CAN driver modules. More...

Collaboration diagram for CAN:

Modules
	CAN_Exported_Constants

	CAN_Private_Functions

Data Structures
struct	CAN_InitTypeDef
	CAN init structure definition. More...

struct	CAN_FilterInitTypeDef
	CAN filter init structure definition. More...

struct	CanTxMsg
	CAN Tx message structure definition. More...

struct	CanRxMsg
	CAN Rx message structure definition. More...

Macros
#define	IS_CAN_ALL_PERIPH(PERIPH)

#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)

Functions
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

CAN driver modules.

Macro Definition Documentation

#define IS_CAN_ALL_PERIPH ( PERIPH )

Value:

(((PERIPH) == CAN1) || \

((PERIPH) == CAN2))

Definition at line 50 of file stm32f4xx_can.h.

Function Documentation

void CAN_CancelTransmit	(	CAN_TypeDef *	CANx,
		uint8_t	Mailbox
	)

Cancels a transmit request.

Parameters

CANx	where x can be 1 or 2 to select the CAN peripheral.
Mailbox	Mailbox number.

Return values

None

Definition at line 703 of file stm32f4xx_can.c.

void CAN_ClearFlag	(	CAN_TypeDef *	CANx,
		uint32_t	CAN_FLAG
	)

Clears the CAN's pending flags.

Parameters

CANx where x can be 1 or 2 to to select the CAN peripheral.

CAN_FLAG

specifies the flag to clear. This parameter can be one of the following values:

CAN_FLAG_RQCP0: Request MailBox0 Flag
CAN_FLAG_RQCP1: Request MailBox1 Flag
CAN_FLAG_RQCP2: Request MailBox2 Flag
CAN_FLAG_FF0: FIFO 0 Full Flag
CAN_FLAG_FOV0: FIFO 0 Overrun Flag
CAN_FLAG_FF1: FIFO 1 Full Flag
CAN_FLAG_FOV1: FIFO 1 Overrun Flag
CAN_FLAG_WKU: Wake up Flag
CAN_FLAG_SLAK: Sleep acknowledge Flag
CAN_FLAG_LEC: Last error code Flag

Return values

None

Definition at line 1430 of file stm32f4xx_can.c.

void CAN_ClearITPendingBit	(	CAN_TypeDef *	CANx,
		uint32_t	CAN_IT
	)

Clears the CANx's interrupt pending bits.

Parameters

CANx where x can be 1 or 2 to to select the CAN peripheral.

CAN_IT

specifies the interrupt pending bit to clear. This parameter can be one of the following values:

CAN_IT_TME: Transmit mailbox empty Interrupt
CAN_IT_FF0: FIFO 0 full Interrupt
CAN_IT_FOV0: FIFO 0 overrun Interrupt
CAN_IT_FF1: FIFO 1 full Interrupt
CAN_IT_FOV1: FIFO 1 overrun Interrupt
CAN_IT_WKU: Wake-up Interrupt
CAN_IT_SLK: Sleep acknowledge Interrupt
CAN_IT_EWG: Error warning Interrupt
CAN_IT_EPV: Error passive Interrupt
CAN_IT_BOF: Bus-off Interrupt
CAN_IT_LEC: Last error code Interrupt
CAN_IT_ERR: Error Interrupt

Return values

None

Definition at line 1594 of file stm32f4xx_can.c.

void CAN_DBGFreeze	(	CAN_TypeDef *	CANx,
		FunctionalState	NewState
	)

Enables or disables the DBG Freeze for CAN.

Parameters

CANx	where x can be 1 or 2 to to select the CAN peripheral.
NewState	new state of the CAN peripheral. This parameter can be: ENABLE (CAN reception/transmission is frozen during debug. Reception FIFOs can still be accessed/controlled normally) or DISABLE (CAN is working during debug).

Return values

None

Definition at line 493 of file stm32f4xx_can.c.

void CAN_DeInit ( CAN_TypeDef * CANx )

Deinitializes the CAN peripheral registers to their default reset values.

Parameters

CANx	where x can be 1 or 2 to select the CAN peripheral.

Return values

None.

Definition at line 167 of file stm32f4xx_can.c.

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void CAN_FIFORelease	(	CAN_TypeDef *	CANx,
		uint8_t	FIFONumber
	)

Releases the specified receive FIFO.

Parameters

CANx	where x can be 1 or 2 to select the CAN peripheral.
FIFONumber	FIFO to release, CAN_FIFO0 or CAN_FIFO1.

Return values

None

Definition at line 799 of file stm32f4xx_can.c.

void CAN_FilterInit ( CAN_FilterInitTypeDef * CAN_FilterInitStruct )

Configures the CAN reception filter according to the specified parameters in the CAN_FilterInitStruct.

Parameters

CAN_FilterInitStruct pointer to a CAN_FilterInitTypeDef structure that contains the configuration information.

Return values

None

Definition at line 334 of file stm32f4xx_can.c.

FlagStatus CAN_GetFlagStatus	(	CAN_TypeDef *	CANx,
		uint32_t	CAN_FLAG
	)

Checks whether the specified CAN flag is set or not.

Parameters

CANx where x can be 1 or 2 to to select the CAN peripheral.

CAN_FLAG

specifies the flag to check. This parameter can be one of the following values:

CAN_FLAG_RQCP0: Request MailBox0 Flag
CAN_FLAG_RQCP1: Request MailBox1 Flag
CAN_FLAG_RQCP2: Request MailBox2 Flag
CAN_FLAG_FMP0: FIFO 0 Message Pending Flag
CAN_FLAG_FF0: FIFO 0 Full Flag
CAN_FLAG_FOV0: FIFO 0 Overrun Flag
CAN_FLAG_FMP1: FIFO 1 Message Pending Flag
CAN_FLAG_FF1: FIFO 1 Full Flag
CAN_FLAG_FOV1: FIFO 1 Overrun Flag
CAN_FLAG_WKU: Wake up Flag
CAN_FLAG_SLAK: Sleep acknowledge Flag
CAN_FLAG_EWG: Error Warning Flag
CAN_FLAG_EPV: Error Passive Flag
CAN_FLAG_BOF: Bus-Off Flag
CAN_FLAG_LEC: Last error code Flag

Return values

The	new state of CAN_FLAG (SET or RESET).

Definition at line 1330 of file stm32f4xx_can.c.

ITStatus CAN_GetITStatus	(	CAN_TypeDef *	CANx,
		uint32_t	CAN_IT
	)

Checks whether the specified CANx interrupt has occurred or not.

Parameters

CANx where x can be 1 or 2 to to select the CAN peripheral.

CAN_IT

specifies the CAN interrupt source to check. This parameter can be one of the following values:

CAN_IT_TME: Transmit mailbox empty Interrupt
CAN_IT_FMP0: FIFO 0 message pending Interrupt
CAN_IT_FF0: FIFO 0 full Interrupt
CAN_IT_FOV0: FIFO 0 overrun Interrupt
CAN_IT_FMP1: FIFO 1 message pending Interrupt
CAN_IT_FF1: FIFO 1 full Interrupt
CAN_IT_FOV1: FIFO 1 overrun Interrupt
CAN_IT_WKU: Wake-up Interrupt
CAN_IT_SLK: Sleep acknowledge Interrupt
CAN_IT_EWG: Error warning Interrupt
CAN_IT_EPV: Error passive Interrupt
CAN_IT_BOF: Bus-off Interrupt
CAN_IT_LEC: Last error code Interrupt
CAN_IT_ERR: Error Interrupt

Return values

The	current state of CAN_IT (SET or RESET).

Definition at line 1490 of file stm32f4xx_can.c.

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uint8_t CAN_GetLastErrorCode ( CAN_TypeDef * CANx )

Returns the CANx's last error code (LEC).

Parameters

CANx	where x can be 1 or 2 to select the CAN peripheral.

Return values

Error

code:

CAN_ERRORCODE_NoErr: No Error
CAN_ERRORCODE_StuffErr: Stuff Error
CAN_ERRORCODE_FormErr: Form Error
CAN_ERRORCODE_ACKErr : Acknowledgment Error
CAN_ERRORCODE_BitRecessiveErr: Bit Recessive Error
CAN_ERRORCODE_BitDominantErr: Bit Dominant Error
CAN_ERRORCODE_CRCErr: CRC Error
CAN_ERRORCODE_SoftwareSetErr: Software Set Error

Definition at line 1040 of file stm32f4xx_can.c.

uint8_t CAN_GetLSBTransmitErrorCounter ( CAN_TypeDef * CANx )

Returns the LSB of the 9-bit CANx Transmit Error Counter(TEC).

Parameters

CANx	where x can be 1 or 2 to to select the CAN peripheral.

Return values

LSB	of the 9-bit CAN Transmit Error Counter.

Definition at line 1085 of file stm32f4xx_can.c.

uint8_t CAN_GetReceiveErrorCounter ( CAN_TypeDef * CANx )

Returns the CANx Receive Error Counter (REC).

Note: In case of an error during reception, this counter is incremented by 1 or by 8 depending on the error condition as defined by the CAN standard. After every successful reception, the counter is decremented by 1 or reset to 120 if its value was higher than 128. When the counter value exceeds 127, the CAN controller enters the error passive state.

Parameters

CANx	where x can be 1 or 2 to to select the CAN peripheral.

Return values

CAN	Receive Error Counter.

Definition at line 1065 of file stm32f4xx_can.c.

uint8_t CAN_Init	(	CAN_TypeDef *	CANx,
		CAN_InitTypeDef *	CAN_InitStruct
	)

Initializes the CAN peripheral according to the specified parameters in the CAN_InitStruct.

Parameters

CANx	where x can be 1 or 2 to select the CAN peripheral.
CAN_InitStruct	pointer to a CAN_InitTypeDef structure that contains the configuration information for the CAN peripheral.

Return values

Constant indicates initialization succeed which will be CAN_InitStatus_Failed or CAN_InitStatus_Success.

Definition at line 197 of file stm32f4xx_can.c.

void CAN_ITConfig	(	CAN_TypeDef *	CANx,
		uint32_t	CAN_IT,
		FunctionalState	NewState
	)

Enables or disables the specified CANx interrupts.

Parameters

CANx	where x can be 1 or 2 to to select the CAN peripheral.
CAN_IT	specifies the CAN interrupt sources to be enabled or disabled. This parameter can be: CAN_IT_TME: Transmit mailbox empty Interrupt CAN_IT_FMP0: FIFO 0 message pending Interrupt CAN_IT_FF0: FIFO 0 full Interrupt CAN_IT_FOV0: FIFO 0 overrun Interrupt CAN_IT_FMP1: FIFO 1 message pending Interrupt CAN_IT_FF1: FIFO 1 full Interrupt CAN_IT_FOV1: FIFO 1 overrun Interrupt CAN_IT_WKU: Wake-up Interrupt CAN_IT_SLK: Sleep acknowledge Interrupt CAN_IT_EWG: Error warning Interrupt CAN_IT_EPV: Error passive Interrupt CAN_IT_BOF: Bus-off Interrupt CAN_IT_LEC: Last error code Interrupt CAN_IT_ERR: Error Interrupt
NewState	new state of the CAN interrupts. This parameter can be: ENABLE or DISABLE.

Return values

None

Definition at line 1290 of file stm32f4xx_can.c.

uint8_t CAN_MessagePending	(	CAN_TypeDef *	CANx,
		uint8_t	FIFONumber
	)

Returns the number of pending received messages.

Parameters

CANx	where x can be 1 or 2 to select the CAN peripheral.
FIFONumber	Receive FIFO number, CAN_FIFO0 or CAN_FIFO1.

Return values

NbMessage : which is the number of pending message.

Definition at line 822 of file stm32f4xx_can.c.

uint8_t CAN_OperatingModeRequest	(	CAN_TypeDef *	CANx,
		uint8_t	CAN_OperatingMode
	)

Selects the CAN Operation mode.

Parameters

CAN_OperatingMode CAN Operating Mode. This parameter can be one of CAN_OperatingMode_TypeDef enumeration.

Return values

status

of the requested mode which can be

CAN_ModeStatus_Failed: CAN failed entering the specific mode
CAN_ModeStatus_Success: CAN Succeed entering the specific mode

Definition at line 872 of file stm32f4xx_can.c.

void CAN_Receive	(	CAN_TypeDef *	CANx,
		uint8_t	FIFONumber,
		CanRxMsg *	RxMessage
	)

Receives a correct CAN frame.

Parameters

CANx	where x can be 1 or 2 to select the CAN peripheral.
FIFONumber	Receive FIFO number, CAN_FIFO0 or CAN_FIFO1.
RxMessage	pointer to a structure receive frame which contains CAN Id, CAN DLC, CAN data and FMI number.

Return values

None

Definition at line 750 of file stm32f4xx_can.c.

void CAN_SlaveStartBank ( uint8_t CAN_BankNumber )

Select the start bank filter for slave CAN.

Parameters

CAN_BankNumber Select the start slave bank filter from 1..27.

Return values

None

Definition at line 468 of file stm32f4xx_can.c.

uint8_t CAN_Sleep ( CAN_TypeDef * CANx )

Enters the Sleep (low power) mode.

Parameters

CANx	where x can be 1 or 2 to select the CAN peripheral.

Return values

CAN_Sleep_Ok if sleep entered, CAN_Sleep_Failed otherwise.

Definition at line 953 of file stm32f4xx_can.c.

void CAN_StructInit ( CAN_InitTypeDef * CAN_InitStruct )

Fills each CAN_InitStruct member with its default value.

Parameters

CAN_InitStruct pointer to a CAN_InitTypeDef structure which ill be initialized.

Return values

None

Definition at line 425 of file stm32f4xx_can.c.

uint8_t CAN_Transmit	(	CAN_TypeDef *	CANx,
		CanTxMsg *	TxMessage
	)

Initiates and transmits a CAN frame message.

Parameters

CANx	where x can be 1 or 2 to to select the CAN peripheral.
TxMessage	pointer to a structure which contains CAN Id, CAN DLC and CAN data.

Return values

The	number of the mailbox that is used for transmission or CAN_TxStatus_NoMailBox if there is no empty mailbox.

Definition at line 577 of file stm32f4xx_can.c.

uint8_t CAN_TransmitStatus	(	CAN_TypeDef *	CANx,
		uint8_t	TransmitMailbox
	)

Checks the transmission status of a CAN Frame.

Parameters

CANx	where x can be 1 or 2 to select the CAN peripheral.
TransmitMailbox	the number of the mailbox that is used for transmission.

Return values

CAN_TxStatus_Ok if the CAN driver transmits the message, CAN_TxStatus_Failed in an other case.

Definition at line 649 of file stm32f4xx_can.c.

void CAN_TTComModeCmd	(	CAN_TypeDef *	CANx,
		FunctionalState	NewState
	)

Enables or disables the CAN Time TriggerOperation communication mode.

Note: DLC must be programmed as 8 in order Time Stamp (2 bytes) to be sent over the CAN bus.

Parameters

CANx	where x can be 1 or 2 to to select the CAN peripheral.
NewState	Mode new state. This parameter can be: ENABLE or DISABLE. When enabled, Time stamp (TIME[15:0]) value is sent in the last two data bytes of the 8-byte message: TIME[7:0] in data byte 6 and TIME[15:8] in data byte 7.

Return values

None

Definition at line 523 of file stm32f4xx_can.c.

uint8_t CAN_WakeUp ( CAN_TypeDef * CANx )

Wakes up the CAN peripheral from sleep mode .

Parameters

CANx	where x can be 1 or 2 to select the CAN peripheral.

Return values

CAN_WakeUp_Ok if sleep mode left, CAN_WakeUp_Failed otherwise.

Definition at line 978 of file stm32f4xx_can.c.

Modules

Data Structures

Macros

Functions

Detailed Description

Macro Definition Documentation

Function Documentation