// 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;
}
}
/**
* @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: Timeout duration.
* @retval HAL status
*/
HAL_StatusTypeDef HAL_CAN_Transmit(CAN_HandleTypeDef* hcan, uint32_t Timeout)
{
uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
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;
}
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 timeout */
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;
}
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;
}
}
