Instance->BTR, (uint32_t)(hcan->Init.Mode |
hcan->Init.SJW |
hcan->Init.BS1 |
hcan->Init.BS2 |
(hcan->Init.Prescaler - 1) ));
/* Request leave initialisation */
CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_INRQ);
/* Get timeout */
tickstart = HAL_GetTick();
/* Wait the acknowledge */
while(HAL_IS_BIT_CLR(hcan->Instance->MSR, CAN_MSR_INAK))
{
if((HAL_GetTick()-tickstart) > CAN_TIMEOUT_VALUE)
{
hcan->State= HAL_CAN_STATE_TIMEOUT;
/* Process unlocked */
__HAL_UNLOCK(hcan);
return HAL_TIMEOUT;
}
}
/* Check acknowledged */
if (HAL_IS_BIT_SET(hcan->Instance->MSR, CAN_MSR_INAK))
{
status = CAN_INITSTATUS_SUCCESS;
}
}
if(status == CAN_INITSTATUS_SUCCESS)
{
/* Set CAN error code to none */
hcan->ErrorCode = HAL_CAN_ERROR_NONE;
/* Initialize the CAN state */
hcan->State = HAL_CAN_STATE_READY;
/* Return function status */
return HAL_OK;
}
else
{
/* Initialize the CAN state */
hcan->State = HAL_CAN_STATE_ERROR;
/* Return function status */
return HAL_ERROR;
}
}