CAN HAL module driver. This file provides firmware functions to manage the following functionalities of the Controller Area Network (CAN) peripheral: More...
#include "stm32f1xx_hal.h"
Include dependency graph for stm32f1xx_hal_can.c:
Detailed Description
CAN HAL module driver. This file provides firmware functions to manage the following functionalities of the Controller Area Network (CAN) peripheral:
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##### How to use this driver #####
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(#) Initialize the CAN low level resources by implementing the
HAL_CAN_MspInit():
(++) Enable the CAN interface clock using __HAL_RCC_CANx_CLK_ENABLE()
(++) Configure CAN pins
(+++) Enable the clock for the CAN GPIOs
(+++) Configure CAN pins as alternate function open-drain
(++) In case of using interrupts (e.g. HAL_CAN_ActivateNotification())
(+++) Configure the CAN interrupt priority using
HAL_NVIC_SetPriority()
(+++) Enable the CAN IRQ handler using HAL_NVIC_EnableIRQ()
(+++) In CAN IRQ handler, call HAL_CAN_IRQHandler()
(#) Initialize the CAN peripheral using HAL_CAN_Init() function. This
function resorts to HAL_CAN_MspInit() for low-level initialization.
(#) Configure the reception filters using the following configuration
functions:
(++) HAL_CAN_ConfigFilter()
(#) Start the CAN module using HAL_CAN_Start() function. At this level
the node is active on the bus: it receive messages, and can send
messages.
(#) To manage messages transmission, the following Tx control functions
can be used:
(++) HAL_CAN_AddTxMessage() to request transmission of a new
message.
(++) HAL_CAN_AbortTxRequest() to abort transmission of a pending
message.
(++) HAL_CAN_GetTxMailboxesFreeLevel() to get the number of free Tx
mailboxes.
(++) HAL_CAN_IsTxMessagePending() to check if a message is pending
in a Tx mailbox.
(++) HAL_CAN_GetTxTimestamp() to get the timestamp of Tx message
sent, if time triggered communication mode is enabled.
(#) When a message is received into the CAN Rx FIFOs, it can be retrieved
using the HAL_CAN_GetRxMessage() function. The function
HAL_CAN_GetRxFifoFillLevel() allows to know how many Rx message are
stored in the Rx Fifo.
(#) Calling the HAL_CAN_Stop() function stops the CAN module.
(#) The deinitialization is achieved with HAL_CAN_DeInit() function.
*** Polling mode operation ***
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(#) Reception:
(++) Monitor reception of message using HAL_CAN_GetRxFifoFillLevel()
until at least one message is received.
(++) Then get the message using HAL_CAN_GetRxMessage().
(#) Transmission:
(++) Monitor the Tx mailboxes availability until at least one Tx
mailbox is free, using HAL_CAN_GetTxMailboxesFreeLevel().
(++) Then request transmission of a message using
HAL_CAN_AddTxMessage().
*** Interrupt mode operation ***
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(#) Notifications are activated using HAL_CAN_ActivateNotification()
function. Then, the process can be controlled through the
available user callbacks: HAL_CAN_xxxCallback(), using same APIs
HAL_CAN_GetRxMessage() and HAL_CAN_AddTxMessage().
(#) Notifications can be deactivated using
HAL_CAN_DeactivateNotification() function.
(#) Special care should be taken for CAN_IT_RX_FIFO0_MSG_PENDING and
CAN_IT_RX_FIFO1_MSG_PENDING notifications. These notifications trig
the callbacks HAL_CAN_RxFIFO0MsgPendingCallback() and
HAL_CAN_RxFIFO1MsgPendingCallback(). User has two possible options
here.
(++) Directly get the Rx message in the callback, using
HAL_CAN_GetRxMessage().
(++) Or deactivate the notification in the callback without
getting the Rx message. The Rx message can then be got later
using HAL_CAN_GetRxMessage(). Once the Rx message have been
read, the notification can be activated again.
*** Sleep mode ***
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(#) The CAN peripheral can be put in sleep mode (low power), using
HAL_CAN_RequestSleep(). The sleep mode will be entered as soon as the
current CAN activity (transmission or reception of a CAN frame) will
be completed.
(#) A notification can be activated to be informed when the sleep mode
will be entered.
(#) It can be checked if the sleep mode is entered using
HAL_CAN_IsSleepActive().
Note that the CAN state (accessible from the API HAL_CAN_GetState())
is HAL_CAN_STATE_SLEEP_PENDING as soon as the sleep mode request is
submitted (the sleep mode is not yet entered), and become
HAL_CAN_STATE_SLEEP_ACTIVE when the sleep mode is effective.
(#) The wake-up from sleep mode can be trigged by two ways:
(++) Using HAL_CAN_WakeUp(). When returning from this function,
the sleep mode is exited (if return status is HAL_OK).
(++) When a start of Rx CAN frame is detected by the CAN peripheral,
if automatic wake up mode is enabled.
*** Callback registration ***
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The compilation define USE_HAL_CAN_REGISTER_CALLBACKS when set to 1
allows the user to configure dynamically the driver callbacks.
Use Function @ref HAL_CAN_RegisterCallback() to register an interrupt callback.
Function @ref HAL_CAN_RegisterCallback() allows to register following callbacks:
(+) TxMailbox0CompleteCallback : Tx Mailbox 0 Complete Callback.
(+) TxMailbox1CompleteCallback : Tx Mailbox 1 Complete Callback.
(+) TxMailbox2CompleteCallback : Tx Mailbox 2 Complete Callback.
(+) TxMailbox0AbortCallback : Tx Mailbox 0 Abort Callback.
(+) TxMailbox1AbortCallback : Tx Mailbox 1 Abort Callback.
(+) TxMailbox2AbortCallback : Tx Mailbox 2 Abort Callback.
(+) RxFifo0MsgPendingCallback : Rx Fifo 0 Message Pending Callback.
(+) RxFifo0FullCallback : Rx Fifo 0 Full Callback.
(+) RxFifo1MsgPendingCallback : Rx Fifo 1 Message Pending Callback.
(+) RxFifo1FullCallback : Rx Fifo 1 Full Callback.
(+) SleepCallback : Sleep Callback.
(+) WakeUpFromRxMsgCallback : Wake Up From Rx Message Callback.
(+) ErrorCallback : Error Callback.
(+) MspInitCallback : CAN MspInit.
(+) MspDeInitCallback : CAN MspDeInit.
This function takes as parameters the HAL peripheral handle, the Callback ID
and a pointer to the user callback function.
Use function @ref HAL_CAN_UnRegisterCallback() to reset a callback to the default
weak function.
@ref HAL_CAN_UnRegisterCallback takes as parameters the HAL peripheral handle,
and the Callback ID.
This function allows to reset following callbacks:
(+) TxMailbox0CompleteCallback : Tx Mailbox 0 Complete Callback.
(+) TxMailbox1CompleteCallback : Tx Mailbox 1 Complete Callback.
(+) TxMailbox2CompleteCallback : Tx Mailbox 2 Complete Callback.
(+) TxMailbox0AbortCallback : Tx Mailbox 0 Abort Callback.
(+) TxMailbox1AbortCallback : Tx Mailbox 1 Abort Callback.
(+) TxMailbox2AbortCallback : Tx Mailbox 2 Abort Callback.
(+) RxFifo0MsgPendingCallback : Rx Fifo 0 Message Pending Callback.
(+) RxFifo0FullCallback : Rx Fifo 0 Full Callback.
(+) RxFifo1MsgPendingCallback : Rx Fifo 1 Message Pending Callback.
(+) RxFifo1FullCallback : Rx Fifo 1 Full Callback.
(+) SleepCallback : Sleep Callback.
(+) WakeUpFromRxMsgCallback : Wake Up From Rx Message Callback.
(+) ErrorCallback : Error Callback.
(+) MspInitCallback : CAN MspInit.
(+) MspDeInitCallback : CAN MspDeInit.
By default, after the @ref HAL_CAN_Init() and when the state is HAL_CAN_STATE_RESET,
all callbacks are set to the corresponding weak functions:
example @ref HAL_CAN_ErrorCallback().
Exception done for MspInit and MspDeInit functions that are
reset to the legacy weak function in the @ref HAL_CAN_Init()/ @ref HAL_CAN_DeInit() only when
these callbacks are null (not registered beforehand).
if not, MspInit or MspDeInit are not null, the @ref HAL_CAN_Init()/ @ref HAL_CAN_DeInit()
keep and use the user MspInit/MspDeInit callbacks (registered beforehand)
Callbacks can be registered/unregistered in HAL_CAN_STATE_READY state only.
Exception done MspInit/MspDeInit that can be registered/unregistered
in HAL_CAN_STATE_READY or HAL_CAN_STATE_RESET state,
thus registered (user) MspInit/DeInit callbacks can be used during the Init/DeInit.
In that case first register the MspInit/MspDeInit user callbacks
using @ref HAL_CAN_RegisterCallback() before calling @ref HAL_CAN_DeInit()
or @ref HAL_CAN_Init() function.
When The compilation define USE_HAL_CAN_REGISTER_CALLBACKS is set to 0 or
not defined, the callback registration feature is not available and all callbacks
are set to the corresponding weak functions.- Attention
© Copyright (c) 2016 STMicroelectronics. All rights reserved.
This software component is licensed by ST under BSD 3-Clause license, the "License"; You may not use this file except in compliance with the License. You may obtain a copy of the License at: opensource.org/licenses/BSD-3-Clause
