STM32H743驱动MPU9250九轴传感器【支持STM32H7系列单片机_寄存器库驱动】.zip

/** ****************************************************************************** * @file stm32h7xx_hal_fdcan.c * @author MCD Application Team * @version V1.2.0 * @date 29-December-2017 * @brief FDCAN HAL module driver. * This file provides firmware functions to manage the following * functionalities of the Flexible DataRate Controller Area Network * (FDCAN) peripheral: * + Initialization and de-initialization functions * + IO operation functions * + Peripheral Configuration and Control functions * + Peripheral State and Error functions * @verbatim ============================================================================== ##### How to use this driver ##### ============================================================================== [..] (#) Initialize the FDCAN peripheral using HAL_FDCAN_Init function. (#) If needed , configure the reception filters and optional features using the following configuration functions: (++) HAL_FDCAN_ConfigClockCalibration (++) HAL_FDCAN_ConfigFilter (++) HAL_FDCAN_ConfigGlobalFilter (++) HAL_FDCAN_ConfigExtendedIdMask (++) HAL_FDCAN_ConfigRxFifoOverwrite (++) HAL_FDCAN_ConfigFifoWatermark (++) HAL_FDCAN_ConfigRamWatchdog (++) HAL_FDCAN_ConfigTimestampCounter (++) HAL_FDCAN_EnableTimestampCounter (++) HAL_FDCAN_DisableTimestampCounter (++) HAL_FDCAN_ConfigTimeoutCounter (++) HAL_FDCAN_EnableTimeoutCounter (++) HAL_FDCAN_DisableTimeoutCounter (++) HAL_FDCAN_ConfigTxDelayCompensation (++) HAL_FDCAN_EnableTxDelayCompensation (++) HAL_FDCAN_DisableTxDelayCompensation (++) HAL_FDCAN_TT_ConfigOperation (++) HAL_FDCAN_TT_ConfigReferenceMessage (++) HAL_FDCAN_TT_ConfigTrigger (#) Start the FDCAN module using HAL_FDCAN_Start function. At this level the node is active on the bus: it can send and receive messages. (#) The following Tx control functions can only be called when the FDCAN module is started: (++) HAL_FDCAN_AddMessageToTxFifoQ (++) HAL_FDCAN_EnableTxBufferRequest (++) HAL_FDCAN_AbortTxRequest (#) When a message is received into the FDCAN message RAM, it can be retrieved using the HAL_FDCAN_GetRxMessage function. (#) Calling the HAL_FDCAN_Stop function stops the FDCAN module by entering it to initialization mode and re-enabling access to configuration registers through the configuration functions listed here above. (#) All other control functions can be called any time after initialization phase, no matter if the FDCAN module is started or stoped. *** Polling mode operation *** ============================== [..] (#) Reception and transmission states can be monitored via the following functions: (++) HAL_FDCAN_IsRxBufferMessageAvailable (++) HAL_FDCAN_IsTxBufferMessagePending (++) HAL_FDCAN_GetRxFifoFillLevel (++) HAL_FDCAN_GetTxFifoFreeLevel *** Interrupt mode operation *** ================================ [..] (#) There are two interrupt lines: line 0 and 1. By default, all interrupts are assigned to line 0. Interrupt lines can be configured using HAL_FDCAN_ConfigInterruptLines function. (#) Notifications are activated using HAL_FDCAN_ActivateNotification function. Then, the process can be controlled through one of the available user callbacks: HAL_FDCAN_xxxCallback. @endverbatim ****************************************************************************** * @attention * * <h2><center>&copy; COPYRIGHT(c) 2017 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 "fdcan.h" /** @addtogroup STM32H7xx_HAL_Driver * @{ */ /** @defgroup FDCAN FDCAN * @brief FDCAN HAL module driver * @{ */ #ifdef HAL_FDCAN_MODULE_ENABLED /* Private typedef -----------------------------------------------------------*/ /* Private define ------------------------------------------------------------*/ /** @addtogroup FDCAN_Private_Constants * @{ */ #define FDCAN_TIMEOUT_VALUE 10 #define FDCAN_TX_EVENT_FIFO_MASK (FDCAN_IR_TEFL | FDCAN_IR_TEFF | FDCAN_IR_TEFW | FDCAN_IR_TEFN) #define FDCAN_RX_FIFO0_MASK (FDCAN_IR_RF0L | FDCAN_IR_RF0F | FDCAN_IR_RF0W | FDCAN_IR_RF0N) #define FDCAN_RX_FIFO1_MASK (FDCAN_IR_RF1L | FDCAN_IR_RF1F | FDCAN_IR_RF1W | FDCAN_IR_RF1N) #define FDCAN_ERROR_MASK (FDCAN_IR_ELO | FDCAN_IR_EP | FDCAN_IR_EW | FDCAN_IR_BO | \ FDCAN_IR_WDI | FDCAN_IR_PEA | FDCAN_IR_PED | FDCAN_IR_ARA) #define FDCAN_TT_SCHEDULE_SYNC_MASK (FDCAN_TTIR_SBC | FDCAN_TTIR_SMC | FDCAN_TTIR_CSM | FDCAN_TTIR_SOG) #define FDCAN_TT_TIME_MARK_MASK (FDCAN_TTIR_RTMI | FDCAN_TTIR_TTMI) #define FDCAN_TT_GLOBAL_TIME_MASK (FDCAN_TTIR_GTW | FDCAN_TTIR_GTD) #define FDCAN_TT_DISTURBING_ERROR_MASK (FDCAN_TTIR_GTE | FDCAN_TTIR_TXU | FDCAN_TTIR_TXO | \ FDCAN_TTIR_SE1 | FDCAN_TTIR_SE2 | FDCAN_TTIR_ELC) #define FDCAN_TT_FATAL_ERROR_MASK (FDCAN_TTIR_IWT | FDCAN_TTIR_WT | FDCAN_TTIR_AW | FDCAN_TTIR_CER) #define FDCAN_ELEMENT_MASK_STDID ((uint32_t)0x1FFC0000U) /* Standard Identifier */ #define FDCAN_ELEMENT_MASK_EXTID ((uint32_t)0x1FFFFFFFU) /* Extended Identifier */ #define FDCAN_ELEMENT_MASK_RTR ((uint32_t)0x20000000U) /* Remote Transmission Request */ #define FDCAN_ELEMENT_MASK_XTD ((uint32_t)0x40000000U) /* Extended Identifier */ #define FDCAN_ELEMENT_MASK_ESI ((uint32_t)0x80000000U) /* Error State Indicator */ #define FDCAN_ELEMENT_MASK_TS ((uint32_t)0x0000FFFFU) /* Timestamp */ #define FDCAN_ELEMENT_MASK_DLC ((uint32_t)0x000F0000U) /* Data Length Code */ #define FDCAN_ELEMENT_MASK_BRS ((uint32_t)0