cubeide drivers

can_driver.c

  CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);

  /* Get tick */
  tickstart = HAL_GetTick();

  /* Check Sleep mode leave acknowledge */
  while ((hcan->Instance->MSR & CAN_MSR_SLAK) != 0U)
  {
    if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
    {
      /* Update error code */
      hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;

      /* Change CAN state */
      hcan->State = HAL_CAN_STATE_ERROR;

      return HAL_ERROR;
    }
  }

  /* Request initialisation */
  SET_BIT(hcan->Instance->MCR, CAN_MCR_INRQ);

  /* Get tick */
  tickstart = HAL_GetTick();

  /* Wait initialisation acknowledge */
  while ((hcan->Instance->MSR & CAN_MSR_INAK) == 0U)
  {
    if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
    {
      /* Update error code */
      hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;

      /* Change CAN state */
      hcan->State = HAL_CAN_STATE_ERROR;

      return HAL_ERROR;
    }
  }

  /* Set the time triggered communication mode */
  if (hcan->Init.TimeTriggeredMode == ENABLE)
  {
    SET_BIT(hcan->Instance->MCR, CAN_MCR_TTCM);
  }
  else
  {
    CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_TTCM);
  }

  /* Set the automatic bus-off management */
  if (hcan->Init.AutoBusOff == ENABLE)
  {
    SET_BIT(hcan->Instance->MCR, CAN_MCR_ABOM);
  }
  else
  {
    CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_ABOM);
  }

  /* Set the automatic wake-up mode */
  if (hcan->Init.AutoWakeUp == ENABLE)
  {
    SET_BIT(hcan->Instance->MCR, CAN_MCR_AWUM);
  }
  else
  {
    CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_AWUM);
  }

  /* Set the automatic retransmission */
  if (hcan->Init.AutoRetransmission == ENABLE)
  {
    CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_NART);
  }
  else
  {
    SET_BIT(hcan->Instance->MCR, CAN_MCR_NART);
  }

  /* Set the receive FIFO locked mode */
  if (hcan->Init.ReceiveFifoLocked == ENABLE)
  {
    SET_BIT(hcan->Instance->MCR, CAN_MCR_RFLM);
  }
  else
  {
    CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_RFLM);
  }

  /* Set the transmit FIFO priority */
  if (hcan->Init.TransmitFifoPriority == ENABLE)
  {
    SET_BIT(hcan->Instance->MCR, CAN_MCR_TXFP);
  }
  else
  {
    CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_TXFP);
  }

  /* Set the bit timing register */
  WRITE_REG(hcan->Instance->BTR, (uint32_t)(hcan->Init.Mode           |
                                            hcan->Init.SyncJumpWidth  |
                                            hcan->Init.TimeSeg1       |
                                            hcan->Init.TimeSeg2       |
                                            (hcan->Init.Prescaler - 1U)));

  /* Initialize the error code */
  hcan->ErrorCode = HAL_CAN_ERROR_NONE;

  /* Initialize the CAN state */
  hcan->State = HAL_CAN_STATE_READY;


  if (hcan->State == HAL_CAN_STATE_READY)
  {
    /* Change CAN peripheral state */
    hcan->State = HAL_CAN_STATE_LISTENING;

    /* Request leave initialisation */
    CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_INRQ);

    /* Get tick */
    tickstart = HAL_GetTick();

    /* Wait the acknowledge */
    while ((hcan->Instance->MSR & CAN_MSR_INAK) != 0U)
    {
      /* Check for the Timeout */
      if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
      {
        /* Update error code */
        hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;

        /* Change CAN state */
        hcan->State = HAL_CAN_STATE_ERROR;

        return HAL_ERROR;
      }
    }

    /* Reset the CAN ErrorCode */
    hcan->ErrorCode = HAL_CAN_ERROR_NONE;

    /* Return function status */
    return HAL_OK;
  }
  else
  {
    /* Update error code */
    hcan->ErrorCode |= HAL_CAN_ERROR_NOT_READY;

    return HAL_ERROR;
  }