Hi,
I tried to use the ST driver function HAL_CAN_Init(CAN_HandleTypeDef* hcan) to initialize the CAN controller. Here is the code:
HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef* hcan)
{
uint32_t status = CAN_INITSTATUS_FAILED; /* Default init status */
uint32_t tickstart = 0U;
/* 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 */
CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
/* Request initialisation */
SET_BIT(hcan->Instance->MCR, CAN_MCR_INRQ);
/* Get tick */
tickstart = HAL_GetTick();
/* Wait the acknowledge */
while(HAL_IS_BIT_CLR(hcan->Instance->MSR, CAN_MSR_INAK))
{
if((HAL_GetTick()-tickstart) > CAN_TIMEOUT_VALUE)
{
hcan->State= HAL_CAN_STATE_TIMEOUT;
/* Process unlocked */
__HAL_UNLOCK(hcan);
return HAL_TIMEOUT;
}
}
I found I was not able to modify CAN_MCR register. I can't clear SLEEP bit, and can't set INRQ bit. I tried HSI clock and HSE clock.
What could be the reason? Can someone help?
Thanks,
