C++ (Cpp) __HAL_CAN_ENABLE_IT Examples

Example #1

File: can.c Project: GuyCarver/micropython-1

// assumes Init parameters have been set up correctly
STATIC bool can_init(pyb_can_obj_t *can_obj) {
    CAN_TypeDef *CANx = NULL;
    uint32_t sce_irq = 0;
    const pin_obj_t *pins[2];

    switch (can_obj->can_id) {
        #if defined(MICROPY_HW_CAN1_TX)
        case PYB_CAN_1:
            CANx = CAN1;
            sce_irq = CAN1_SCE_IRQn;
            pins[0] = MICROPY_HW_CAN1_TX;
            pins[1] = MICROPY_HW_CAN1_RX;
            __CAN1_CLK_ENABLE();
            break;
        #endif

        #if defined(MICROPY_HW_CAN2_TX)
        case PYB_CAN_2:
            CANx = CAN2;
            sce_irq = CAN2_SCE_IRQn;
            pins[0] = MICROPY_HW_CAN2_TX;
            pins[1] = MICROPY_HW_CAN2_RX;
            __CAN1_CLK_ENABLE(); // CAN2 is a "slave" and needs CAN1 enabled as well
            __CAN2_CLK_ENABLE();
            break;
        #endif

        default:
            return false;
    }

    // init GPIO
    uint32_t mode = MP_HAL_PIN_MODE_ALT;
    uint32_t pull = MP_HAL_PIN_PULL_UP;
    for (int i = 0; i < 2; i++) {
        if (!mp_hal_pin_config_alt(pins[i], mode, pull, AF_FN_CAN, can_obj->can_id)) {
            return false;
        }
    }

    // init CANx
    can_obj->can.Instance = CANx;
    HAL_CAN_Init(&can_obj->can);

    can_obj->is_enabled = true;
    can_obj->num_error_warning = 0;
    can_obj->num_error_passive = 0;
    can_obj->num_bus_off = 0;

    __HAL_CAN_ENABLE_IT(&can_obj->can, CAN_IT_ERR | CAN_IT_BOF | CAN_IT_EPV | CAN_IT_EWG);

    HAL_NVIC_SetPriority(sce_irq, IRQ_PRI_CAN, IRQ_SUBPRI_CAN);
    HAL_NVIC_EnableIRQ(sce_irq);

    return true;
}

Example #2

File: stm32f0xx_hal_can.c Project: AsamQi/mbed

/**
  * @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 = 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 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
  {
    return HAL_BUSY;
  }
  
  return HAL_OK;
}