Example #1
0
/**
  * @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;
}
Example #3
0
/*******************************************************************************
* 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;
}
Example #5
0
/**
  * @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;
  }
}