/** * @brief Initiates and transmits a CAN frame message. * @param hcan: pointer to a CAN_HandleTypeDef structure that contains * the configuration information for the specified CAN. * @param Timeout: Specify Timeout value * @retval HAL status */ HAL_StatusTypeDef HAL_CAN_Transmit(CAN_HandleTypeDef* hcan, uint32_t Timeout) { uint32_t transmitmailbox = 5; uint32_t tickstart = 0; /* Check the parameters */ assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE)); assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR)); assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC)); /* Process locked */ __HAL_LOCK(hcan); if(hcan->State == HAL_CAN_STATE_BUSY_RX) { /* Change CAN state */ hcan->State = HAL_CAN_STATE_BUSY_TX_RX; } else { /* Change CAN state */ hcan->State = HAL_CAN_STATE_BUSY_TX; } /* Select one empty transmit mailbox */ if ((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0) { transmitmailbox = 0; } else if ((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1) { transmitmailbox = 1; } else if ((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2) { transmitmailbox = 2; } else { transmitmailbox = CAN_TXSTATUS_NOMAILBOX; } if (transmitmailbox != CAN_TXSTATUS_NOMAILBOX) { /* Set up the Id */ hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ; if (hcan->pTxMsg->IDE == CAN_ID_STD) { assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId)); hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->StdId << 21) | \ hcan->pTxMsg->RTR); } else { assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId)); hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->ExtId << 3) | \ hcan->pTxMsg->IDE | \ hcan->pTxMsg->RTR); } /* Set up the DLC */ hcan->pTxMsg->DLC &= (uint8_t)0x0000000F; hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0; hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC; /* Set up the data field */ hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3] << 24) | ((uint32_t)hcan->pTxMsg->Data[2] << 16) | ((uint32_t)hcan->pTxMsg->Data[1] << 8) | ((uint32_t)hcan->pTxMsg->Data[0])); hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7] << 24) | ((uint32_t)hcan->pTxMsg->Data[6] << 16) | ((uint32_t)hcan->pTxMsg->Data[5] << 8) | ((uint32_t)hcan->pTxMsg->Data[4])); /* Request transmission */ hcan->Instance->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ; /* Get tick */ tickstart = HAL_GetTick(); /* Check End of transmission flag */ while(!(__HAL_CAN_TRANSMIT_STATUS(hcan, transmitmailbox))) { /* Check for the Timeout */ if(Timeout != HAL_MAX_DELAY) { if((Timeout == 0)||((HAL_GetTick() - tickstart ) > Timeout)) { hcan->State = HAL_CAN_STATE_TIMEOUT; /* Process unlocked */ __HAL_UNLOCK(hcan); return HAL_TIMEOUT; } } } if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX) { /* Change CAN state */ hcan->State = HAL_CAN_STATE_BUSY_RX; /* Process unlocked */ __HAL_UNLOCK(hcan); } else { /* Change CAN state */ hcan->State = HAL_CAN_STATE_READY; /* Process unlocked */ __HAL_UNLOCK(hcan); } /* Return function status */ return HAL_OK; } else { /* Change CAN state */ hcan->State = HAL_CAN_STATE_ERROR; /* Process unlocked */ __HAL_UNLOCK(hcan); /* Return function status */ return HAL_ERROR; } }
/** * @brief Initiates and transmits a CAN frame message. * @param hcan: pointer to a CAN_HandleTypeDef structure that contains * the configuration information for the specified CAN. * @retval HAL status */ HAL_StatusTypeDef HAL_CAN_Transmit_IT(CAN_HandleTypeDef* hcan) { uint32_t transmitmailbox = 5U; /* Check the parameters */ assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE)); assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR)); assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC)); if(((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0) || \ ((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1) || \ ((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2)) { /* Process Locked */ __HAL_LOCK(hcan); /* Select one empty transmit mailbox */ if((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0) { transmitmailbox = 0U; } else if((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1) { transmitmailbox = 1U; } else { transmitmailbox = 2U; } /* Set up the Id */ hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ; if(hcan->pTxMsg->IDE == CAN_ID_STD) { assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId)); hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->StdId << 21U) | \ hcan->pTxMsg->RTR); } else { assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId)); hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->ExtId << 3U) | \ hcan->pTxMsg->IDE | \ hcan->pTxMsg->RTR); } /* Set up the DLC */ hcan->pTxMsg->DLC &= (uint8_t)0x0000000FU; hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0U; hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC; /* Set up the data field */ hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3U] << 24U) | ((uint32_t)hcan->pTxMsg->Data[2U] << 16U) | ((uint32_t)hcan->pTxMsg->Data[1U] << 8U) | ((uint32_t)hcan->pTxMsg->Data[0U])); hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7U] << 24U) | ((uint32_t)hcan->pTxMsg->Data[6U] << 16U) | ((uint32_t)hcan->pTxMsg->Data[5U] << 8U) | ((uint32_t)hcan->pTxMsg->Data[4U])); if(hcan->State == HAL_CAN_STATE_BUSY_RX) { /* Change CAN state */ hcan->State = HAL_CAN_STATE_BUSY_TX_RX; } else { /* Change CAN state */ hcan->State = HAL_CAN_STATE_BUSY_TX; } /* Set CAN error code to none */ hcan->ErrorCode = HAL_CAN_ERROR_NONE; /* Process Unlocked */ __HAL_UNLOCK(hcan); /* Enable Error warning Interrupt */ __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG); /* Enable Error passive Interrupt */ __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EPV); /* Enable Bus-off Interrupt */ __HAL_CAN_ENABLE_IT(hcan, CAN_IT_BOF); /* Enable Last error code Interrupt */ __HAL_CAN_ENABLE_IT(hcan, CAN_IT_LEC); /* Enable Error Interrupt */ __HAL_CAN_ENABLE_IT(hcan, CAN_IT_ERR); /* Enable Transmit mailbox empty Interrupt */ __HAL_CAN_ENABLE_IT(hcan, CAN_IT_TME); /* Request transmission */ hcan->Instance->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ; } else { /* Change CAN state */ hcan->State = HAL_CAN_STATE_ERROR; /* Return function status */ return HAL_ERROR; } return HAL_OK; }
/** * @brief Initiate and transmit a CAN frame message in Interrupt mode. * @param hcan: pointer to a CAN_HandleTypeDef structure that contains * the configuration information for the specified CAN. * @retval HAL status */ HAL_StatusTypeDef HAL_CAN_Transmit_IT(CAN_HandleTypeDef* hcan) { uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX; /* Check the parameters */ assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE)); assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR)); assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC)); if((hcan->State == HAL_CAN_STATE_READY) || (hcan->State == HAL_CAN_STATE_BUSY_RX)) { /* Process Locked */ __HAL_LOCK(hcan); /* Select one empty transmit mailbox */ if((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0) { transmitmailbox = 0; } else if((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1) { transmitmailbox = 1; } else if((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2) { transmitmailbox = 2; } if(transmitmailbox != CAN_TXSTATUS_NOMAILBOX) { /* Set up the Id */ hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ; if(hcan->pTxMsg->IDE == CAN_ID_STD) { assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId)); hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->StdId << 21) | \ hcan->pTxMsg->RTR); } else { assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId)); hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->ExtId << 3) | \ hcan->pTxMsg->IDE | \ hcan->pTxMsg->RTR); } /* Set up the DLC */ hcan->pTxMsg->DLC &= (uint8_t)0x0000000F; hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0; hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC; /* Set up the data field */ hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3] << 24) | ((uint32_t)hcan->pTxMsg->Data[2] << 16) | ((uint32_t)hcan->pTxMsg->Data[1] << 8) | ((uint32_t)hcan->pTxMsg->Data[0])); hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7] << 24) | ((uint32_t)hcan->pTxMsg->Data[6] << 16) | ((uint32_t)hcan->pTxMsg->Data[5] << 8) | ((uint32_t)hcan->pTxMsg->Data[4])); if(hcan->State == HAL_CAN_STATE_BUSY_RX) { /* Change CAN state */ hcan->State = HAL_CAN_STATE_BUSY_TX_RX; } else { /* Change CAN state */ hcan->State = HAL_CAN_STATE_BUSY_TX; } /* Set CAN error code to none */ hcan->ErrorCode = HAL_CAN_ERROR_NONE; /* Process Unlocked */ __HAL_UNLOCK(hcan); /* Enable interrupts: */ /* - Enable Error warning Interrupt */ /* - Enable Error passive Interrupt */ /* - Enable Bus-off Interrupt */ /* - Enable Last error code Interrupt */ /* - Enable Error Interrupt */ /* - Enable Transmit mailbox empty Interrupt */ __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG | CAN_IT_EPV | CAN_IT_BOF | CAN_IT_LEC | CAN_IT_ERR | CAN_IT_TME ); /* Request transmission */ hcan->Instance->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ; } } else { return HAL_BUSY; } return HAL_OK; }
/** * @brief Initiates the transmission of a message. * @param CANx: where x can be 1 or 2 to to select the CAN peripheral. * @param TxMessage: pointer to a structure which contains CAN Id, CAN * DLC and CAN data. * @retval The number of the mailbox that is used for transmission * or CAN_TxStatus_NoMailBox if there is no empty mailbox. */ uint8_t CAN_Transmit(CAN_TypeDef* CANx, CanTxMsg* TxMessage) { uint8_t transmit_mailbox = 0; /* Check the parameters */ assert_param(IS_CAN_ALL_PERIPH(CANx)); assert_param(IS_CAN_IDTYPE(TxMessage->IDE)); assert_param(IS_CAN_RTR(TxMessage->RTR)); assert_param(IS_CAN_DLC(TxMessage->DLC)); /* Select one empty transmit mailbox */ if ((CANx->TSR&CAN_TSR_TME0) == CAN_TSR_TME0) { transmit_mailbox = 0; } else if ((CANx->TSR&CAN_TSR_TME1) == CAN_TSR_TME1) { transmit_mailbox = 1; } else if ((CANx->TSR&CAN_TSR_TME2) == CAN_TSR_TME2) { transmit_mailbox = 2; } else { transmit_mailbox = CAN_TxStatus_NoMailBox; } if (transmit_mailbox != CAN_TxStatus_NoMailBox) { /* Set up the Id */ CANx->sTxMailBox[transmit_mailbox].TIR &= TMIDxR_TXRQ; if (TxMessage->IDE == CAN_Id_Standard) { assert_param(IS_CAN_STDID(TxMessage->StdId)); CANx->sTxMailBox[transmit_mailbox].TIR |= ((TxMessage->StdId << 21) | \ TxMessage->RTR); } else { assert_param(IS_CAN_EXTID(TxMessage->ExtId)); CANx->sTxMailBox[transmit_mailbox].TIR |= ((TxMessage->ExtId << 3) | \ TxMessage->IDE | \ TxMessage->RTR); } /* Set up the DLC */ TxMessage->DLC &= (uint8_t)0x0000000F; CANx->sTxMailBox[transmit_mailbox].TDTR &= (uint32_t)0xFFFFFFF0; CANx->sTxMailBox[transmit_mailbox].TDTR |= TxMessage->DLC; /* Set up the data field */ CANx->sTxMailBox[transmit_mailbox].TDLR = (((uint32_t)TxMessage->Data[3] << 24) | ((uint32_t)TxMessage->Data[2] << 16) | ((uint32_t)TxMessage->Data[1] << 8) | ((uint32_t)TxMessage->Data[0])); CANx->sTxMailBox[transmit_mailbox].TDHR = (((uint32_t)TxMessage->Data[7] << 24) | ((uint32_t)TxMessage->Data[6] << 16) | ((uint32_t)TxMessage->Data[5] << 8) | ((uint32_t)TxMessage->Data[4])); /* Request transmission */ CANx->sTxMailBox[transmit_mailbox].TIR |= TMIDxR_TXRQ; } return transmit_mailbox; }
/******************************************************************************* * 函数名称: CAN_Transmit * 功能描述: 初始化报文的发送. * 输入参数: TxMessage: 指向一个结构体的指针,它包括CAN ID, CAN DLC和CAN数据. * 输出参数: 无. * 返回参数: 返回值是用于发送的邮箱数或者是没有空邮箱时的CAN_NO_MB值. *******************************************************************************/ u8 CAN_Transmit(CanTxMsg* TxMessage) { u8 TransmitMailbox = 0; /* Check the parameters [检查参数]*/ assert_param(IS_CAN_STDID(TxMessage->StdId)); assert_param(IS_CAN_EXTID(TxMessage->StdId)); assert_param(IS_CAN_IDTYPE(TxMessage->IDE)); assert_param(IS_CAN_RTR(TxMessage->RTR)); assert_param(IS_CAN_DLC(TxMessage->DLC)); /* Select one empty transmit mailbox [选择一个空的发送邮箱]*/ if ((CAN->TSR&CAN_TSR_TME0) == CAN_TSR_TME0) { TransmitMailbox = 0; } else if ((CAN->TSR&CAN_TSR_TME1) == CAN_TSR_TME1) { TransmitMailbox = 1; } else if ((CAN->TSR&CAN_TSR_TME2) == CAN_TSR_TME2) { TransmitMailbox = 2; } else { TransmitMailbox = CAN_NO_MB; } if (TransmitMailbox != CAN_NO_MB) { /* Set up the Id [设置Id]*/ CAN->sTxMailBox[TransmitMailbox].TIR &= CAN_TMIDxR_TXRQ; if (TxMessage->IDE == CAN_ID_STD) { TxMessage->StdId &= (u32)0x000007FF; TxMessage->StdId = TxMessage->StdId << 21; CAN->sTxMailBox[TransmitMailbox].TIR |= (TxMessage->StdId | TxMessage->IDE | TxMessage->RTR); } else { TxMessage->ExtId &= (u32)0x1FFFFFFF; TxMessage->ExtId <<= 3; CAN->sTxMailBox[TransmitMailbox].TIR |= (TxMessage->ExtId | TxMessage->IDE | TxMessage->RTR); } /* Set up the DLC [设置DLC]*/ TxMessage->DLC &= (u8)0x0000000F; CAN->sTxMailBox[TransmitMailbox].TDTR &= (u32)0xFFFFFFF0; CAN->sTxMailBox[TransmitMailbox].TDTR |= TxMessage->DLC; /* Set up the data field [设置数据失败]*/ CAN->sTxMailBox[TransmitMailbox].TDLR = (((u32)TxMessage->Data[3] << 24) | ((u32)TxMessage->Data[2] << 16) | ((u32)TxMessage->Data[1] << 8) | ((u32)TxMessage->Data[0])); CAN->sTxMailBox[TransmitMailbox].TDHR = (((u32)TxMessage->Data[7] << 24) | ((u32)TxMessage->Data[6] << 16) | ((u32)TxMessage->Data[5] << 8) | ((u32)TxMessage->Data[4])); /* Request transmission [请求发送]*/ CAN->sTxMailBox[TransmitMailbox].TIR |= CAN_TMIDxR_TXRQ; } return TransmitMailbox; }
// We have our own version of CAN transmit so we can handle Timeout=0 correctly. STATIC HAL_StatusTypeDef CAN_Transmit(CAN_HandleTypeDef *hcan, uint32_t Timeout) { uint32_t transmitmailbox; uint32_t tickstart; uint32_t rqcpflag; uint32_t txokflag; // Check the parameters assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE)); assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR)); assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC)); // Select one empty transmit mailbox if ((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0) { transmitmailbox = CAN_TXMAILBOX_0; rqcpflag = CAN_FLAG_RQCP0; txokflag = CAN_FLAG_TXOK0; } else if ((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1) { transmitmailbox = CAN_TXMAILBOX_1; rqcpflag = CAN_FLAG_RQCP1; txokflag = CAN_FLAG_TXOK1; } else if ((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2) { transmitmailbox = CAN_TXMAILBOX_2; rqcpflag = CAN_FLAG_RQCP2; txokflag = CAN_FLAG_TXOK2; } else { transmitmailbox = CAN_TXSTATUS_NOMAILBOX; } if (transmitmailbox != CAN_TXSTATUS_NOMAILBOX) { // Set up the Id hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ; if (hcan->pTxMsg->IDE == CAN_ID_STD) { assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId)); hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->StdId << 21) | \ hcan->pTxMsg->RTR); } else { assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId)); hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->ExtId << 3) | \ hcan->pTxMsg->IDE | \ hcan->pTxMsg->RTR); } // Set up the DLC hcan->pTxMsg->DLC &= (uint8_t)0x0000000F; hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0; hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC; // Set up the data field hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3] << 24) | ((uint32_t)hcan->pTxMsg->Data[2] << 16) | ((uint32_t)hcan->pTxMsg->Data[1] << 8) | ((uint32_t)hcan->pTxMsg->Data[0])); hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7] << 24) | ((uint32_t)hcan->pTxMsg->Data[6] << 16) | ((uint32_t)hcan->pTxMsg->Data[5] << 8) | ((uint32_t)hcan->pTxMsg->Data[4])); // Request transmission hcan->Instance->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ; if (Timeout == 0) { return HAL_OK; } // Get tick tickstart = HAL_GetTick(); // Check End of transmission flag while (!(__HAL_CAN_TRANSMIT_STATUS(hcan, transmitmailbox))) { // Check for the Timeout if (Timeout != HAL_MAX_DELAY) { if ((HAL_GetTick() - tickstart) > Timeout) { // When the timeout expires, we try to abort the transmission of the packet __HAL_CAN_CANCEL_TRANSMIT(hcan, transmitmailbox); while (!__HAL_CAN_GET_FLAG(hcan, rqcpflag)) { } if (__HAL_CAN_GET_FLAG(hcan, txokflag)) { // The abort attempt failed and the message was sent properly return HAL_OK; } else { return HAL_TIMEOUT; } } } } return HAL_OK; } else { return HAL_BUSY; } }