stm32f4xx_can.c File Reference

This file provides firmware functions to manage the following functionalities of the Controller area network (CAN) peripheral: More...

#include "stm32f4xx_can.h"
#include "stm32f4xx_rcc.h"
+ Include dependency graph for stm32f4xx_can.c:

Go to the source code of this file.


#define MCR_DBF   ((uint32_t)0x00010000) /* software master reset */
#define TMIDxR_TXRQ   ((uint32_t)0x00000001) /* Transmit mailbox request */
#define FMR_FINIT   ((uint32_t)0x00000001) /* Filter init mode */
#define INAK_TIMEOUT   ((uint32_t)0x0000FFFF)
#define SLAK_TIMEOUT   ((uint32_t)0x0000FFFF)
#define CAN_FLAGS_TSR   ((uint32_t)0x08000000)
#define CAN_FLAGS_RF1R   ((uint32_t)0x04000000)
#define CAN_FLAGS_RF0R   ((uint32_t)0x02000000)
#define CAN_FLAGS_MSR   ((uint32_t)0x01000000)
#define CAN_FLAGS_ESR   ((uint32_t)0x00F00000)
#define CAN_TXMAILBOX_0   ((uint8_t)0x00)
#define CAN_TXMAILBOX_1   ((uint8_t)0x01)
#define CAN_TXMAILBOX_2   ((uint8_t)0x02)
#define CAN_MODE_MASK   ((uint32_t) 0x00000003)


static ITStatus CheckITStatus (uint32_t CAN_Reg, uint32_t It_Bit)
 Checks whether the CAN interrupt has occurred or not. More...
void CAN_DeInit (CAN_TypeDef *CANx)
 Deinitializes the CAN peripheral registers to their default reset values. More...
uint8_t CAN_Init (CAN_TypeDef *CANx, CAN_InitTypeDef *CAN_InitStruct)
 Initializes the CAN peripheral according to the specified parameters in the CAN_InitStruct. More...
void CAN_FilterInit (CAN_FilterInitTypeDef *CAN_FilterInitStruct)
 Configures the CAN reception filter according to the specified parameters in the CAN_FilterInitStruct. More...
void CAN_StructInit (CAN_InitTypeDef *CAN_InitStruct)
 Fills each CAN_InitStruct member with its default value. More...
void CAN_SlaveStartBank (uint8_t CAN_BankNumber)
 Select the start bank filter for slave CAN. More...
void CAN_DBGFreeze (CAN_TypeDef *CANx, FunctionalState NewState)
 Enables or disables the DBG Freeze for CAN. More...
void CAN_TTComModeCmd (CAN_TypeDef *CANx, FunctionalState NewState)
 Enables or disables the CAN Time TriggerOperation communication mode. More...
uint8_t CAN_Transmit (CAN_TypeDef *CANx, CanTxMsg *TxMessage)
 Initiates and transmits a CAN frame message. More...
uint8_t CAN_TransmitStatus (CAN_TypeDef *CANx, uint8_t TransmitMailbox)
 Checks the transmission status of a CAN Frame. More...
void CAN_CancelTransmit (CAN_TypeDef *CANx, uint8_t Mailbox)
 Cancels a transmit request. More...
void CAN_Receive (CAN_TypeDef *CANx, uint8_t FIFONumber, CanRxMsg *RxMessage)
 Receives a correct CAN frame. More...
void CAN_FIFORelease (CAN_TypeDef *CANx, uint8_t FIFONumber)
 Releases the specified receive FIFO. More...
uint8_t CAN_MessagePending (CAN_TypeDef *CANx, uint8_t FIFONumber)
 Returns the number of pending received messages. More...
uint8_t CAN_OperatingModeRequest (CAN_TypeDef *CANx, uint8_t CAN_OperatingMode)
 Selects the CAN Operation mode. More...
uint8_t CAN_Sleep (CAN_TypeDef *CANx)
 Enters the Sleep (low power) mode. More...
uint8_t CAN_WakeUp (CAN_TypeDef *CANx)
 Wakes up the CAN peripheral from sleep mode . More...
uint8_t CAN_GetLastErrorCode (CAN_TypeDef *CANx)
 Returns the CANx's last error code (LEC). More...
uint8_t CAN_GetReceiveErrorCounter (CAN_TypeDef *CANx)
 Returns the CANx Receive Error Counter (REC). More...
uint8_t CAN_GetLSBTransmitErrorCounter (CAN_TypeDef *CANx)
 Returns the LSB of the 9-bit CANx Transmit Error Counter(TEC). More...
void CAN_ITConfig (CAN_TypeDef *CANx, uint32_t CAN_IT, FunctionalState NewState)
 Enables or disables the specified CANx interrupts. More...
FlagStatus CAN_GetFlagStatus (CAN_TypeDef *CANx, uint32_t CAN_FLAG)
 Checks whether the specified CAN flag is set or not. More...
void CAN_ClearFlag (CAN_TypeDef *CANx, uint32_t CAN_FLAG)
 Clears the CAN's pending flags. More...
ITStatus CAN_GetITStatus (CAN_TypeDef *CANx, uint32_t CAN_IT)
 Checks whether the specified CANx interrupt has occurred or not. More...
void CAN_ClearITPendingBit (CAN_TypeDef *CANx, uint32_t CAN_IT)
 Clears the CANx's interrupt pending bits. More...

Detailed Description

This file provides firmware functions to manage the following functionalities of the Controller area network (CAN) peripheral:

MCD Application Team
  • Initialization and Configuration
  • CAN Frames Transmission
  • CAN Frames Reception
  • Operation modes switch
  • Error management
  • Interrupts and flags
                        ##### How to use this driver #####
      (#) Enable the CAN controller interface clock using 
          RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE); for CAN1 
          and RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2, ENABLE); for CAN2
      -@- In case you are using CAN2 only, you have to enable the CAN1 clock.
      (#) CAN pins configuration
        (++) Enable the clock for the CAN GPIOs using the following function:
             RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOx, ENABLE);   
        (++) Connect the involved CAN pins to AF9 using the following function 
             GPIO_PinAFConfig(GPIOx, GPIO_PinSourcex, GPIO_AF_CANx); 
        (++) Configure these CAN pins in alternate function mode by calling
             the function  GPIO_Init();
      (#) Initialise and configure the CAN using CAN_Init() and 
          CAN_FilterInit() functions.   
      (#) Transmit the desired CAN frame using CAN_Transmit() function.
      (#) Check the transmission of a CAN frame using CAN_TransmitStatus()
      (#) Cancel the transmission of a CAN frame using CAN_CancelTransmit()
      (#) Receive a CAN frame using CAN_Recieve() function.
      (#) Release the receive FIFOs using CAN_FIFORelease() function.
      (#) Return the number of pending received frames using 
          CAN_MessagePending() function.            
      (#) To control CAN events you can use one of the following two methods:
        (++) Check on CAN flags using the CAN_GetFlagStatus() function.  
        (++) Use CAN interrupts through the function CAN_ITConfig() at 
             initialization phase and CAN_GetITStatus() function into 
             interrupt routines to check if the event has occurred or not.
             After checking on a flag you should clear it using CAN_ClearFlag()
             function. And after checking on an interrupt event you should 
             clear it using CAN_ClearITPendingBit() function.            

<h2><center>&copy; COPYRIGHT 2013 STMicroelectronics</center></h2>

Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
You may not use this file except in compliance with the License.
You may obtain a copy of the License at:

Unless required by applicable law or agreed to in writing, software 
distributed under the License is distributed on an "AS IS" BASIS, 
See the License for the specific language governing permissions and
limitations under the License.

Definition in file stm32f4xx_can.c.