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2023-10-08 483170e190a0dd4666b2a63e5d31466052ba0c6a

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483170	1	/**
Q	2	******************************************************************************
	3	* @file stm32f0xx_hal_can.c
	4	* @author MCD Application Team
	5	* @brief CAN HAL module driver.
	6	* This file provides firmware functions to manage the following
	7	* functionalities of the Controller Area Network (CAN) peripheral:
	8	* + Initialization and de-initialization functions
	9	* + IO operation functions
	10	* + Peripheral Control functions
	11	* + Peripheral State and Error functions
	12	*
	13	@verbatim
	14	==============================================================================
	15	##### How to use this driver #####
	16	==============================================================================
	17	[..]
	18	(#) Enable the CAN controller interface clock using __HAL_RCC_CAN1_CLK_ENABLE();
	19
	20	(#) CAN pins configuration
	21	(++) Enable the clock for the CAN GPIOs using the following function:
	22	__HAL_RCC_GPIOx_CLK_ENABLE();
	23	(++) Connect and configure the involved CAN pins to AF9 using the
	24	following function HAL_GPIO_Init();
	25
	26	(#) Initialise and configure the CAN using HAL_CAN_Init() function.
	27
	28	(#) Transmit the desired CAN frame using HAL_CAN_Transmit() function.
	29
	30	(#) Or transmit the desired CAN frame using HAL_CAN_Transmit_IT() function.
	31
	32	(#) Receive a CAN frame using HAL_CAN_Receive() function.
	33
	34	(#) Or receive a CAN frame using HAL_CAN_Receive_IT() function.
	35
	36	* Polling mode IO operation *
	37	=================================
	38	[..]
	39	(+) Start the CAN peripheral transmission and wait the end of this operation
	40	using HAL_CAN_Transmit(), at this stage user can specify the value of timeout
	41	according to his end application
	42	(+) Start the CAN peripheral reception and wait the end of this operation
	43	using HAL_CAN_Receive(), at this stage user can specify the value of timeout
	44	according to his end application
	45
	46	* Interrupt mode IO operation *
	47	===================================
	48	[..]
	49	(+) Start the CAN peripheral transmission using HAL_CAN_Transmit_IT()
	50	(+) Start the CAN peripheral reception using HAL_CAN_Receive_IT()
	51	(+) Use HAL_CAN_IRQHandler() called under the used CAN Interrupt subroutine
	52	(+) At CAN end of transmission HAL_CAN_TxCpltCallback() function is executed and user can
	53	add his own code by customization of function pointer HAL_CAN_TxCpltCallback
	54	(+) In case of CAN Error, HAL_CAN_ErrorCallback() function is executed and user can
	55	add his own code by customization of function pointer HAL_CAN_ErrorCallback
	56
	57	* CAN HAL driver macros list *
	58	=============================================
	59	[..]
	60	Below the list of most used macros in CAN HAL driver.
	61
	62	(+) __HAL_CAN_ENABLE_IT: Enable the specified CAN interrupts
	63	(+) __HAL_CAN_DISABLE_IT: Disable the specified CAN interrupts
	64	(+) __HAL_CAN_GET_IT_SOURCE: Check if the specified CAN interrupt source is enabled or disabled
	65	(+) __HAL_CAN_CLEAR_FLAG: Clear the CAN's pending flags
	66	(+) __HAL_CAN_GET_FLAG: Get the selected CAN's flag status
	67
	68	[..]
	69	(@) You can refer to the CAN HAL driver header file for more useful macros
	70
	71	@endverbatim
	72
	73	******************************************************************************
	74	* @attention
	75	*
	76	* <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
	77	*
	78	* Redistribution and use in source and binary forms, with or without modification,
	79	* are permitted provided that the following conditions are met:
	80	* 1. Redistributions of source code must retain the above copyright notice,
	81	* this list of conditions and the following disclaimer.
	82	* 2. Redistributions in binary form must reproduce the above copyright notice,
	83	* this list of conditions and the following disclaimer in the documentation
	84	* and/or other materials provided with the distribution.
	85	* 3. Neither the name of STMicroelectronics nor the names of its contributors
	86	* may be used to endorse or promote products derived from this software
	87	* without specific prior written permission.
	88	*
	89	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
	90	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
	91	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
	92	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
	93	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
	94	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
	95	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
	96	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
	97	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
	98	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
	99	*
	100	******************************************************************************
	101	*/
	102
	103	/* Includes ------------------------------------------------------------------*/
	104	#include "stm32f0xx_hal.h"
	105
	106	#ifdef HAL_CAN_MODULE_ENABLED
	107
	108	#if defined(STM32F072xB) \|\| defined(STM32F042x6) \|\| defined(STM32F048xx) \|\| defined(STM32F091xC) \|\| defined(STM32F098xx)
	109
	110	/** @addtogroup STM32F0xx_HAL_Driver
	111	* @{
	112	*/
	113
	114	/** @defgroup CAN CAN
	115	* @brief CAN driver modules
	116	* @{
	117	*/
	118
	119	/* Private typedef -----------------------------------------------------------*/
	120	/* Private define ------------------------------------------------------------*/
	121	/** @defgroup CAN_Private_Constants CAN Private Constants
	122	* @{
	123	*/
	124	#define CAN_TIMEOUT_VALUE 10U
	125	/**
	126	* @}
	127	*/
	128	/* Private macro -------------------------------------------------------------*/
	129	/* Private variables ---------------------------------------------------------*/
	130	/* Private function prototypes -----------------------------------------------*/
	131	/** @defgroup CAN_Private_Functions CAN Private Functions
	132	* @{
	133	*/
	134	static HAL_StatusTypeDef CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber);
	135	static HAL_StatusTypeDef CAN_Transmit_IT(CAN_HandleTypeDef* hcan);
	136	/**
	137	* @}
	138	*/
	139
	140	/* Exported functions ---------------------------------------------------------*/
	141
	142	/** @defgroup CAN_Exported_Functions CAN Exported Functions
	143	* @{
	144	*/
	145
	146	/** @defgroup CAN_Exported_Functions_Group1 Initialization and de-initialization functions
	147	* @brief Initialization and Configuration functions
	148	*
	149	@verbatim
	150	==============================================================================
	151	##### Initialization and de-initialization functions #####
	152	==============================================================================
	153	[..] This section provides functions allowing to:
	154	(+) Initialize and configure the CAN.
	155	(+) De-initialize the CAN.
	156
	157	@endverbatim
	158	* @{
	159	*/
	160
	161	/**
	162	* @brief Initializes the CAN peripheral according to the specified
	163	* parameters in the CAN_InitStruct.
	164	* @param hcan pointer to a CAN_HandleTypeDef structure that contains
	165	* the configuration information for the specified CAN.
	166	* @retval HAL status
	167	*/
	168	HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef* hcan)
	169	{
	170	uint32_t status = CAN_INITSTATUS_FAILED; /* Default init status */
	171	uint32_t tickstart = 0U;
	172
	173	/* Check CAN handle */
	174	if(hcan == NULL)
	175	{
	176	return HAL_ERROR;
	177	}
	178
	179	/* Check the parameters */
	180	assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
	181	assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TTCM));
	182	assert_param(IS_FUNCTIONAL_STATE(hcan->Init.ABOM));
	183	assert_param(IS_FUNCTIONAL_STATE(hcan->Init.AWUM));
	184	assert_param(IS_FUNCTIONAL_STATE(hcan->Init.NART));
	185	assert_param(IS_FUNCTIONAL_STATE(hcan->Init.RFLM));
	186	assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TXFP));
	187	assert_param(IS_CAN_MODE(hcan->Init.Mode));
	188	assert_param(IS_CAN_SJW(hcan->Init.SJW));
	189	assert_param(IS_CAN_BS1(hcan->Init.BS1));
	190	assert_param(IS_CAN_BS2(hcan->Init.BS2));
	191	assert_param(IS_CAN_PRESCALER(hcan->Init.Prescaler));
	192
	193	if(hcan->State == HAL_CAN_STATE_RESET)
	194	{
	195	/* Allocate lock resource and initialize it */
	196	hcan->Lock = HAL_UNLOCKED;
	197	/* Init the low level hardware */
	198	HAL_CAN_MspInit(hcan);
	199	}
	200
	201	/* Initialize the CAN state*/
	202	hcan->State = HAL_CAN_STATE_BUSY;
	203
	204	/* Exit from sleep mode */
	205	CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
	206
	207	/* Request initialisation */
	208	SET_BIT(hcan->Instance->MCR, CAN_MCR_INRQ);
	209
	210	/* Get tick */
	211	tickstart = HAL_GetTick();
	212
	213	/* Wait the acknowledge */
	214	while(HAL_IS_BIT_CLR(hcan->Instance->MSR, CAN_MSR_INAK))
	215	{
	216	if((HAL_GetTick()-tickstart) > CAN_TIMEOUT_VALUE)
	217	{
	218	hcan->State= HAL_CAN_STATE_TIMEOUT;
	219	/* Process unlocked */
	220	__HAL_UNLOCK(hcan);
	221	return HAL_TIMEOUT;
	222	}
	223	}
	224
	225	/* Check acknowledge */
	226	if (HAL_IS_BIT_SET(hcan->Instance->MSR, CAN_MSR_INAK))
	227	{
	228	/* Set the time triggered communication mode */
	229	if (hcan->Init.TTCM == ENABLE)
	230	{
	231	SET_BIT(hcan->Instance->MCR, CAN_MCR_TTCM);
	232	}
	233	else
	234	{
	235	CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_TTCM);
	236	}
	237
	238	/* Set the automatic bus-off management */
	239	if (hcan->Init.ABOM == ENABLE)
	240	{
	241	SET_BIT(hcan->Instance->MCR, CAN_MCR_ABOM);
	242	}
	243	else
	244	{
	245	CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_ABOM);
	246	}
	247
	248	/* Set the automatic wake-up mode */
	249	if (hcan->Init.AWUM == ENABLE)
	250	{
	251	SET_BIT(hcan->Instance->MCR, CAN_MCR_AWUM);
	252	}
	253	else
	254	{
	255	CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_AWUM);
	256	}
	257
	258	/* Set the no automatic retransmission */
	259	if (hcan->Init.NART == ENABLE)
	260	{
	261	SET_BIT(hcan->Instance->MCR, CAN_MCR_NART);
	262	}
	263	else
	264	{
	265	CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_NART);
	266	}
	267
	268	/* Set the receive FIFO locked mode */
	269	if (hcan->Init.RFLM == ENABLE)
	270	{
	271	SET_BIT(hcan->Instance->MCR, CAN_MCR_RFLM);
	272	}
	273	else
	274	{
	275	CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_RFLM);
	276	}
	277
	278	/* Set the transmit FIFO priority */
	279	if (hcan->Init.TXFP == ENABLE)
	280	{
	281	SET_BIT(hcan->Instance->MCR, CAN_MCR_TXFP);
	282	}
	283	else
	284	{
	285	CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_TXFP);
	286	}
	287
	288	/* Set the bit timing register */
	289	WRITE_REG(hcan->Instance->BTR, (uint32_t)(hcan->Init.Mode \|
	290	hcan->Init.SJW \|
	291	hcan->Init.BS1 \|
	292	hcan->Init.BS2 \|
	293	(hcan->Init.Prescaler - 1U) ));
	294
	295	/* Request leave initialisation */
	296	CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_INRQ);
	297
	298	/* Get tick */
	299	tickstart = HAL_GetTick();
	300
	301	/* Wait the acknowledge */
	302	while(HAL_IS_BIT_SET(hcan->Instance->MSR, CAN_MSR_INAK))
	303	{
	304	if((HAL_GetTick()-tickstart) > CAN_TIMEOUT_VALUE)
	305	{
	306	hcan->State= HAL_CAN_STATE_TIMEOUT;
	307
	308	/* Process unlocked */
	309	__HAL_UNLOCK(hcan);
	310
	311	return HAL_TIMEOUT;
	312	}
	313	}
	314
	315	/* Check acknowledged */
	316	if(HAL_IS_BIT_CLR(hcan->Instance->MSR, CAN_MSR_INAK))
	317	{
	318	status = CAN_INITSTATUS_SUCCESS;
	319	}
	320	}
	321
	322	if(status == CAN_INITSTATUS_SUCCESS)
	323	{
	324	/* Set CAN error code to none */
	325	hcan->ErrorCode = HAL_CAN_ERROR_NONE;
	326
	327	/* Initialize the CAN state */
	328	hcan->State = HAL_CAN_STATE_READY;
	329
	330	/* Return function status */
	331	return HAL_OK;
	332	}
	333	else
	334	{
	335	/* Initialize the CAN state */
	336	hcan->State = HAL_CAN_STATE_ERROR;
	337
	338	/* Return function status */
	339	return HAL_ERROR;
	340	}
	341	}
	342
	343	/**
	344	* @brief Configures the CAN reception filter according to the specified
	345	* parameters in the CAN_FilterInitStruct.
	346	* @param hcan pointer to a CAN_HandleTypeDef structure that contains
	347	* the configuration information for the specified CAN.
	348	* @param sFilterConfig pointer to a CAN_FilterConfTypeDef structure that
	349	* contains the filter configuration information.
	350	* @retval None
	351	*/
	352	HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef* hcan, CAN_FilterConfTypeDef* sFilterConfig)
	353	{
	354	uint32_t filternbrbitpos = 0U;
	355
	356	/* Check the parameters */
	357	assert_param(IS_CAN_FILTER_NUMBER(sFilterConfig->FilterNumber));
	358	assert_param(IS_CAN_FILTER_MODE(sFilterConfig->FilterMode));
	359	assert_param(IS_CAN_FILTER_SCALE(sFilterConfig->FilterScale));
	360	assert_param(IS_CAN_FILTER_FIFO(sFilterConfig->FilterFIFOAssignment));
	361	assert_param(IS_FUNCTIONAL_STATE(sFilterConfig->FilterActivation));
	362	assert_param(IS_CAN_BANKNUMBER(sFilterConfig->BankNumber));
	363
	364	filternbrbitpos = (1U) << sFilterConfig->FilterNumber;
	365
	366	/* Initialisation mode for the filter */
	367	/* Select the start slave bank */
	368	MODIFY_REG(hcan->Instance->FMR ,
	369	CAN_FMR_CAN2SB ,
	370	CAN_FMR_FINIT \|
	371	(uint32_t)(sFilterConfig->BankNumber << 8U) ); /* Filter Deactivation */
	372	CLEAR_BIT(hcan->Instance->FA1R, filternbrbitpos);
	373
	374	/* Filter Scale */
	375	if (sFilterConfig->FilterScale == CAN_FILTERSCALE_16BIT)
	376	{
	377	/* 16-bit scale for the filter */
	378	CLEAR_BIT(hcan->Instance->FS1R, filternbrbitpos);
	379
	380	/* First 16-bit identifier and First 16-bit mask */
	381	/* Or First 16-bit identifier and Second 16-bit identifier */
	382	hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR1 =
	383	((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdLow) << 16U) \|
	384	(0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdLow);
	385
	386	/* Second 16-bit identifier and Second 16-bit mask */
	387	/* Or Third 16-bit identifier and Fourth 16-bit identifier */
	388	hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR2 =
	389	((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16U) \|
	390	(0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdHigh);
	391	}
	392
	393	if (sFilterConfig->FilterScale == CAN_FILTERSCALE_32BIT)
	394	{
	395	/* 32-bit scale for the filter */
	396	SET_BIT(hcan->Instance->FS1R, filternbrbitpos);
	397
	398	/* 32-bit identifier or First 32-bit identifier */
	399	hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR1 =
	400	((0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdHigh) << 16U) \|
	401	(0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdLow);
	402
	403	/* 32-bit mask or Second 32-bit identifier */
	404	hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR2 =
	405	((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16U) \|
	406	(0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdLow);
	407	}
	408
	409	/* Filter Mode */
	410	if (sFilterConfig->FilterMode == CAN_FILTERMODE_IDMASK)
	411	{
	412	/Id/Mask mode for the filter/
	413	CLEAR_BIT(hcan->Instance->FM1R, filternbrbitpos);
	414	}
	415	else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */
	416	{
	417	/Identifier list mode for the filter/
	418	SET_BIT(hcan->Instance->FM1R, filternbrbitpos);
	419	}
	420
	421	/* Filter FIFO assignment */
	422	if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO0)
	423	{
	424	/* FIFO 0 assignation for the filter */
	425	CLEAR_BIT(hcan->Instance->FFA1R, filternbrbitpos);
	426	}
	427	else
	428	{
	429	/* FIFO 1 assignation for the filter */
	430	SET_BIT(hcan->Instance->FFA1R, filternbrbitpos);
	431	}
	432
	433	/* Filter activation */
	434	if (sFilterConfig->FilterActivation == ENABLE)
	435	{
	436	SET_BIT(hcan->Instance->FA1R, filternbrbitpos);
	437	}
	438
	439	/* Leave the initialisation mode for the filter */
	440	CLEAR_BIT(hcan->Instance->FMR, ((uint32_t)CAN_FMR_FINIT));
	441
	442	/* Return function status */
	443	return HAL_OK;
	444	}
	445
	446	/**
	447	* @brief Deinitializes the CANx peripheral registers to their default reset values.
	448	* @param hcan pointer to a CAN_HandleTypeDef structure that contains
	449	* the configuration information for the specified CAN.
	450	* @retval HAL status
	451	*/
	452	HAL_StatusTypeDef HAL_CAN_DeInit(CAN_HandleTypeDef* hcan)
	453	{
	454	/* Check CAN handle */
	455	if(hcan == NULL)
	456	{
	457	return HAL_ERROR;
	458	}
	459
	460	/* Check the parameters */
	461	assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
	462
	463	/* Change CAN state */
	464	hcan->State = HAL_CAN_STATE_BUSY;
	465
	466	/* DeInit the low level hardware */
	467	HAL_CAN_MspDeInit(hcan);
	468
	469	/* Change CAN state */
	470	hcan->State = HAL_CAN_STATE_RESET;
	471
	472	/* Release Lock */
	473	__HAL_UNLOCK(hcan);
	474
	475	/* Return function status */
	476	return HAL_OK;
	477	}
	478
	479	/**
	480	* @brief Initializes the CAN MSP.
	481	* @param hcan pointer to a CAN_HandleTypeDef structure that contains
	482	* the configuration information for the specified CAN.
	483	* @retval None
	484	*/
	485	__weak void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
	486	{
	487	/* Prevent unused argument(s) compilation warning */
	488	UNUSED(hcan);
	489
	490	/* NOTE : This function Should not be modified, when the callback is needed,
	491	the HAL_CAN_MspInit could be implemented in the user file
	492	*/
	493	}
	494
	495	/**
	496	* @brief DeInitializes the CAN MSP.
	497	* @param hcan pointer to a CAN_HandleTypeDef structure that contains
	498	* the configuration information for the specified CAN.
	499	* @retval None
	500	*/
	501	__weak void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan)
	502	{
	503	/* Prevent unused argument(s) compilation warning */
	504	UNUSED(hcan);
	505
	506	/* NOTE : This function Should not be modified, when the callback is needed,
	507	the HAL_CAN_MspDeInit could be implemented in the user file
	508	*/
	509	}
	510
	511	/**
	512	* @}
	513	*/
	514
	515	/** @defgroup CAN_Exported_Functions_Group2 Input and Output operation functions
	516	* @brief IO operation functions
	517	*
	518	@verbatim
	519	==============================================================================
	520	##### IO operation functions #####
	521	==============================================================================
	522	[..] This section provides functions allowing to:
	523	(+) Transmit a CAN frame message.
	524	(+) Receive a CAN frame message.
	525	(+) Enter CAN peripheral in sleep mode.
	526	(+) Wake up the CAN peripheral from sleep mode.
	527
	528	@endverbatim
	529	* @{
	530	*/
	531
	532	/**
	533	* @brief Initiates and transmits a CAN frame message.
	534	* @param hcan pointer to a CAN_HandleTypeDef structure that contains
	535	* the configuration information for the specified CAN.
	536	* @param Timeout Timeout duration.
	537	* @retval HAL status
	538	*/
	539	HAL_StatusTypeDef HAL_CAN_Transmit(CAN_HandleTypeDef* hcan, uint32_t Timeout)
	540	{
	541	uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
	542	uint32_t tickstart = 0U;
	543
	544	/* Check the parameters */
	545	assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE));
	546	assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR));
	547	assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC));
	548
	549	if(((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0) \|\| \
	550	((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1) \|\| \
	551	((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2))
	552	{
	553	/* Process locked */
	554	__HAL_LOCK(hcan);
	555
	556	/* Change CAN state */
	557	switch(hcan->State)
	558	{
	559	case(HAL_CAN_STATE_BUSY_RX0):
	560	hcan->State = HAL_CAN_STATE_BUSY_TX_RX0;
	561	break;
	562	case(HAL_CAN_STATE_BUSY_RX1):
	563	hcan->State = HAL_CAN_STATE_BUSY_TX_RX1;
	564	break;
	565	case(HAL_CAN_STATE_BUSY_RX0_RX1):
	566	hcan->State = HAL_CAN_STATE_BUSY_TX_RX0_RX1;
	567	break;
	568	default: /* HAL_CAN_STATE_READY */
	569	hcan->State = HAL_CAN_STATE_BUSY_TX;
	570	break;
	571	}
	572
	573	/* Select one empty transmit mailbox */
	574	if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME0))
	575	{
	576	transmitmailbox = CAN_TXMAILBOX_0;
	577	}
	578	else if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME1))
	579	{
	580	transmitmailbox = CAN_TXMAILBOX_1;
	581	}
	582	else
	583	{
	584	transmitmailbox = CAN_TXMAILBOX_2;
	585	}
	586
	587	/* Set up the Id */
	588	hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
	589	if (hcan->pTxMsg->IDE == CAN_ID_STD)
	590	{
	591	assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId));
	592	hcan->Instance->sTxMailBox[transmitmailbox].TIR \|= ((hcan->pTxMsg->StdId << CAN_TI0R_STID_Pos) \| \
	593	hcan->pTxMsg->RTR);
	594	}
	595	else
	596	{
	597	assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId));
	598	hcan->Instance->sTxMailBox[transmitmailbox].TIR \|= ((hcan->pTxMsg->ExtId << CAN_TI0R_EXID_Pos) \| \
	599	hcan->pTxMsg->IDE \| \
	600	hcan->pTxMsg->RTR);
	601	}
	602
	603	/* Set up the DLC */
	604	hcan->pTxMsg->DLC &= (uint8_t)0x0000000FU;
	605	hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= 0xFFFFFFF0U;
	606	hcan->Instance->sTxMailBox[transmitmailbox].TDTR \|= hcan->pTxMsg->DLC;
	607
	608	/* Set up the data field */
	609	WRITE_REG(hcan->Instance->sTxMailBox[transmitmailbox].TDLR, ((uint32_t)hcan->pTxMsg->Data[3] << CAN_TDL0R_DATA3_Pos) \|
	610	((uint32_t)hcan->pTxMsg->Data[2] << CAN_TDL0R_DATA2_Pos) \|
	611	((uint32_t)hcan->pTxMsg->Data[1] << CAN_TDL0R_DATA1_Pos) \|
	612	((uint32_t)hcan->pTxMsg->Data[0] << CAN_TDL0R_DATA0_Pos));
	613	WRITE_REG(hcan->Instance->sTxMailBox[transmitmailbox].TDHR, ((uint32_t)hcan->pTxMsg->Data[7] << CAN_TDL0R_DATA3_Pos) \|
	614	((uint32_t)hcan->pTxMsg->Data[6] << CAN_TDL0R_DATA2_Pos) \|
	615	((uint32_t)hcan->pTxMsg->Data[5] << CAN_TDL0R_DATA1_Pos) \|
	616	((uint32_t)hcan->pTxMsg->Data[4] << CAN_TDL0R_DATA0_Pos));
	617
	618	/* Request transmission */
	619	SET_BIT(hcan->Instance->sTxMailBox[transmitmailbox].TIR, CAN_TI0R_TXRQ);
	620
	621	/* Get tick */
	622	tickstart = HAL_GetTick();
	623
	624	/* Check End of transmission flag */
	625	while(!(__HAL_CAN_TRANSMIT_STATUS(hcan, transmitmailbox)))
	626	{
	627	/* Check for the Timeout */
	628	if(Timeout != HAL_MAX_DELAY)
	629	{
	630	if((Timeout == 0U) \|\| ((HAL_GetTick()-tickstart) > Timeout))
	631	{
	632	hcan->State = HAL_CAN_STATE_TIMEOUT;
	633
	634	/* Cancel transmission */
	635	__HAL_CAN_CANCEL_TRANSMIT(hcan, transmitmailbox);
	636
	637	/* Process unlocked */
	638	__HAL_UNLOCK(hcan);
	639	return HAL_TIMEOUT;
	640	}
	641	}
	642	}
	643
	644	/* Change CAN state */
	645	switch(hcan->State)
	646	{
	647	case(HAL_CAN_STATE_BUSY_TX_RX0):
	648	hcan->State = HAL_CAN_STATE_BUSY_RX0;
	649	break;
	650	case(HAL_CAN_STATE_BUSY_TX_RX1):
	651	hcan->State = HAL_CAN_STATE_BUSY_RX1;
	652	break;
	653	case(HAL_CAN_STATE_BUSY_TX_RX0_RX1):
	654	hcan->State = HAL_CAN_STATE_BUSY_RX0_RX1;
	655	break;
	656	default: /* HAL_CAN_STATE_BUSY_TX */
	657	hcan->State = HAL_CAN_STATE_READY;
	658	break;
	659	}
	660
	661	/* Process unlocked */
	662	__HAL_UNLOCK(hcan);
	663
	664	/* Return function status */
	665	return HAL_OK;
	666	}
	667	else
	668	{
	669	/* Change CAN state */
	670	hcan->State = HAL_CAN_STATE_ERROR;
	671
	672	/* Return function status */
	673	return HAL_ERROR;
	674	}
	675	}
	676
	677	/**
	678	* @brief Initiates and transmits a CAN frame message.
	679	* @param hcan pointer to a CAN_HandleTypeDef structure that contains
	680	* the configuration information for the specified CAN.
	681	* @retval HAL status
	682	*/
	683	HAL_StatusTypeDef HAL_CAN_Transmit_IT(CAN_HandleTypeDef* hcan)
	684	{
	685	uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
	686
	687	/* Check the parameters */
	688	assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE));
	689	assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR));
	690	assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC));
	691
	692	if(((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0) \|\| \
	693	((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1) \|\| \
	694	((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2))
	695	{
	696	/* Process Locked */
	697	__HAL_LOCK(hcan);
	698
	699	/* Select one empty transmit mailbox */
	700	if(HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME0))
	701	{
	702	transmitmailbox = CAN_TXMAILBOX_0;
	703	}
	704	else if(HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME1))
	705	{
	706	transmitmailbox = CAN_TXMAILBOX_1;
	707	}
	708	else
	709	{
	710	transmitmailbox = CAN_TXMAILBOX_2;
	711	}
	712
	713	/* Set up the Id */
	714	hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
	715	if(hcan->pTxMsg->IDE == CAN_ID_STD)
	716	{
	717	assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId));
	718	hcan->Instance->sTxMailBox[transmitmailbox].TIR \|= ((hcan->pTxMsg->StdId << CAN_TI0R_STID_Pos) \| \
	719	hcan->pTxMsg->RTR);
	720	}
	721	else
	722	{
	723	assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId));
	724	hcan->Instance->sTxMailBox[transmitmailbox].TIR \|= ((hcan->pTxMsg->ExtId << CAN_TI0R_EXID_Pos) \| \
	725	hcan->pTxMsg->IDE \| \
	726	hcan->pTxMsg->RTR);
	727	}
	728
	729	/* Set up the DLC */
	730	hcan->pTxMsg->DLC &= (uint8_t)0x0000000FU;
	731	hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= 0xFFFFFFF0U;
	732	hcan->Instance->sTxMailBox[transmitmailbox].TDTR \|= hcan->pTxMsg->DLC;
	733
	734	/* Set up the data field */
	735	WRITE_REG(hcan->Instance->sTxMailBox[transmitmailbox].TDLR, ((uint32_t)hcan->pTxMsg->Data[3] << CAN_TDL0R_DATA3_Pos) \|
	736	((uint32_t)hcan->pTxMsg->Data[2] << CAN_TDL0R_DATA2_Pos) \|
	737	((uint32_t)hcan->pTxMsg->Data[1] << CAN_TDL0R_DATA1_Pos) \|
	738	((uint32_t)hcan->pTxMsg->Data[0] << CAN_TDL0R_DATA0_Pos));
	739	WRITE_REG(hcan->Instance->sTxMailBox[transmitmailbox].TDHR, ((uint32_t)hcan->pTxMsg->Data[7] << CAN_TDL0R_DATA3_Pos) \|
	740	((uint32_t)hcan->pTxMsg->Data[6] << CAN_TDL0R_DATA2_Pos) \|
	741	((uint32_t)hcan->pTxMsg->Data[5] << CAN_TDL0R_DATA1_Pos) \|
	742	((uint32_t)hcan->pTxMsg->Data[4] << CAN_TDL0R_DATA0_Pos));
	743
	744	/* Change CAN state */
	745	switch(hcan->State)
	746	{
	747	case(HAL_CAN_STATE_BUSY_RX0):
	748	hcan->State = HAL_CAN_STATE_BUSY_TX_RX0;
	749	break;
	750	case(HAL_CAN_STATE_BUSY_RX1):
	751	hcan->State = HAL_CAN_STATE_BUSY_TX_RX1;
	752	break;
	753	case(HAL_CAN_STATE_BUSY_RX0_RX1):
	754	hcan->State = HAL_CAN_STATE_BUSY_TX_RX0_RX1;
	755	break;
	756	default: /* HAL_CAN_STATE_READY */
	757	hcan->State = HAL_CAN_STATE_BUSY_TX;
	758	break;
	759	}
	760
	761	/* Set CAN error code to none */
	762	hcan->ErrorCode = HAL_CAN_ERROR_NONE;
	763
	764	/* Process Unlocked */
	765	__HAL_UNLOCK(hcan);
	766
	767	/* Request transmission */
	768	hcan->Instance->sTxMailBox[transmitmailbox].TIR \|= CAN_TI0R_TXRQ;
	769
	770	/* Enable interrupts: */
	771	/* - Enable Error warning Interrupt */
	772	/* - Enable Error passive Interrupt */
	773	/* - Enable Bus-off Interrupt */
	774	/* - Enable Last error code Interrupt */
	775	/* - Enable Error Interrupt */
	776	/* - Enable Transmit mailbox empty Interrupt */
	777	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG \|
	778	CAN_IT_EPV \|
	779	CAN_IT_BOF \|
	780	CAN_IT_LEC \|
	781	CAN_IT_ERR \|
	782	CAN_IT_TME );
	783	}
	784	else
	785	{
	786	/* Change CAN state */
	787	hcan->State = HAL_CAN_STATE_ERROR;
	788
	789	/* Return function status */
	790	return HAL_ERROR;
	791	}
	792
	793	return HAL_OK;
	794	}
	795
	796	/**
	797	* @brief Receives a correct CAN frame.
	798	* @param hcan pointer to a CAN_HandleTypeDef structure that contains
	799	* the configuration information for the specified CAN.
	800	* @param FIFONumber FIFO number.
	801	* @param Timeout Timeout duration.
	802	* @retval HAL status
	803	*/
	804	HAL_StatusTypeDef HAL_CAN_Receive(CAN_HandleTypeDef* hcan, uint8_t FIFONumber, uint32_t Timeout)
	805	{
	806	uint32_t tickstart = 0U;
	807	CanRxMsgTypeDef* pRxMsg = NULL;
	808
	809	/* Check the parameters */
	810	assert_param(IS_CAN_FIFO(FIFONumber));
	811
	812	/* Process locked */
	813	__HAL_LOCK(hcan);
	814
	815	/* Check if CAN state is not busy for RX FIFO0 */
	816	if ((FIFONumber == CAN_FIFO0) && ((hcan->State == HAL_CAN_STATE_BUSY_RX0) \|\| \
	817	(hcan->State == HAL_CAN_STATE_BUSY_TX_RX0) \|\| \
	818	(hcan->State == HAL_CAN_STATE_BUSY_RX0_RX1) \|\| \
	819	(hcan->State == HAL_CAN_STATE_BUSY_TX_RX0_RX1)))
	820	{
	821	/* Process unlocked */
	822	__HAL_UNLOCK(hcan);
	823
	824	return HAL_BUSY;
	825	}
	826
	827	/* Check if CAN state is not busy for RX FIFO1 */
	828	if ((FIFONumber == CAN_FIFO1) && ((hcan->State == HAL_CAN_STATE_BUSY_RX1) \|\| \
	829	(hcan->State == HAL_CAN_STATE_BUSY_TX_RX1) \|\| \
	830	(hcan->State == HAL_CAN_STATE_BUSY_RX0_RX1) \|\| \
	831	(hcan->State == HAL_CAN_STATE_BUSY_TX_RX0_RX1)))
	832	{
	833	/* Process unlocked */
	834	__HAL_UNLOCK(hcan);
	835
	836	return HAL_BUSY;
	837	}
	838
	839	/* Change CAN state */
	840	if (FIFONumber == CAN_FIFO0)
	841	{
	842	switch(hcan->State)
	843	{
	844	case(HAL_CAN_STATE_BUSY_TX):
	845	hcan->State = HAL_CAN_STATE_BUSY_TX_RX0;
	846	break;
	847	case(HAL_CAN_STATE_BUSY_RX1):
	848	hcan->State = HAL_CAN_STATE_BUSY_RX0_RX1;
	849	break;
	850	case(HAL_CAN_STATE_BUSY_TX_RX1):
	851	hcan->State = HAL_CAN_STATE_BUSY_TX_RX0_RX1;
	852	break;
	853	default: /* HAL_CAN_STATE_READY */
	854	hcan->State = HAL_CAN_STATE_BUSY_RX0;
	855	break;
	856	}
	857	}
	858	else /* FIFONumber == CAN_FIFO1 */
	859	{
	860	switch(hcan->State)
	861	{
	862	case(HAL_CAN_STATE_BUSY_TX):
	863	hcan->State = HAL_CAN_STATE_BUSY_TX_RX1;
	864	break;
	865	case(HAL_CAN_STATE_BUSY_RX0):
	866	hcan->State = HAL_CAN_STATE_BUSY_RX0_RX1;
	867	break;
	868	case(HAL_CAN_STATE_BUSY_TX_RX0):
	869	hcan->State = HAL_CAN_STATE_BUSY_TX_RX0_RX1;
	870	break;
	871	default: /* HAL_CAN_STATE_READY */
	872	hcan->State = HAL_CAN_STATE_BUSY_RX1;
	873	break;
	874	}
	875	}
	876
	877	/* Get tick */
	878	tickstart = HAL_GetTick();
	879
	880	/* Check pending message */
	881	while(__HAL_CAN_MSG_PENDING(hcan, FIFONumber) == 0U)
	882	{
	883	/* Check for the Timeout */
	884	if(Timeout != HAL_MAX_DELAY)
	885	{
	886	if((Timeout == 0U) \|\| ((HAL_GetTick()-tickstart) > Timeout))
	887	{
	888	hcan->State = HAL_CAN_STATE_TIMEOUT;
	889
	890	/* Process unlocked */
	891	__HAL_UNLOCK(hcan);
	892
	893	return HAL_TIMEOUT;
	894	}
	895	}
	896	}
	897
	898	/* Set RxMsg pointer */
	899	if(FIFONumber == CAN_FIFO0)
	900	{
	901	pRxMsg = hcan->pRxMsg;
	902	}
	903	else /* FIFONumber == CAN_FIFO1 */
	904	{
	905	pRxMsg = hcan->pRx1Msg;
	906	}
	907
	908	/* Get the Id */
	909	pRxMsg->IDE = CAN_RI0R_IDE & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
	910	if (pRxMsg->IDE == CAN_ID_STD)
	911	{
	912	pRxMsg->StdId = (CAN_RI0R_STID & hcan->Instance->sFIFOMailBox[FIFONumber].RIR) >> CAN_TI0R_STID_Pos;
	913	}
	914	else
	915	{
	916	pRxMsg->ExtId = (0xFFFFFFF8U & hcan->Instance->sFIFOMailBox[FIFONumber].RIR) >> CAN_RI0R_EXID_Pos;
	917	}
	918	pRxMsg->RTR = (CAN_RI0R_RTR & hcan->Instance->sFIFOMailBox[FIFONumber].RIR) >> CAN_RI0R_RTR_Pos;
	919	/* Get the DLC */
	920	pRxMsg->DLC = (CAN_RDT0R_DLC & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR) >> CAN_RDT0R_DLC_Pos;
	921	/* Get the FMI */
	922	pRxMsg->FMI = (CAN_RDT0R_FMI & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR) >> CAN_RDT0R_FMI_Pos;
	923	/* Get the FIFONumber */
	924	pRxMsg->FIFONumber = FIFONumber;
	925	/* Get the data field */
	926	pRxMsg->Data[0] = (CAN_RDL0R_DATA0 & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR) >> CAN_RDL0R_DATA0_Pos;
	927	pRxMsg->Data[1] = (CAN_RDL0R_DATA1 & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR) >> CAN_RDL0R_DATA1_Pos;
	928	pRxMsg->Data[2] = (CAN_RDL0R_DATA2 & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR) >> CAN_RDL0R_DATA2_Pos;
	929	pRxMsg->Data[3] = (CAN_RDL0R_DATA3 & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR) >> CAN_RDL0R_DATA3_Pos;
	930	pRxMsg->Data[4] = (CAN_RDH0R_DATA4 & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR) >> CAN_RDH0R_DATA4_Pos;
	931	pRxMsg->Data[5] = (CAN_RDH0R_DATA5 & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR) >> CAN_RDH0R_DATA5_Pos;
	932	pRxMsg->Data[6] = (CAN_RDH0R_DATA6 & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR) >> CAN_RDH0R_DATA6_Pos;
	933	pRxMsg->Data[7] = (CAN_RDH0R_DATA7 & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR) >> CAN_RDH0R_DATA7_Pos;
	934
	935	/* Release the FIFO */
	936	if(FIFONumber == CAN_FIFO0)
	937	{
	938	/* Release FIFO0 */
	939	__HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0);
	940	}
	941	else /* FIFONumber == CAN_FIFO1 */
	942	{
	943	/* Release FIFO1 */
	944	__HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1);
	945	}
	946
	947	/* Change CAN state */
	948	if (FIFONumber == CAN_FIFO0)
	949	{
	950	switch(hcan->State)
	951	{
	952	case(HAL_CAN_STATE_BUSY_TX_RX0):
	953	hcan->State = HAL_CAN_STATE_BUSY_TX;
	954	break;
	955	case(HAL_CAN_STATE_BUSY_RX0_RX1):
	956	hcan->State = HAL_CAN_STATE_BUSY_RX1;
	957	break;
	958	case(HAL_CAN_STATE_BUSY_TX_RX0_RX1):
	959	hcan->State = HAL_CAN_STATE_BUSY_TX_RX1;
	960	break;
	961	default: /* HAL_CAN_STATE_BUSY_RX0 */
	962	hcan->State = HAL_CAN_STATE_READY;
	963	break;
	964	}
	965	}
	966	else /* FIFONumber == CAN_FIFO1 */
	967	{
	968	switch(hcan->State)
	969	{
	970	case(HAL_CAN_STATE_BUSY_TX_RX1):
	971	hcan->State = HAL_CAN_STATE_BUSY_TX;
	972	break;
	973	case(HAL_CAN_STATE_BUSY_RX0_RX1):
	974	hcan->State = HAL_CAN_STATE_BUSY_RX0;
	975	break;
	976	case(HAL_CAN_STATE_BUSY_TX_RX0_RX1):
	977	hcan->State = HAL_CAN_STATE_BUSY_TX_RX0;
	978	break;
	979	default: /* HAL_CAN_STATE_BUSY_RX1 */
	980	hcan->State = HAL_CAN_STATE_READY;
	981	break;
	982	}
	983	}
	984
	985	/* Process unlocked */
	986	__HAL_UNLOCK(hcan);
	987
	988	/* Return function status */
	989	return HAL_OK;
	990	}
	991
	992	/**
	993	* @brief Receives a correct CAN frame.
	994	* @param hcan pointer to a CAN_HandleTypeDef structure that contains
	995	* the configuration information for the specified CAN.
	996	* @param FIFONumber FIFO number.
	997	* @retval HAL status
	998	*/
	999	HAL_StatusTypeDef HAL_CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber)
	1000	{
	1001	/* Check the parameters */
	1002	assert_param(IS_CAN_FIFO(FIFONumber));
	1003
	1004	/* Process locked */
	1005	__HAL_LOCK(hcan);
	1006
	1007	/* Check if CAN state is not busy for RX FIFO0 */
	1008	if ((FIFONumber == CAN_FIFO0) && ((hcan->State == HAL_CAN_STATE_BUSY_RX0) \|\| \
	1009	(hcan->State == HAL_CAN_STATE_BUSY_TX_RX0) \|\| \
	1010	(hcan->State == HAL_CAN_STATE_BUSY_RX0_RX1) \|\| \
	1011	(hcan->State == HAL_CAN_STATE_BUSY_TX_RX0_RX1)))
	1012	{
	1013	/* Process unlocked */
	1014	__HAL_UNLOCK(hcan);
	1015
	1016	return HAL_BUSY;
	1017	}
	1018
	1019	/* Check if CAN state is not busy for RX FIFO1 */
	1020	if ((FIFONumber == CAN_FIFO1) && ((hcan->State == HAL_CAN_STATE_BUSY_RX1) \|\| \
	1021	(hcan->State == HAL_CAN_STATE_BUSY_TX_RX1) \|\| \
	1022	(hcan->State == HAL_CAN_STATE_BUSY_RX0_RX1) \|\| \
	1023	(hcan->State == HAL_CAN_STATE_BUSY_TX_RX0_RX1)))
	1024	{
	1025	/* Process unlocked */
	1026	__HAL_UNLOCK(hcan);
	1027
	1028	return HAL_BUSY;
	1029	}
	1030
	1031	/* Change CAN state */
	1032	if (FIFONumber == CAN_FIFO0)
	1033	{
	1034	switch(hcan->State)
	1035	{
	1036	case(HAL_CAN_STATE_BUSY_TX):
	1037	hcan->State = HAL_CAN_STATE_BUSY_TX_RX0;
	1038	break;
	1039	case(HAL_CAN_STATE_BUSY_RX1):
	1040	hcan->State = HAL_CAN_STATE_BUSY_RX0_RX1;
	1041	break;
	1042	case(HAL_CAN_STATE_BUSY_TX_RX1):
	1043	hcan->State = HAL_CAN_STATE_BUSY_TX_RX0_RX1;
	1044	break;
	1045	default: /* HAL_CAN_STATE_READY */
	1046	hcan->State = HAL_CAN_STATE_BUSY_RX0;
	1047	break;
	1048	}
	1049	}
	1050	else /* FIFONumber == CAN_FIFO1 */
	1051	{
	1052	switch(hcan->State)
	1053	{
	1054	case(HAL_CAN_STATE_BUSY_TX):
	1055	hcan->State = HAL_CAN_STATE_BUSY_TX_RX1;
	1056	break;
	1057	case(HAL_CAN_STATE_BUSY_RX0):
	1058	hcan->State = HAL_CAN_STATE_BUSY_RX0_RX1;
	1059	break;
	1060	case(HAL_CAN_STATE_BUSY_TX_RX0):
	1061	hcan->State = HAL_CAN_STATE_BUSY_TX_RX0_RX1;
	1062	break;
	1063	default: /* HAL_CAN_STATE_READY */
	1064	hcan->State = HAL_CAN_STATE_BUSY_RX1;
	1065	break;
	1066	}
	1067	}
	1068
	1069	/* Set CAN error code to none */
	1070	hcan->ErrorCode = HAL_CAN_ERROR_NONE;
	1071
	1072	/* Enable interrupts: */
	1073	/* - Enable Error warning Interrupt */
	1074	/* - Enable Error passive Interrupt */
	1075	/* - Enable Bus-off Interrupt */
	1076	/* - Enable Last error code Interrupt */
	1077	/* - Enable Error Interrupt */
	1078	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG \|
	1079	CAN_IT_EPV \|
	1080	CAN_IT_BOF \|
	1081	CAN_IT_LEC \|
	1082	CAN_IT_ERR);
	1083
	1084	/* Process unlocked */
	1085	__HAL_UNLOCK(hcan);
	1086
	1087	if(FIFONumber == CAN_FIFO0)
	1088	{
	1089	/* Enable FIFO 0 overrun and message pending Interrupt */
	1090	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_FOV0 \| CAN_IT_FMP0);
	1091	}
	1092	else
	1093	{
	1094	/* Enable FIFO 1 overrun and message pending Interrupt */
	1095	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_FOV1 \| CAN_IT_FMP1);
	1096	}
	1097
	1098	/* Return function status */
	1099	return HAL_OK;
	1100	}
	1101
	1102	/**
	1103	* @brief Enters the Sleep (low power) mode.
	1104	* @param hcan pointer to a CAN_HandleTypeDef structure that contains
	1105	* the configuration information for the specified CAN.
	1106	* @retval HAL status.
	1107	*/
	1108	HAL_StatusTypeDef HAL_CAN_Sleep(CAN_HandleTypeDef* hcan)
	1109	{
	1110	uint32_t tickstart = 0U;
	1111
	1112	/* Process locked */
	1113	__HAL_LOCK(hcan);
	1114
	1115	/* Change CAN state */
	1116	hcan->State = HAL_CAN_STATE_BUSY;
	1117
	1118	/* Request Sleep mode */
	1119	MODIFY_REG(hcan->Instance->MCR,
	1120	CAN_MCR_INRQ ,
	1121	CAN_MCR_SLEEP );
	1122
	1123	/* Sleep mode status */
	1124	if (HAL_IS_BIT_CLR(hcan->Instance->MSR, CAN_MSR_SLAK) \|\|
	1125	HAL_IS_BIT_SET(hcan->Instance->MSR, CAN_MSR_INAK) )
	1126	{
	1127	/* Process unlocked */
	1128	__HAL_UNLOCK(hcan);
	1129
	1130	/* Return function status */
	1131	return HAL_ERROR;
	1132	}
	1133
	1134	/* Get tick */
	1135	tickstart = HAL_GetTick();
	1136
	1137	/* Wait the acknowledge */
	1138	while (HAL_IS_BIT_CLR(hcan->Instance->MSR, CAN_MSR_SLAK) \|\|
	1139	HAL_IS_BIT_SET(hcan->Instance->MSR, CAN_MSR_INAK) )
	1140	{
	1141	if((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
	1142	{
	1143	hcan->State = HAL_CAN_STATE_TIMEOUT;
	1144	/* Process unlocked */
	1145	__HAL_UNLOCK(hcan);
	1146	return HAL_TIMEOUT;
	1147	}
	1148	}
	1149
	1150	/* Change CAN state */
	1151	hcan->State = HAL_CAN_STATE_READY;
	1152
	1153	/* Process unlocked */
	1154	__HAL_UNLOCK(hcan);
	1155
	1156	/* Return function status */
	1157	return HAL_OK;
	1158	}
	1159
	1160	/**
	1161	* @brief Wakes up the CAN peripheral from sleep mode, after that the CAN peripheral
	1162	* is in the normal mode.
	1163	* @param hcan pointer to a CAN_HandleTypeDef structure that contains
	1164	* the configuration information for the specified CAN.
	1165	* @retval HAL status.
	1166	*/
	1167	HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef* hcan)
	1168	{
	1169	uint32_t tickstart = 0U;
	1170
	1171	/* Process locked */
	1172	__HAL_LOCK(hcan);
	1173
	1174	/* Change CAN state */
	1175	hcan->State = HAL_CAN_STATE_BUSY;
	1176
	1177	/* Wake up request */
	1178	CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
	1179
	1180	/* Get tick */
	1181	tickstart = HAL_GetTick();
	1182
	1183	/* Sleep mode status */
	1184	while(HAL_IS_BIT_SET(hcan->Instance->MSR, CAN_MSR_SLAK))
	1185	{
	1186	if((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
	1187	{
	1188	hcan->State= HAL_CAN_STATE_TIMEOUT;
	1189
	1190	/* Process unlocked */
	1191	__HAL_UNLOCK(hcan);
	1192
	1193	return HAL_TIMEOUT;
	1194	}
	1195	}
	1196
	1197	if(HAL_IS_BIT_SET(hcan->Instance->MSR, CAN_MSR_SLAK))
	1198	{
	1199	/* Process unlocked */
	1200	__HAL_UNLOCK(hcan);
	1201
	1202	/* Return function status */
	1203	return HAL_ERROR;
	1204	}
	1205
	1206	/* Change CAN state */
	1207	hcan->State = HAL_CAN_STATE_READY;
	1208
	1209	/* Process unlocked */
	1210	__HAL_UNLOCK(hcan);
	1211
	1212	/* Return function status */
	1213	return HAL_OK;
	1214	}
	1215
	1216	/**
	1217	* @brief Handles CAN interrupt request
	1218	* @param hcan pointer to a CAN_HandleTypeDef structure that contains
	1219	* the configuration information for the specified CAN.
	1220	* @retval None
	1221	*/
	1222	void HAL_CAN_IRQHandler(CAN_HandleTypeDef* hcan)
	1223	{
	1224	uint32_t errorcode = HAL_CAN_ERROR_NONE;
	1225
	1226	/* Check Overrun flag for FIFO0 */
	1227	if((__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FOV0)) &&
	1228	(__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FOV0)))
	1229	{
	1230	/* Set CAN error code to FOV0 error */
	1231	errorcode \|= HAL_CAN_ERROR_FOV0;
	1232
	1233	/* Clear FIFO0 Overrun Flag */
	1234	__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV0);
	1235	}
	1236
	1237	/* Check Overrun flag for FIFO1 */
	1238	if((__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FOV1)) &&
	1239	(__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FOV1)))
	1240	{
	1241	/* Set CAN error code to FOV1 error */
	1242	errorcode \|= HAL_CAN_ERROR_FOV1;
	1243
	1244	/* Clear FIFO1 Overrun Flag */
	1245	__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV1);
	1246	}
	1247
	1248	/* Check End of transmission flag */
	1249	if(__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_TME))
	1250	{
	1251	/* Check Transmit request completion status */
	1252	if((__HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_0)) \|\|
	1253	(__HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_1)) \|\|
	1254	(__HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_2)))
	1255	{
	1256	/* Check Transmit success */
	1257	if((__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK0)) \|\|
	1258	(__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK1)) \|\|
	1259	(__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK2)))
	1260	{
	1261	/* Call transmit function */
	1262	CAN_Transmit_IT(hcan);
	1263	}
	1264	else /* Transmit failure */
	1265	{
	1266	/* Set CAN error code to TXFAIL error */
	1267	errorcode \|= HAL_CAN_ERROR_TXFAIL;
	1268	}
	1269
	1270	/* Clear transmission status flags (RQCPx and TXOKx) */
	1271	SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP0 \| CAN_TSR_RQCP1 \| CAN_TSR_RQCP2 \| \
	1272	CAN_FLAG_TXOK0 \| CAN_FLAG_TXOK1 \| CAN_FLAG_TXOK2);
	1273	}
	1274	}
	1275
	1276	/* Check End of reception flag for FIFO0 */
	1277	if((__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP0)) &&
	1278	(__HAL_CAN_MSG_PENDING(hcan, CAN_FIFO0) != 0U))
	1279	{
	1280	/* Call receive function */
	1281	CAN_Receive_IT(hcan, CAN_FIFO0);
	1282	}
	1283
	1284	/* Check End of reception flag for FIFO1 */
	1285	if((__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP1)) &&
	1286	(__HAL_CAN_MSG_PENDING(hcan, CAN_FIFO1) != 0U))
	1287	{
	1288	/* Call receive function */
	1289	CAN_Receive_IT(hcan, CAN_FIFO1);
	1290	}
	1291
	1292	/* Set error code in handle */
	1293	hcan->ErrorCode \|= errorcode;
	1294
	1295	/* Check Error Warning Flag */
	1296	if((__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_EWG)) &&
	1297	(__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_EWG)) &&
	1298	(__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR)))
	1299	{
	1300	/* Set CAN error code to EWG error */
	1301	hcan->ErrorCode \|= HAL_CAN_ERROR_EWG;
	1302	/* No need for clear of Error Warning Flag as read-only */
	1303	}
	1304
	1305	/* Check Error Passive Flag */
	1306	if((__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_EPV)) &&
	1307	(__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_EPV)) &&
	1308	(__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR)))
	1309	{
	1310	/* Set CAN error code to EPV error */
	1311	hcan->ErrorCode \|= HAL_CAN_ERROR_EPV;
	1312	/* No need for clear of Error Passive Flag as read-only */
	1313	}
	1314
	1315	/* Check Bus-Off Flag */
	1316	if((__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_BOF)) &&
	1317	(__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_BOF)) &&
	1318	(__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR)))
	1319	{
	1320	/* Set CAN error code to BOF error */
	1321	hcan->ErrorCode \|= HAL_CAN_ERROR_BOF;
	1322	/* No need for clear of Bus-Off Flag as read-only */
	1323	}
	1324
	1325	/* Check Last error code Flag */
	1326	if((!HAL_IS_BIT_CLR(hcan->Instance->ESR, CAN_ESR_LEC)) &&
	1327	(__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_LEC)) &&
	1328	(__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR)))
	1329	{
	1330	switch(hcan->Instance->ESR & CAN_ESR_LEC)
	1331	{
	1332	case(CAN_ESR_LEC_0):
	1333	/* Set CAN error code to STF error */
	1334	hcan->ErrorCode \|= HAL_CAN_ERROR_STF;
	1335	break;
	1336	case(CAN_ESR_LEC_1):
	1337	/* Set CAN error code to FOR error */
	1338	hcan->ErrorCode \|= HAL_CAN_ERROR_FOR;
	1339	break;
	1340	case(CAN_ESR_LEC_1 \| CAN_ESR_LEC_0):
	1341	/* Set CAN error code to ACK error */
	1342	hcan->ErrorCode \|= HAL_CAN_ERROR_ACK;
	1343	break;
	1344	case(CAN_ESR_LEC_2):
	1345	/* Set CAN error code to BR error */
	1346	hcan->ErrorCode \|= HAL_CAN_ERROR_BR;
	1347	break;
	1348	case(CAN_ESR_LEC_2 \| CAN_ESR_LEC_0):
	1349	/* Set CAN error code to BD error */
	1350	hcan->ErrorCode \|= HAL_CAN_ERROR_BD;
	1351	break;
	1352	case(CAN_ESR_LEC_2 \| CAN_ESR_LEC_1):
	1353	/* Set CAN error code to CRC error */
	1354	hcan->ErrorCode \|= HAL_CAN_ERROR_CRC;
	1355	break;
	1356	default:
	1357	break;
	1358	}
	1359
	1360	/* Clear Last error code Flag */
	1361	CLEAR_BIT(hcan->Instance->ESR, CAN_ESR_LEC);
	1362	}
	1363
	1364	/* Call the Error call Back in case of Errors */
	1365	if(hcan->ErrorCode != HAL_CAN_ERROR_NONE)
	1366	{
	1367	/* Clear ERRI Flag */
	1368	SET_BIT(hcan->Instance->MSR, CAN_MSR_ERRI);
	1369
	1370	/* Set the CAN state ready to be able to start again the process */
	1371	hcan->State = HAL_CAN_STATE_READY;
	1372
	1373	/* Disable interrupts: */
	1374	/* - Disable Error warning Interrupt */
	1375	/* - Disable Error passive Interrupt */
	1376	/* - Disable Bus-off Interrupt */
	1377	/* - Disable Last error code Interrupt */
	1378	/* - Disable Error Interrupt */
	1379	/* - Disable FIFO 0 message pending Interrupt */
	1380	/* - Disable FIFO 0 Overrun Interrupt */
	1381	/* - Disable FIFO 1 message pending Interrupt */
	1382	/* - Disable FIFO 1 Overrun Interrupt */
	1383	/* - Disable Transmit mailbox empty Interrupt */
	1384	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG \|
	1385	CAN_IT_EPV \|
	1386	CAN_IT_BOF \|
	1387	CAN_IT_LEC \|
	1388	CAN_IT_ERR \|
	1389	CAN_IT_FMP0\|
	1390	CAN_IT_FOV0\|
	1391	CAN_IT_FMP1\|
	1392	CAN_IT_FOV1\|
	1393	CAN_IT_TME );
	1394
	1395	/* Call Error callback function */
	1396	HAL_CAN_ErrorCallback(hcan);
	1397	}
	1398	}
	1399
	1400	/**
	1401	* @brief Transmission complete callback in non blocking mode
	1402	* @param hcan pointer to a CAN_HandleTypeDef structure that contains
	1403	* the configuration information for the specified CAN.
	1404	* @retval None
	1405	*/
	1406	__weak void HAL_CAN_TxCpltCallback(CAN_HandleTypeDef* hcan)
	1407	{
	1408	/* Prevent unused argument(s) compilation warning */
	1409	UNUSED(hcan);
	1410
	1411	/* NOTE : This function Should not be modified, when the callback is needed,
	1412	the HAL_CAN_TxCpltCallback could be implemented in the user file
	1413	*/
	1414	}
	1415
	1416	/**
	1417	* @brief Transmission complete callback in non blocking mode
	1418	* @param hcan pointer to a CAN_HandleTypeDef structure that contains
	1419	* the configuration information for the specified CAN.
	1420	* @retval None
	1421	*/
	1422	__weak void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan)
	1423	{
	1424	/* Prevent unused argument(s) compilation warning */
	1425	UNUSED(hcan);
	1426
	1427	/* NOTE : This function Should not be modified, when the callback is needed,
	1428	the HAL_CAN_RxCpltCallback could be implemented in the user file
	1429	*/
	1430	}
	1431
	1432	/**
	1433	* @brief Error CAN callback.
	1434	* @param hcan pointer to a CAN_HandleTypeDef structure that contains
	1435	* the configuration information for the specified CAN.
	1436	* @retval None
	1437	*/
	1438	__weak void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan)
	1439	{
	1440	/* Prevent unused argument(s) compilation warning */
	1441	UNUSED(hcan);
	1442
	1443	/* NOTE : This function Should not be modified, when the callback is needed,
	1444	the HAL_CAN_ErrorCallback could be implemented in the user file
	1445	*/
	1446	}
	1447
	1448	/**
	1449	* @}
	1450	*/
	1451
	1452	/** @defgroup CAN_Exported_Functions_Group3 Peripheral State and Error functions
	1453	* @brief CAN Peripheral State functions
	1454	*
	1455	@verbatim
	1456	==============================================================================
	1457	##### Peripheral State and Error functions #####
	1458	==============================================================================
	1459	[..]
	1460	This subsection provides functions allowing to :
	1461	(+) Check the CAN state.
	1462	(+) Check CAN Errors detected during interrupt process
	1463
	1464	@endverbatim
	1465	* @{
	1466	*/
	1467
	1468	/**
	1469	* @brief return the CAN state
	1470	* @param hcan pointer to a CAN_HandleTypeDef structure that contains
	1471	* the configuration information for the specified CAN.
	1472	* @retval HAL state
	1473	*/
	1474	HAL_CAN_StateTypeDef HAL_CAN_GetState(CAN_HandleTypeDef* hcan)
	1475	{
	1476	/* Return CAN state */
	1477	return hcan->State;
	1478	}
	1479
	1480	/**
	1481	* @brief Return the CAN error code
	1482	* @param hcan pointer to a CAN_HandleTypeDef structure that contains
	1483	* the configuration information for the specified CAN.
	1484	* @retval CAN Error Code
	1485	*/
	1486	uint32_t HAL_CAN_GetError(CAN_HandleTypeDef *hcan)
	1487	{
	1488	return hcan->ErrorCode;
	1489	}
	1490
	1491	/**
	1492	* @}
	1493	*/
	1494
	1495	/**
	1496	* @}
	1497	*/
	1498
	1499	/** @addtogroup CAN_Private_Functions CAN Private Functions
	1500	* @brief CAN Frame message Rx/Tx functions
	1501	*
	1502	* @{
	1503	*/
	1504
	1505	/**
	1506	* @brief Initiates and transmits a CAN frame message.
	1507	* @param hcan pointer to a CAN_HandleTypeDef structure that contains
	1508	* the configuration information for the specified CAN.
	1509	* @retval HAL status
	1510	*/
	1511	static HAL_StatusTypeDef CAN_Transmit_IT(CAN_HandleTypeDef* hcan)
	1512	{
	1513	/* Disable Transmit mailbox empty Interrupt */
	1514	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_TME);
	1515
	1516	if(hcan->State == HAL_CAN_STATE_BUSY_TX)
	1517	{
	1518	/* Disable interrupts: */
	1519	/* - Disable Error warning Interrupt */
	1520	/* - Disable Error passive Interrupt */
	1521	/* - Disable Bus-off Interrupt */
	1522	/* - Disable Last error code Interrupt */
	1523	/* - Disable Error Interrupt */
	1524	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG \|
	1525	CAN_IT_EPV \|
	1526	CAN_IT_BOF \|
	1527	CAN_IT_LEC \|
	1528	CAN_IT_ERR );
	1529	}
	1530
	1531	/* Change CAN state */
	1532	switch(hcan->State)
	1533	{
	1534	case(HAL_CAN_STATE_BUSY_TX_RX0):
	1535	hcan->State = HAL_CAN_STATE_BUSY_RX0;
	1536	break;
	1537	case(HAL_CAN_STATE_BUSY_TX_RX1):
	1538	hcan->State = HAL_CAN_STATE_BUSY_RX1;
	1539	break;
	1540	case(HAL_CAN_STATE_BUSY_TX_RX0_RX1):
	1541	hcan->State = HAL_CAN_STATE_BUSY_RX0_RX1;
	1542	break;
	1543	default: /* HAL_CAN_STATE_BUSY_TX */
	1544	hcan->State = HAL_CAN_STATE_READY;
	1545	break;
	1546	}
	1547
	1548	/* Transmission complete callback */
	1549	HAL_CAN_TxCpltCallback(hcan);
	1550
	1551	return HAL_OK;
	1552	}
	1553
	1554	/**
	1555	* @brief Receives a correct CAN frame.
	1556	* @param hcan Pointer to a CAN_HandleTypeDef structure that contains
	1557	* the configuration information for the specified CAN.
	1558	* @param FIFONumber Specify the FIFO number
	1559	* @retval HAL status
	1560	* @retval None
	1561	*/
	1562	static HAL_StatusTypeDef CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber)
	1563	{
	1564	CanRxMsgTypeDef* pRxMsg = NULL;
	1565
	1566	/* Set RxMsg pointer */
	1567	if(FIFONumber == CAN_FIFO0)
	1568	{
	1569	pRxMsg = hcan->pRxMsg;
	1570	}
	1571	else /* FIFONumber == CAN_FIFO1 */
	1572	{
	1573	pRxMsg = hcan->pRx1Msg;
	1574	}
	1575
	1576	/* Get the Id */
	1577	pRxMsg->IDE = CAN_RI0R_IDE & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
	1578	if (pRxMsg->IDE == CAN_ID_STD)
	1579	{
	1580	pRxMsg->StdId = (CAN_RI0R_STID & hcan->Instance->sFIFOMailBox[FIFONumber].RIR) >> CAN_TI0R_STID_Pos;
	1581	}
	1582	else
	1583	{
	1584	pRxMsg->ExtId = (0xFFFFFFF8U & hcan->Instance->sFIFOMailBox[FIFONumber].RIR) >> CAN_RI0R_EXID_Pos;
	1585	}
	1586	pRxMsg->RTR = (CAN_RI0R_RTR & hcan->Instance->sFIFOMailBox[FIFONumber].RIR) >> CAN_RI0R_RTR_Pos;
	1587	/* Get the DLC */
	1588	pRxMsg->DLC = (CAN_RDT0R_DLC & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR) >> CAN_RDT0R_DLC_Pos;
	1589	/* Get the FMI */
	1590	pRxMsg->FMI = (CAN_RDT0R_FMI & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR) >> CAN_RDT0R_FMI_Pos;
	1591	/* Get the FIFONumber */
	1592	pRxMsg->FIFONumber = FIFONumber;
	1593	/* Get the data field */
	1594	pRxMsg->Data[0] = (CAN_RDL0R_DATA0 & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR) >> CAN_RDL0R_DATA0_Pos;
	1595	pRxMsg->Data[1] = (CAN_RDL0R_DATA1 & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR) >> CAN_RDL0R_DATA1_Pos;
	1596	pRxMsg->Data[2] = (CAN_RDL0R_DATA2 & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR) >> CAN_RDL0R_DATA2_Pos;
	1597	pRxMsg->Data[3] = (CAN_RDL0R_DATA3 & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR) >> CAN_RDL0R_DATA3_Pos;
	1598	pRxMsg->Data[4] = (CAN_RDH0R_DATA4 & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR) >> CAN_RDH0R_DATA4_Pos;
	1599	pRxMsg->Data[5] = (CAN_RDH0R_DATA5 & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR) >> CAN_RDH0R_DATA5_Pos;
	1600	pRxMsg->Data[6] = (CAN_RDH0R_DATA6 & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR) >> CAN_RDH0R_DATA6_Pos;
	1601	pRxMsg->Data[7] = (CAN_RDH0R_DATA7 & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR) >> CAN_RDH0R_DATA7_Pos;
	1602
	1603	/* Release the FIFO */
	1604	/* Release FIFO0 */
	1605	if (FIFONumber == CAN_FIFO0)
	1606	{
	1607	__HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0);
	1608
	1609	/* Disable FIFO 0 overrun and message pending Interrupt */
	1610	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_FOV0 \| CAN_IT_FMP0);
	1611	}
	1612	/* Release FIFO1 */
	1613	else /* FIFONumber == CAN_FIFO1 */
	1614	{
	1615	__HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1);
	1616
	1617	/* Disable FIFO 1 overrun and message pending Interrupt */
	1618	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_FOV1 \| CAN_IT_FMP1);
	1619	}
	1620
	1621	if((hcan->State == HAL_CAN_STATE_BUSY_RX0) \|\| (hcan->State == HAL_CAN_STATE_BUSY_RX1))
	1622	{
	1623	/* Disable interrupts: */
	1624	/* - Disable Error warning Interrupt */
	1625	/* - Disable Error passive Interrupt */
	1626	/* - Disable Bus-off Interrupt */
	1627	/* - Disable Last error code Interrupt */
	1628	/* - Disable Error Interrupt */
	1629	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG \|
	1630	CAN_IT_EPV \|
	1631	CAN_IT_BOF \|
	1632	CAN_IT_LEC \|
	1633	CAN_IT_ERR );
	1634	}
	1635
	1636	/* Change CAN state */
	1637	if (FIFONumber == CAN_FIFO0)
	1638	{
	1639	switch(hcan->State)
	1640	{
	1641	case(HAL_CAN_STATE_BUSY_TX_RX0):
	1642	hcan->State = HAL_CAN_STATE_BUSY_TX;
	1643	break;
	1644	case(HAL_CAN_STATE_BUSY_RX0_RX1):
	1645	hcan->State = HAL_CAN_STATE_BUSY_RX1;
	1646	break;
	1647	case(HAL_CAN_STATE_BUSY_TX_RX0_RX1):
	1648	hcan->State = HAL_CAN_STATE_BUSY_TX_RX1;
	1649	break;
	1650	default: /* HAL_CAN_STATE_BUSY_RX0 */
	1651	hcan->State = HAL_CAN_STATE_READY;
	1652	break;
	1653	}
	1654	}
	1655	else /* FIFONumber == CAN_FIFO1 */
	1656	{
	1657	switch(hcan->State)
	1658	{
	1659	case(HAL_CAN_STATE_BUSY_TX_RX1):
	1660	hcan->State = HAL_CAN_STATE_BUSY_TX;
	1661	break;
	1662	case(HAL_CAN_STATE_BUSY_RX0_RX1):
	1663	hcan->State = HAL_CAN_STATE_BUSY_RX0;
	1664	break;
	1665	case(HAL_CAN_STATE_BUSY_TX_RX0_RX1):
	1666	hcan->State = HAL_CAN_STATE_BUSY_TX_RX0;
	1667	break;
	1668	default: /* HAL_CAN_STATE_BUSY_RX1 */
	1669	hcan->State = HAL_CAN_STATE_READY;
	1670	break;
	1671	}
	1672	}
	1673
	1674	/* Receive complete callback */
	1675	HAL_CAN_RxCpltCallback(hcan);
	1676
	1677	/* Return function status */
	1678	return HAL_OK;
	1679	}
	1680
	1681	/**
	1682	* @}
	1683	*/
	1684
	1685	/**
	1686	* @}
	1687	*/
	1688
	1689	/**
	1690	* @}
	1691	*/
	1692
	1693	#endif /* defined(STM32F072xB) \|\| defined(STM32F042x6) \|\| defined(STM32F048xx) \|\| defined(STM32F091xC) \|\| defined(STM32F098xx) */
	1694
	1695	#endif /* HAL_CAN_MODULE_ENABLED */
	1696
	1697	/********************** (C) COPYRIGHT STMicroelectronics *END OF FILE**/