text: /**
    ******************************************************************************
    * @file    stm32f0xx_hal_can.c
    * @author  MCD Application Team
    * @version V1.4.0
    * @date    27-May-2016
    * @brief   CAN HAL module driver.
    *          This file provides firmware functions to manage the following 
    *          functionalities of the Controller Area Network (CAN) peripheral:
    *           + Initialization and de-initialization functions 
    *           + IO operation functions
    *           + Peripheral Control functions
    *           + Peripheral State and Error functions
    *
    @verbatim
    ==============================================================================    
                          ##### How to use this driver #####
    ==============================================================================
      [..]            
        (#) Enable the CAN controller interface clock using __HAL_RCC_CAN1_CLK_ENABLE(); 
         
        (#) CAN pins configuration
          (++) Enable the clock for the CAN GPIOs using the following function:
               __HAL_RCC_GPIOx_CLK_ENABLE();   
          (++) Connect and configure the involved CAN pins to AF9 using the 
                following function HAL_GPIO_Init(); 
                
        (#) Initialise and configure the CAN using HAL_CAN_Init() function.   
                   
        (#) Transmit the desired CAN frame using HAL_CAN_Transmit() function.
             
        (#) Receive a CAN frame using HAL_CAN_Receive() function.
  
       *** Polling mode IO operation ***
       =================================
       [..]    
         (+) Start the CAN peripheral transmission and wait the end of this operation 
             using HAL_CAN_Transmit(), at this stage user can specify the value of timeout
             according to his end application
         (+) Start the CAN peripheral reception and wait the end of this operation 
             using HAL_CAN_Receive(), at this stage user can specify the value of timeout
             according to his end application 
         
       *** Interrupt mode IO operation ***    
       ===================================
       [..]    
         (+) Start the CAN peripheral transmission using HAL_CAN_Transmit_IT()
         (+) Start the CAN peripheral reception using HAL_CAN_Receive_IT()         
         (+) Use HAL_CAN_IRQHandler() called under the used CAN Interrupt subroutine
         (+) At CAN end of transmission HAL_CAN_TxCpltCallback() function is executed and user can 
              add his own code by customization of function pointer HAL_CAN_TxCpltCallback 
         (+) In case of CAN Error, HAL_CAN_ErrorCallback() function is executed and user can 
              add his own code by customization of function pointer HAL_CAN_ErrorCallback
   
       *** CAN HAL driver macros list ***
       ============================================= 
       [..]
         Below the list of most used macros in CAN HAL driver.
         
        (+) __HAL_CAN_ENABLE_IT: Enable the specified CAN interrupts
        (+) __HAL_CAN_DISABLE_IT: Disable the specified CAN interrupts
        (+) __HAL_CAN_GET_IT_SOURCE: Check if the specified CAN interrupt source is enabled or disabled
        (+) __HAL_CAN_CLEAR_FLAG: Clear the CAN's pending flags
        (+) __HAL_CAN_GET_FLAG: Get the selected CAN's flag status
        
       [..] 
        (@) You can refer to the CAN HAL driver header file for more useful macros 
                  
    @endverbatim
             
    ******************************************************************************
    * @attention
    *
    * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
    *
    * Redistribution and use in source and binary forms, with or without modification,
    * are permitted provided that the following conditions are met:
    *   1. Redistributions of source code must retain the above copyright notice,
    *      this list of conditions and the following disclaimer.
    *   2. Redistributions in binary form must reproduce the above copyright notice,
    *      this list of conditions and the following disclaimer in the documentation
    *      and/or other materials provided with the distribution.
    *   3. Neither the name of STMicroelectronics nor the names of its contributors
    *      may be used to endorse or promote products derived from this software
    *      without specific prior written permission.
    *
    * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
    * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
    * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
    * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
    * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
    * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
    * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
    * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
    * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
    * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
    *
    ******************************************************************************  
    */
  
  /* Includes ------------------------------------------------------------------*/
  #include "stm32f0xx_hal.h"
  
  #ifdef HAL_CAN_MODULE_ENABLED  
    
  #if defined(STM32F072xB) || defined(STM32F042x6) || defined(STM32F048xx) || defined(STM32F091xC) || defined(STM32F098xx) 
  
  /** @addtogroup STM32F0xx_HAL_Driver
    * @{
    */
  
  /** @defgroup CAN CAN
    * @brief CAN driver modules
    * @{
    */ 
    
  /* Private typedef -----------------------------------------------------------*/
  /* Private define ------------------------------------------------------------*/
  /** @defgroup CAN_Private_Constants CAN Private Constants
    * @{
    */
  #define CAN_TIMEOUT_VALUE 10
  /**
    * @}
    */
  /* Private macro -------------------------------------------------------------*/
  /* Private variables ---------------------------------------------------------*/
  /* Private function prototypes -----------------------------------------------*/
  /** @defgroup CAN_Private_Functions CAN Private Functions
    * @{
    */
  static HAL_StatusTypeDef CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber);
  static HAL_StatusTypeDef CAN_Transmit_IT(CAN_HandleTypeDef* hcan);
  /**
    * @}
    */
    
  /* Exported functions ---------------------------------------------------------*/
  
  /** @defgroup CAN_Exported_Functions CAN Exported Functions
    * @{
    */
  
  /** @defgroup CAN_Exported_Functions_Group1 Initialization and de-initialization functions 
   *  @brief    Initialization and Configuration functions 
   *
  @verbatim    
    ==============================================================================
                ##### Initialization and de-initialization functions #####
    ==============================================================================
      [..]  This section provides functions allowing to:
        (+) Initialize and configure the CAN. 
        (+) De-initialize the CAN. 
           
  @endverbatim
    * @{
    */
    
  /**
    * @brief  Initializes the CAN peripheral according to the specified
    *         parameters in the CAN_InitStruct.
    * @param  hcan: pointer to a CAN_HandleTypeDef structure that contains
    *         the configuration information for the specified CAN.  
    * @retval HAL status
    */
  HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef* hcan)
  {
    uint32_t status = CAN_INITSTATUS_FAILED;  /* Default init status */
    uint32_t tickstart = 0;
    
    /* Check CAN handle */
    if(hcan == NULL)
    {
       return HAL_ERROR;
    }
  
    /* Check the parameters */
    assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
    assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TTCM));
    assert_param(IS_FUNCTIONAL_STATE(hcan->Init.ABOM));
    assert_param(IS_FUNCTIONAL_STATE(hcan->Init.AWUM));
    assert_param(IS_FUNCTIONAL_STATE(hcan->Init.NART));
    assert_param(IS_FUNCTIONAL_STATE(hcan->Init.RFLM));
    assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TXFP));
    assert_param(IS_CAN_MODE(hcan->Init.Mode));
    assert_param(IS_CAN_SJW(hcan->Init.SJW));
    assert_param(IS_CAN_BS1(hcan->Init.BS1));
    assert_param(IS_CAN_BS2(hcan->Init.BS2));
    assert_param(IS_CAN_PRESCALER(hcan->Init.Prescaler));
    
    if(hcan->State == HAL_CAN_STATE_RESET)
    {
      /* Allocate lock resource and initialize it */
      hcan->Lock = HAL_UNLOCKED;
      /* Init the low level hardware */
      HAL_CAN_MspInit(hcan);
    }
    
    /* Initialize the CAN state*/
    hcan->State = HAL_CAN_STATE_BUSY;
    
    /* Exit from sleep mode */
    hcan->Instance->MCR &= (~(uint32_t)CAN_MCR_SLEEP);
  
    /* Request initialisation */
    hcan->Instance->MCR |= CAN_MCR_INRQ ;
  
    /* Get tick */
    tickstart = HAL_GetTick();   
    
    /* Wait the acknowledge */
    while((hcan->Instance->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
    {
      if((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
      {
        hcan->State= HAL_CAN_STATE_TIMEOUT;
        /* Process unlocked */
        __HAL_UNLOCK(hcan);
        return HAL_TIMEOUT;
      }
    }
  
    /* Check acknowledge */
    if ((hcan->Instance->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)
    {
      /* Set the time triggered communication mode */
      if (hcan->Init.TTCM == ENABLE)
      {
        hcan->Instance->MCR |= CAN_MCR_TTCM;
      }
      else
      {
        hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_TTCM;
      }
  
      /* Set the automatic bus-off management */
      if (hcan->Init.ABOM == ENABLE)
      {
        hcan->Instance->MCR |= CAN_MCR_ABOM;
      }
      else
      {
        hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_ABOM;
      }
  
      /* Set the automatic wake-up mode */
      if (hcan->Init.AWUM == ENABLE)
      {
        hcan->Instance->MCR |= CAN_MCR_AWUM;
      }
      else
      {
        hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_AWUM;
      }
  
      /* Set the no automatic retransmission */
      if (hcan->Init.NART == ENABLE)
      {
        hcan->Instance->MCR |= CAN_MCR_NART;
      }
      else
      {
        hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_NART;
      }
  
      /* Set the receive FIFO locked mode */
      if (hcan->Init.RFLM == ENABLE)
      {
        hcan->Instance->MCR |= CAN_MCR_RFLM;
      }
      else
      {
        hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_RFLM;
      }
  
      /* Set the transmit FIFO priority */
      if (hcan->Init.TXFP == ENABLE)
      {
        hcan->Instance->MCR |= CAN_MCR_TXFP;
      }
      else
      {
        hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_TXFP;
      }
  
      /* Set the bit timing register */
      hcan->Instance->BTR = (uint32_t)((uint32_t)hcan->Init.Mode) | \
                  ((uint32_t)hcan->Init.SJW) | \
                  ((uint32_t)hcan->Init.BS1) | \
                  ((uint32_t)hcan->Init.BS2) | \
                 ((uint32_t)hcan->Init.Prescaler - 1);
  
      /* Request leave initialisation */
      hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_INRQ;
  
      /* Get tick */
      tickstart = HAL_GetTick();   
     
      /* Wait the acknowledge */
      while((hcan->Instance->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)
      {
        if((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
        {
         hcan->State= HAL_CAN_STATE_TIMEOUT;
         /* Process unlocked */
         __HAL_UNLOCK(hcan);
          return HAL_TIMEOUT;
        }
      }
  
      /* Check acknowledged */
      if ((hcan->Instance->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
      {
        status = CAN_INITSTATUS_SUCCESS;
      }
    }
   
    if(status == CAN_INITSTATUS_SUCCESS)
    {
      /* Set CAN error code to none */
      hcan->ErrorCode = HAL_CAN_ERROR_NONE;
      
      /* Initialize the CAN state */
      hcan->State = HAL_CAN_STATE_READY;
    
      /* Return function status */
      return HAL_OK;
    }
    else
    {
      /* Initialize the CAN state */
      hcan->State = HAL_CAN_STATE_ERROR;
  
      /* Return function status */
      return HAL_ERROR;
    }
  }
  
  /**
    * @brief  Configures the CAN reception filter according to the specified
    *         parameters in the CAN_FilterInitStruct.
    * @param  hcan: pointer to a CAN_HandleTypeDef structure that contains
    *         the configuration information for the specified CAN.
    * @param  sFilterConfig: pointer to a CAN_FilterConfTypeDef structure that
    *         contains the filter configuration information.
    * @retval None
    */
  HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef* hcan, CAN_FilterConfTypeDef* sFilterConfig)
  {
    uint32_t filternbrbitpos = 0;
    
    /* Check the parameters */
    assert_param(IS_CAN_FILTER_NUMBER(sFilterConfig->FilterNumber));
    assert_param(IS_CAN_FILTER_MODE(sFilterConfig->FilterMode));
    assert_param(IS_CAN_FILTER_SCALE(sFilterConfig->FilterScale));
    assert_param(IS_CAN_FILTER_FIFO(sFilterConfig->FilterFIFOAssignment));
    assert_param(IS_FUNCTIONAL_STATE(sFilterConfig->FilterActivation));
    assert_param(IS_CAN_BANKNUMBER(sFilterConfig->BankNumber));
    
    filternbrbitpos = ((uint32_t)1) << sFilterConfig->FilterNumber;
  
    /* Initialisation mode for the filter */
    hcan->Instance->FMR |= (uint32_t)CAN_FMR_FINIT;
  
    /* Select the start slave bank */
    hcan->Instance->FMR &= ~((uint32_t)CAN_FMR_CAN2SB);
    hcan->Instance->FMR |= (uint32_t)(sFilterConfig->BankNumber << 8);
    
    /* Filter Deactivation */
    hcan->Instance->FA1R &= ~(uint32_t)filternbrbitpos;
  
    /* Filter Scale */
    if (sFilterConfig->FilterScale == CAN_FILTERSCALE_16BIT)
    {
      /* 16-bit scale for the filter */
      hcan->Instance->FS1R &= ~(uint32_t)filternbrbitpos;
  
      /* First 16-bit identifier and First 16-bit mask */
      /* Or First 16-bit identifier and Second 16-bit identifier */
      hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR1 = 
         ((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdLow) << 16) |
          (0x0000FFFF & (uint32_t)sFilterConfig->FilterIdLow);
  
      /* Second 16-bit identifier and Second 16-bit mask */
      /* Or Third 16-bit identifier and Fourth 16-bit identifier */
      hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR2 = 
         ((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16) |
          (0x0000FFFF & (uint32_t)sFilterConfig->FilterIdHigh);
    }
  
    if (sFilterConfig->FilterScale == CAN_FILTERSCALE_32BIT)
    {
      /* 32-bit scale for the filter */
      hcan->Instance->FS1R |= filternbrbitpos;
      /* 32-bit identifier or First 32-bit identifier */
      hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR1 = 
         ((0x0000FFFF & (uint32_t)sFilterConfig->FilterIdHigh) << 16) |
          (0x0000FFFF & (uint32_t)sFilterConfig->FilterIdLow);
      /* 32-bit mask or Second 32-bit identifier */
      hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR2 = 
         ((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16) |
          (0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdLow);
    }
  
    /* Filter Mode */
    if (sFilterConfig->FilterMode == CAN_FILTERMODE_IDMASK)
    {
      /*Id/Mask mode for the filter*/
      hcan->Instance->FM1R &= ~(uint32_t)filternbrbitpos;
    }
    else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */
    {
      /*Identifier list mode for the filter*/
      hcan->Instance->FM1R |= (uint32_t)filternbrbitpos;
    }
  
    /* Filter FIFO assignment */
    if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO0)
    {
      /* FIFO 0 assignation for the filter */
      hcan->Instance->FFA1R &= ~(uint32_t)filternbrbitpos;
    }
  
    if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO1)
    {
      /* FIFO 1 assignation for the filter */
      hcan->Instance->FFA1R |= (uint32_t)filternbrbitpos;
    }
    
    /* Filter activation */
    if (sFilterConfig->FilterActivation == ENABLE)
    {
      hcan->Instance->FA1R |= filternbrbitpos;
    }
  
    /* Leave the initialisation mode for the filter */
    hcan->Instance->FMR &= ~((uint32_t)CAN_FMR_FINIT);
    
    /* Return function status */
    return HAL_OK;
  }
  
  /**
    * @brief  Deinitializes the CANx peripheral registers to their default reset values. 
    * @param  hcan: pointer to a CAN_HandleTypeDef structure that contains
    *         the configuration information for the specified CAN.  
    * @retval HAL status
    */
  HAL_StatusTypeDef HAL_CAN_DeInit(CAN_HandleTypeDef* hcan)
  {
    /* Check CAN handle */
    if(hcan == NULL)
    {
       return HAL_ERROR;
    }
    
    /* Check the parameters */
    assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
    
    /* Change CAN state */
    hcan->State = HAL_CAN_STATE_BUSY;
    
    /* DeInit the low level hardware */
    HAL_CAN_MspDeInit(hcan);
    
    /* Change CAN state */
    hcan->State = HAL_CAN_STATE_RESET;
  
    /* Release Lock */
    __HAL_UNLOCK(hcan);
  
    /* Return function status */
    return HAL_OK;
  }
  
  /**
    * @brief  Initializes the CAN MSP.
    * @param  hcan: pointer to a CAN_HandleTypeDef structure that contains
    *         the configuration information for the specified CAN.  
    * @retval None
    */
  __weak void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
  {
    /* Prevent unused argument(s) compilation warning */
    UNUSED(hcan);
  
    /* NOTE : This function Should not be modified, when the callback is needed,
              the HAL_CAN_MspInit could be implemented in the user file
     */ 
  }
  
  /**
    * @brief  DeInitializes the CAN MSP.
    * @param  hcan: pointer to a CAN_HandleTypeDef structure that contains
    *         the configuration information for the specified CAN.  
    * @retval None
    */
  __weak void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan)
  {
    /* Prevent unused argument(s) compilation warning */
    UNUSED(hcan);
  
    /* NOTE : This function Should not be modified, when the callback is needed,
              the HAL_CAN_MspDeInit could be implemented in the user file
     */ 
  }
  
  /**
    * @}
    */
  
  /** @defgroup CAN_Exported_Functions_Group2 Input and Output operation functions
   *  @brief    IO operation functions 
   *
  @verbatim   
    ==============================================================================
                        ##### IO operation functions #####
    ==============================================================================
      [..]  This section provides functions allowing to:
        (+) Transmit a CAN frame message.
        (+) Receive a CAN frame message.
        (+) Enter CAN peripheral in sleep mode. 
        (+) Wake up the CAN peripheral from sleep mode.
                 
  @endverbatim
    * @{
    */
  
  /**
    * @brief  Initiates and transmits a CAN frame message.
    * @param  hcan: pointer to a CAN_HandleTypeDef structure that contains
    *         the configuration information for the specified CAN.  
    * @param  Timeout: Timeout duration.
    * @retval HAL status
    */
  HAL_StatusTypeDef HAL_CAN_Transmit(CAN_HandleTypeDef* hcan, uint32_t Timeout)
  {
    uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
    uint32_t tickstart = 0;
  
    /* Check the parameters */
    assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE));
    assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR));
    assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC));
    
    if(((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0) || \
       ((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1) || \
       ((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2))
    {  
      /* Process locked */
      __HAL_LOCK(hcan);
      
      if(hcan->State == HAL_CAN_STATE_BUSY_RX) 
      {
        /* Change CAN state */
        hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
      }
      else
      {
        /* Change CAN state */
        hcan->State = HAL_CAN_STATE_BUSY_TX;
      }
      
      /* Select one empty transmit mailbox */
      if ((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0)
      {
        transmitmailbox = 0;
      }
      else if ((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1)
      {
        transmitmailbox = 1;
      }
        else
      {
        transmitmailbox = 2;
      }
  
      /* Set up the Id */
      hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
      if (hcan->pTxMsg->IDE == CAN_ID_STD)
      {
        assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId));  
        hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->StdId << 21) | \
                                                    hcan->pTxMsg->RTR);
      }
      else
      {
        assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId));
        hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->ExtId << 3) | \
                                                    hcan->pTxMsg->IDE | \
                                                    hcan->pTxMsg->RTR);
      }
      
      /* Set up the DLC */
      hcan->pTxMsg->DLC &= (uint8_t)0x0000000F;
      hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0U;
      hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC;
  
      /* Set up the data field */
      hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3] << 24) | 
                                               ((uint32_t)hcan->pTxMsg->Data[2] << 16) |
                                               ((uint32_t)hcan->pTxMsg->Data[1] << 8) | 
                                               ((uint32_t)hcan->pTxMsg->Data[0]));
      hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7] << 24) | 
                                               ((uint32_t)hcan->pTxMsg->Data[6] << 16) |
                                               ((uint32_t)hcan->pTxMsg->Data[5] << 8) |
                                               ((uint32_t)hcan->pTxMsg->Data[4]));
      /* Request transmission */
      hcan->Instance->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
    
      /* Get tick */
      tickstart = HAL_GetTick();   
    
      /* Check End of transmission flag */
      while(!(__HAL_CAN_TRANSMIT_STATUS(hcan, transmitmailbox)))
      {
        /* Check for the Timeout */
        if(Timeout != HAL_MAX_DELAY)
        {
          if((Timeout == 0) || ((HAL_GetTick() - tickstart) > Timeout))
          {
            hcan->State = HAL_CAN_STATE_TIMEOUT;
            /* Process unlocked */
            __HAL_UNLOCK(hcan);
            return HAL_TIMEOUT;
          }
        }
      }
      if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX) 
      {
        /* Change CAN state */
        hcan->State = HAL_CAN_STATE_BUSY_RX;
      }
      else
      {
        /* Change CAN state */
        hcan->State = HAL_CAN_STATE_READY;
      }
      
      /* Process unlocked */
      __HAL_UNLOCK(hcan);
      
      /* Return function status */
      return HAL_OK;
    }
    else
    {
      /* Change CAN state */
      hcan->State = HAL_CAN_STATE_ERROR; 
      
      /* Return function status */
      return HAL_ERROR;
    }
  }
  
  /**
    * @brief  Initiates and transmits a CAN frame message.
    * @param  hcan: pointer to a CAN_HandleTypeDef structure that contains
    *         the configuration information for the specified CAN.  
    * @retval HAL status
    */
  HAL_StatusTypeDef HAL_CAN_Transmit_IT(CAN_HandleTypeDef* hcan)
  {
    uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
  
    /* Check the parameters */
    assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE));
    assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR));
    assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC));
    
    if(((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0) || \
       ((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1) || \
       ((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2))
    {
      /* Process Locked */
      __HAL_LOCK(hcan);
      
      /* Select one empty transmit mailbox */
      if((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0)
      {
        transmitmailbox = 0;
      }
      else if((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1)
      {
        transmitmailbox = 1;
      }
      else
      {
        transmitmailbox = 2;
      }
  
      /* Set up the Id */
      hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
      if(hcan->pTxMsg->IDE == CAN_ID_STD)
      {
        assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId));  
        hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->StdId << 21) | \
                                                  hcan->pTxMsg->RTR);
      }
      else
      {
        assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId));
        hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->ExtId << 3) | \
                                                  hcan->pTxMsg->IDE | \
                                                  hcan->pTxMsg->RTR);
      }
    
      /* Set up the DLC */
      hcan->pTxMsg->DLC &= (uint8_t)0x0000000F;
      hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0U;
      hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC;
  
      /* Set up the data field */
      hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3] << 24) | 
                                             ((uint32_t)hcan->pTxMsg->Data[2] << 16) |
                                             ((uint32_t)hcan->pTxMsg->Data[1] << 8) | 
                                             ((uint32_t)hcan->pTxMsg->Data[0]));
      hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7] << 24) | 
                                             ((uint32_t)hcan->pTxMsg->Data[6] << 16) |
                                             ((uint32_t)hcan->pTxMsg->Data[5] << 8) |
                                             ((uint32_t)hcan->pTxMsg->Data[4]));
    
      if(hcan->State == HAL_CAN_STATE_BUSY_RX) 
      {
        /* Change CAN state */
        hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
      }
      else
      {
        /* Change CAN state */
        hcan->State = HAL_CAN_STATE_BUSY_TX;
      }
      
      /* Set CAN error code to none */
      hcan->ErrorCode = HAL_CAN_ERROR_NONE;
      
      /* Process Unlocked */
      __HAL_UNLOCK(hcan);
      
      /* Enable Error warning Interrupt */
      __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG);
      
      /* Enable Error passive Interrupt */
      __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EPV);
      
      /* Enable Bus-off Interrupt */
      __HAL_CAN_ENABLE_IT(hcan, CAN_IT_BOF);
      
      /* Enable Last error code Interrupt */
      __HAL_CAN_ENABLE_IT(hcan, CAN_IT_LEC);
      
      /* Enable Error Interrupt */
      __HAL_CAN_ENABLE_IT(hcan, CAN_IT_ERR);
      
      /* Enable Transmit mailbox empty Interrupt */
      __HAL_CAN_ENABLE_IT(hcan, CAN_IT_TME);
      
      /* Request transmission */
      hcan->Instance->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
    }
    else
    {
      /* Change CAN state */
      hcan->State = HAL_CAN_STATE_ERROR; 
  
      /* Return function status */
      return HAL_ERROR;
    }
    
    return HAL_OK;
  }
  
  /**
    * @brief  Receives a correct CAN frame.
    * @param  hcan: pointer to a CAN_HandleTypeDef structure that contains
    *         the configuration information for the specified CAN.  
    * @param  FIFONumber:    FIFO number.
    * @param  Timeout:       Timeout duration.
    * @retval HAL status
    * @retval None
    */
  HAL_StatusTypeDef HAL_CAN_Receive(CAN_HandleTypeDef* hcan, uint8_t FIFONumber, uint32_t Timeout)
  {
    uint32_t tickstart = 0;
     
    /* Check the parameters */
    assert_param(IS_CAN_FIFO(FIFONumber));
    
    /* Process locked */
    __HAL_LOCK(hcan);
    
    if(hcan->State == HAL_CAN_STATE_BUSY_TX) 
    {
      /* Change CAN state */
      hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
    }
    else
    {
      /* Change CAN state */
      hcan->State = HAL_CAN_STATE_BUSY_RX;
    }
      
    /* Get tick */
    tickstart = HAL_GetTick();   
    
    /* Check pending message */
    while(__HAL_CAN_MSG_PENDING(hcan, FIFONumber) == 0)
    {
      /* Check for the Timeout */
      if(Timeout != HAL_MAX_DELAY)
      {
        if((Timeout == 0) || ((HAL_GetTick() - tickstart) > Timeout))
        {
          hcan->State = HAL_CAN_STATE_TIMEOUT;
          /* Process unlocked */
          __HAL_UNLOCK(hcan);
          return HAL_TIMEOUT;
        }
      }
    }
    
    /* Get the Id */
    hcan->pRxMsg->IDE = (uint8_t)0x04 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
    if (hcan->pRxMsg->IDE == CAN_ID_STD)
    {
      hcan->pRxMsg->StdId = (uint32_t)0x000007FF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 21);
    }
    else
    {
      hcan->pRxMsg->ExtId = (uint32_t)0x1FFFFFFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 3);
    }
    
    hcan->pRxMsg->RTR = (uint8_t)0x02 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
    /* Get the DLC */
    hcan->pRxMsg->DLC = (uint8_t)0x0F & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR;
    /* Get the FMI */
    hcan->pRxMsg->FMI = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDTR >> 8);
    /* Get the data field */
    hcan->pRxMsg->Data[0] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR;
    hcan->pRxMsg->Data[1] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 8);
    hcan->pRxMsg->Data[2] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 16);
    hcan->pRxMsg->Data[3] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 24);
    hcan->pRxMsg->Data[4] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR;
    hcan->pRxMsg->Data[5] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 8);
    hcan->pRxMsg->Data[6] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 16);
    hcan->pRxMsg->Data[7] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 24);
    
    /* Release the FIFO */
    if(FIFONumber == CAN_FIFO0)
    {
      /* Release FIFO0 */
      __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0);
    }
    else /* FIFONumber == CAN_FIFO1 */
    {
      /* Release FIFO1 */
      __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1);
    }
    
    if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX) 
    {
      /* Change CAN state */
      hcan->State = HAL_CAN_STATE_BUSY_TX;
    }
    else
    {
      /* Change CAN state */
      hcan->State = HAL_CAN_STATE_READY;
    }
    
    /* Process unlocked */
    __HAL_UNLOCK(hcan);
  
    /* Return function status */
    return HAL_OK;
  }
  
  /**
    * @brief  Receives a correct CAN frame.
    * @param  hcan: pointer to a CAN_HandleTypeDef structure that contains
    *         the configuration information for the specified CAN.  
    * @param  FIFONumber:    FIFO number.
    * @retval HAL status
    * @retval None
    */
  HAL_StatusTypeDef HAL_CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber)
  {
    /* Check the parameters */
    assert_param(IS_CAN_FIFO(FIFONumber));
    
    if((hcan->State == HAL_CAN_STATE_READY) || (hcan->State == HAL_CAN_STATE_BUSY_TX))
    {
      /* Process locked */
      __HAL_LOCK(hcan);
    
      if(hcan->State == HAL_CAN_STATE_BUSY_TX) 
      {
        /* Change CAN state */
        hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
      }
      else
      {
        /* Change CAN state */
        hcan->State = HAL_CAN_STATE_BUSY_RX;
      }
      
      /* Set CAN error code to none */
      hcan->ErrorCode = HAL_CAN_ERROR_NONE;
      
      /* Enable Error warning Interrupt */
      __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG);
        
      /* Enable Error passive Interrupt */
      __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EPV);
        
      /* Enable Bus-off Interrupt */
      __HAL_CAN_ENABLE_IT(hcan, CAN_IT_BOF);
        
      /* Enable Last error code Interrupt */
      __HAL_CAN_ENABLE_IT(hcan, CAN_IT_LEC);
        
      /* Enable Error Interrupt */
      __HAL_CAN_ENABLE_IT(hcan, CAN_IT_ERR);
  
      /* Process unlocked */
      __HAL_UNLOCK(hcan);
  
      if(FIFONumber == CAN_FIFO0)
      {
        /* Enable FIFO 0 message pending Interrupt */
        __HAL_CAN_ENABLE_IT(hcan, CAN_IT_FMP0);
      }
      else
      {
        /* Enable FIFO 1 message pending Interrupt */
        __HAL_CAN_ENABLE_IT(hcan, CAN_IT_FMP1);
      }
      
    }
    else
    {
      return HAL_BUSY;
    }
    
    /* Return function status */
    return HAL_OK;
  }
  
  /**
    * @brief  Enters the Sleep (low power) mode.
    * @param  hcan: pointer to a CAN_HandleTypeDef structure that contains
    *         the configuration information for the specified CAN.
    * @retval HAL status.
    */
  HAL_StatusTypeDef HAL_CAN_Sleep(CAN_HandleTypeDef* hcan)
  {
    uint32_t tickstart = 0;
     
    /* Process locked */
    __HAL_LOCK(hcan);
    
    /* Change CAN state */
    hcan->State = HAL_CAN_STATE_BUSY; 
      
    /* Request Sleep mode */
     hcan->Instance->MCR = (((hcan->Instance->MCR) & (uint32_t)(~(uint32_t)CAN_MCR_INRQ)) | CAN_MCR_SLEEP);
     
    /* Sleep mode status */
    if ((hcan->Instance->MSR & (CAN_MSR_SLAK|CAN_MSR_INAK)) != CAN_MSR_SLAK)
    {
      /* Process unlocked */
      __HAL_UNLOCK(hcan);
  
      /* Return function status */
      return HAL_ERROR;
    }
    
    /* Get tick */
    tickstart = HAL_GetTick();   
    
    /* Wait the acknowledge */
    while((hcan->Instance->MSR & (CAN_MSR_SLAK|CAN_MSR_INAK)) != CAN_MSR_SLAK)
    {
      if((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
      {
        hcan->State = HAL_CAN_STATE_TIMEOUT;
        /* Process unlocked */
        __HAL_UNLOCK(hcan);
        return HAL_TIMEOUT;
      }
    }
    
    /* Change CAN state */
    hcan->State = HAL_CAN_STATE_READY;
    
    /* Process unlocked */
    __HAL_UNLOCK(hcan);
    
    /* Return function status */
    return HAL_OK;
  }
  
  /**
    * @brief  Wakes up the CAN peripheral from sleep mode, after that the CAN peripheral
    *         is in the normal mode.
    * @param  hcan: pointer to a CAN_HandleTypeDef structure that contains
    *         the configuration information for the specified CAN.
    * @retval HAL status.
    */
  HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef* hcan)
  {
    uint32_t tickstart = 0;
      
    /* Process locked */
    __HAL_LOCK(hcan);
    
    /* Change CAN state */
    hcan->State = HAL_CAN_STATE_BUSY;  
   
    /* Wake up request */
    hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_SLEEP;
      
    /* Get tick */
    tickstart = HAL_GetTick();   
    
    /* Sleep mode status */
    while((hcan->Instance->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK)
    {
      if((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
      {
        hcan->State= HAL_CAN_STATE_TIMEOUT;
        /* Process unlocked */
        __HAL_UNLOCK(hcan);
        return HAL_TIMEOUT;
      }
    }
    if((hcan->Instance->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK)
    {
      /* Process unlocked */
      __HAL_UNLOCK(hcan);
  
      /* Return function status */
      return HAL_ERROR;
    }
    
    /* Change CAN state */
    hcan->State = HAL_CAN_STATE_READY; 
    
    /* Process unlocked */
    __HAL_UNLOCK(hcan);
    
    /* Return function status */
    return HAL_OK;
  }
  
  /**
    * @brief  Handles CAN interrupt request  
    * @param  hcan: pointer to a CAN_HandleTypeDef structure that contains
    *         the configuration information for the specified CAN.
    * @retval None
    */
  void HAL_CAN_IRQHandler(CAN_HandleTypeDef* hcan)
  {
    /* Check End of transmission flag */
    if(__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_TME))
    {
      if((__HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_0)) ||
         (__HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_1)) ||
         (__HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_2)))
      {
        /* Call transmit function */
        CAN_Transmit_IT(hcan);
      }
    }
    
    /* Check End of reception flag for FIFO0 */
    if((__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP0)) &&
       (__HAL_CAN_MSG_PENDING(hcan, CAN_FIFO0) != 0))
    {
      /* Call receive function */
      CAN_Receive_IT(hcan, CAN_FIFO0);
    }
    
    /* Check End of reception flag for FIFO1 */
    if((__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP1)) &&
       (__HAL_CAN_MSG_PENDING(hcan, CAN_FIFO1) != 0))
    {
      /* Call receive function */
      CAN_Receive_IT(hcan, CAN_FIFO1);
    }
    
    /* Check Error Warning Flag */
    if((__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_EWG))    &&
       (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_EWG)) &&
       (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR)))
    {
      /* Set CAN error code to EWG error */
      hcan->ErrorCode |= HAL_CAN_ERROR_EWG;
      /* No need for clear of Error Warning Flag as read-only */
    }
    
    /* Check Error Passive Flag */
    if((__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_EPV))    &&
       (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_EPV)) &&
       (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR)))
    {
      /* Set CAN error code to EPV error */
      hcan->ErrorCode |= HAL_CAN_ERROR_EPV;
      /* No need for clear of Error Passive Flag as read-only */
    }
    
    /* Check Bus-Off Flag */
    if((__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_BOF))    &&
       (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_BOF)) &&
       (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR)))
    {
      /* Set CAN error code to BOF error */
      hcan->ErrorCode |= HAL_CAN_ERROR_BOF;
      /* No need for clear of Bus-Off Flag as read-only */
    }
    
    /* Check Last error code Flag */
    if((!HAL_IS_BIT_CLR(hcan->Instance->ESR, CAN_ESR_LEC)) &&
       (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_LEC))         &&
       (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR)))
    {
      switch(hcan->Instance->ESR & CAN_ESR_LEC)
      {
        case(CAN_ESR_LEC_0):
            /* Set CAN error code to STF error */
            hcan->ErrorCode |= HAL_CAN_ERROR_STF;
            break;
        case(CAN_ESR_LEC_1):
            /* Set CAN error code to FOR error */
            hcan->ErrorCode |= HAL_CAN_ERROR_FOR;
            break;
        case(CAN_ESR_LEC_1 | CAN_ESR_LEC_0):
            /* Set CAN error code to ACK error */
            hcan->ErrorCode |= HAL_CAN_ERROR_ACK;
            break;
        case(CAN_ESR_LEC_2):
            /* Set CAN error code to BR error */
            hcan->ErrorCode |= HAL_CAN_ERROR_BR;
            break;
        case(CAN_ESR_LEC_2 | CAN_ESR_LEC_0):
            /* Set CAN error code to BD error */
            hcan->ErrorCode |= HAL_CAN_ERROR_BD;
            break;
        case(CAN_ESR_LEC_2 | CAN_ESR_LEC_1):
            /* Set CAN error code to CRC error */
            hcan->ErrorCode |= HAL_CAN_ERROR_CRC;
            break;
        default:
            break;
      }
  
      /* Clear Last error code Flag */ 
      hcan->Instance->ESR &= ~(CAN_ESR_LEC);
    }
  
    /* Call the Error call Back in case of Errors */
    if(hcan->ErrorCode != HAL_CAN_ERROR_NONE)
    {
      /* Clear ERRI Flag */ 
      hcan->Instance->MSR |= CAN_MSR_ERRI; 
      /* Set the CAN state ready to be able to start again the process */
      hcan->State = HAL_CAN_STATE_READY;
      /* Call Error callback function */
      HAL_CAN_ErrorCallback(hcan);
    }  
  }
  
  /**
    * @brief  Transmission  complete callback in non blocking mode 
    * @param  hcan: pointer to a CAN_HandleTypeDef structure that contains
    *         the configuration information for the specified CAN.
    * @retval None
    */
  __weak void HAL_CAN_TxCpltCallback(CAN_HandleTypeDef* hcan)
  {
    /* Prevent unused argument(s) compilation warning */
    UNUSED(hcan);
  
    /* NOTE : This function Should not be modified, when the callback is needed,
              the HAL_CAN_TxCpltCallback could be implemented in the user file
     */
  }
  
  /**
    * @brief  Transmission  complete callback in non blocking mode 
    * @param  hcan: pointer to a CAN_HandleTypeDef structure that contains
    *         the configuration information for the specified CAN.
    * @retval None
    */
  __weak void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan)
  {
    /* Prevent unused argument(s) compilation warning */
    UNUSED(hcan);
  
    /* NOTE : This function Should not be modified, when the callback is needed,
              the HAL_CAN_RxCpltCallback could be implemented in the user file
     */
  }
  
  /**
    * @brief  Error CAN callback.
    * @param  hcan: pointer to a CAN_HandleTypeDef structure that contains
    *         the configuration information for the specified CAN.
    * @retval None
    */
  __weak void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan)
  {
    /* Prevent unused argument(s) compilation warning */
    UNUSED(hcan);
  
    /* NOTE : This function Should not be modified, when the callback is needed,
              the HAL_CAN_ErrorCallback could be implemented in the user file
     */
  }
  
  /**
    * @}
    */
  
  /** @defgroup CAN_Exported_Functions_Group3 Peripheral State and Error functions
   *  @brief   CAN Peripheral State functions 
   *
  @verbatim   
    ==============================================================================
              ##### Peripheral State and Error functions #####
    ==============================================================================
      [..]
      This subsection provides functions allowing to :
        (+) Check the CAN state.
        (+) Check CAN Errors detected during interrupt process
           
  @endverbatim
    * @{
    */
  
  /**
    * @brief  return the CAN state
    * @param  hcan: pointer to a CAN_HandleTypeDef structure that contains
    *         the configuration information for the specified CAN.
    * @retval HAL state
    */
  HAL_CAN_StateTypeDef HAL_CAN_GetState(CAN_HandleTypeDef* hcan)
  {
    /* Return CAN state */
    return hcan->State;
  }
  
  /**
    * @brief  Return the CAN error code
    * @param  hcan: pointer to a CAN_HandleTypeDef structure that contains
    *         the configuration information for the specified CAN.
    * @retval CAN Error Code
    */
  uint32_t HAL_CAN_GetError(CAN_HandleTypeDef *hcan)
  {
    return hcan->ErrorCode;
  }
  
  /**
    * @}
    */
  
  /**
    * @}
    */
    
  /** @addtogroup CAN_Private_Functions CAN Private Functions
   *  @brief    CAN Frame message Rx/Tx functions 
   *
   * @{
   */
  /**
    * @brief  Initiates and transmits a CAN frame message.
    * @param  hcan: pointer to a CAN_HandleTypeDef structure that contains
    *         the configuration information for the specified CAN.  
    * @retval HAL status
    */
  static HAL_StatusTypeDef CAN_Transmit_IT(CAN_HandleTypeDef* hcan)
  {
    /* Disable Transmit mailbox empty Interrupt */
    __HAL_CAN_DISABLE_IT(hcan, CAN_IT_TME);
    
    if(hcan->State == HAL_CAN_STATE_BUSY_TX)
    {   
      /* Disable Error warning Interrupt */
      __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG);
      
      /* Disable Error passive Interrupt */
      __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EPV);
      
      /* Disable Bus-off Interrupt */
      __HAL_CAN_DISABLE_IT(hcan, CAN_IT_BOF);
      
      /* Disable Last error code Interrupt */
      __HAL_CAN_DISABLE_IT(hcan, CAN_IT_LEC);
      
      /* Disable Error Interrupt */
      __HAL_CAN_DISABLE_IT(hcan, CAN_IT_ERR);
    }
    
    if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX) 
    {
      /* Change CAN state */
      hcan->State = HAL_CAN_STATE_BUSY_RX;
    }
    else
    {
      /* Change CAN state */
      hcan->State = HAL_CAN_STATE_READY;
    }
    
    /* Transmission complete callback */ 
    HAL_CAN_TxCpltCallback(hcan);
    
    return HAL_OK;
  }
  
  /**
    * @brief  Receives a correct CAN frame.
    * @param  hcan:       Pointer to a CAN_HandleTypeDef structure that contains
    *         the configuration information for the specified CAN.  
    * @param  FIFONumber: Specify the FIFO number    
    * @retval HAL status
    * @retval None
    */
  static HAL_StatusTypeDef CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber)
  {
    /* Get the Id */
    hcan->pRxMsg->IDE = (uint8_t)0x04 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
    if (hcan->pRxMsg->IDE == CAN_ID_STD)
    {
      hcan->pRxMsg->StdId = (uint32_t)0x000007FF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 21);
    }
    else
    {
      hcan->pRxMsg->ExtId = (uint32_t)0x1FFFFFFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 3);
    }
    
    hcan->pRxMsg->RTR = (uint8_t)0x02 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
    /* Get the DLC */
    hcan->pRxMsg->DLC = (uint8_t)0x0F & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR;
    /* Get the FMI */
    hcan->pRxMsg->FMI = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDTR >> 8);
    /* Get the data field */
    hcan->pRxMsg->Data[0] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR;
    hcan->pRxMsg->Data[1] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 8);
    hcan->pRxMsg->Data[2] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 16);
    hcan->pRxMsg->Data[3] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 24);
    hcan->pRxMsg->Data[4] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR;
    hcan->pRxMsg->Data[5] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 8);
    hcan->pRxMsg->Data[6] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 16);
    hcan->pRxMsg->Data[7] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 24);
    /* Release the FIFO */
    /* Release FIFO0 */
    if (FIFONumber == CAN_FIFO0)
    {
      __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0);
      
      /* Disable FIFO 0 message pending Interrupt */
      __HAL_CAN_DISABLE_IT(hcan, CAN_IT_FMP0);
    }
    /* Release FIFO1 */
    else /* FIFONumber == CAN_FIFO1 */
    {
      __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1);
      
      /* Disable FIFO 1 message pending Interrupt */
      __HAL_CAN_DISABLE_IT(hcan, CAN_IT_FMP1);
    }
    
    if(hcan->State == HAL_CAN_STATE_BUSY_RX)
    {   
      /* Disable Error warning Interrupt */
      __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG);
      
      /* Disable Error passive Interrupt */
      __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EPV);
      
      /* Disable Bus-off Interrupt */
      __HAL_CAN_DISABLE_IT(hcan, CAN_IT_BOF);
      
      /* Disable Last error code Interrupt */
      __HAL_CAN_DISABLE_IT(hcan, CAN_IT_LEC);
      
      /* Disable Error Interrupt */
      __HAL_CAN_DISABLE_IT(hcan, CAN_IT_ERR);
    }
    
    if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX) 
    {
      /* Disable CAN state */
      hcan->State = HAL_CAN_STATE_BUSY_TX;
    }
    else
    {
      /* Change CAN state */
      hcan->State = HAL_CAN_STATE_READY;
    }
  
    /* Receive complete callback */ 
    HAL_CAN_RxCpltCallback(hcan);
  
    /* Return function status */
    return HAL_OK;
  }
  /**
    * @}
    */
  
  /**
    * @}
    */
  
  /**
    * @}
    */
   
  #endif /* defined(STM32F072xB) || defined(STM32F042x6) || defined(STM32F048xx) || defined(STM32F091xC) || defined(STM32F098xx) */
  
  #endif /* HAL_CAN_MODULE_ENABLED */
  
  /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
  