STM CMSIS
stm32f4xx_hal_can.h
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1 
38 /* Define to prevent recursive inclusion -------------------------------------*/
39 #ifndef __STM32F4xx_HAL_CAN_H
40 #define __STM32F4xx_HAL_CAN_H
41 
42 #ifdef __cplusplus
43  extern "C" {
44 #endif
45 
46 #if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) ||\
47  defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\
48  defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) ||\
49  defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx)
50 /* Includes ------------------------------------------------------------------*/
51 #include "stm32f4xx_hal_def.h"
52 
61 /* Exported types ------------------------------------------------------------*/
69 typedef enum
70 {
71  HAL_CAN_STATE_RESET = 0x00U,
72  HAL_CAN_STATE_READY = 0x01U,
73  HAL_CAN_STATE_BUSY = 0x02U,
74  HAL_CAN_STATE_BUSY_TX = 0x12U,
75  HAL_CAN_STATE_BUSY_RX = 0x22U,
76  HAL_CAN_STATE_BUSY_TX_RX = 0x32U,
77  HAL_CAN_STATE_TIMEOUT = 0x03U,
78  HAL_CAN_STATE_ERROR = 0x04U
80 }HAL_CAN_StateTypeDef;
81 
85 typedef struct
86 {
87  uint32_t Prescaler;
90  uint32_t Mode;
93  uint32_t SJW;
98  uint32_t BS1;
101  uint32_t BS2;
104  uint32_t TTCM;
107  uint32_t ABOM;
110  uint32_t AWUM;
113  uint32_t NART;
116  uint32_t RFLM;
119  uint32_t TXFP;
121 }CAN_InitTypeDef;
122 
126 typedef struct
127 {
128  uint32_t FilterIdHigh;
132  uint32_t FilterIdLow;
136  uint32_t FilterMaskIdHigh;
141  uint32_t FilterMaskIdLow;
146  uint32_t FilterFIFOAssignment;
149  uint32_t FilterNumber;
152  uint32_t FilterMode;
155  uint32_t FilterScale;
158  uint32_t FilterActivation;
161  uint32_t BankNumber;
164 }CAN_FilterConfTypeDef;
165 
169 typedef struct
170 {
171  uint32_t StdId;
174  uint32_t ExtId;
177  uint32_t IDE;
180  uint32_t RTR;
183  uint32_t DLC;
186  uint8_t Data[8];
189 }CanTxMsgTypeDef;
190 
194 typedef struct
195 {
196  uint32_t StdId;
199  uint32_t ExtId;
202  uint32_t IDE;
205  uint32_t RTR;
208  uint32_t DLC;
211  uint8_t Data[8];
214  uint32_t FMI;
217  uint32_t FIFONumber;
220 }CanRxMsgTypeDef;
221 
225 typedef struct
226 {
227  CAN_TypeDef *Instance;
229  CAN_InitTypeDef Init;
231  CanTxMsgTypeDef* pTxMsg;
233  CanRxMsgTypeDef* pRxMsg;
235  __IO HAL_CAN_StateTypeDef State;
237  HAL_LockTypeDef Lock;
239  __IO uint32_t ErrorCode;
241 }CAN_HandleTypeDef;
242 
247 /* Exported constants --------------------------------------------------------*/
255 #define HAL_CAN_ERROR_NONE 0x00U
256 #define HAL_CAN_ERROR_EWG 0x01U
257 #define HAL_CAN_ERROR_EPV 0x02U
258 #define HAL_CAN_ERROR_BOF 0x04U
259 #define HAL_CAN_ERROR_STF 0x08U
260 #define HAL_CAN_ERROR_FOR 0x10U
261 #define HAL_CAN_ERROR_ACK 0x20U
262 #define HAL_CAN_ERROR_BR 0x40U
263 #define HAL_CAN_ERROR_BD 0x80U
264 #define HAL_CAN_ERROR_CRC 0x100U
272 #define CAN_INITSTATUS_FAILED ((uint8_t)0x00U)
273 #define CAN_INITSTATUS_SUCCESS ((uint8_t)0x01U)
281 #define CAN_MODE_NORMAL ((uint32_t)0x00000000U)
282 #define CAN_MODE_LOOPBACK ((uint32_t)CAN_BTR_LBKM)
283 #define CAN_MODE_SILENT ((uint32_t)CAN_BTR_SILM)
284 #define CAN_MODE_SILENT_LOOPBACK ((uint32_t)(CAN_BTR_LBKM | CAN_BTR_SILM))
292 #define CAN_SJW_1TQ ((uint32_t)0x00000000U)
293 #define CAN_SJW_2TQ ((uint32_t)CAN_BTR_SJW_0)
294 #define CAN_SJW_3TQ ((uint32_t)CAN_BTR_SJW_1)
295 #define CAN_SJW_4TQ ((uint32_t)CAN_BTR_SJW)
303 #define CAN_BS1_1TQ ((uint32_t)0x00000000U)
304 #define CAN_BS1_2TQ ((uint32_t)CAN_BTR_TS1_0)
305 #define CAN_BS1_3TQ ((uint32_t)CAN_BTR_TS1_1)
306 #define CAN_BS1_4TQ ((uint32_t)(CAN_BTR_TS1_1 | CAN_BTR_TS1_0))
307 #define CAN_BS1_5TQ ((uint32_t)CAN_BTR_TS1_2)
308 #define CAN_BS1_6TQ ((uint32_t)(CAN_BTR_TS1_2 | CAN_BTR_TS1_0))
309 #define CAN_BS1_7TQ ((uint32_t)(CAN_BTR_TS1_2 | CAN_BTR_TS1_1))
310 #define CAN_BS1_8TQ ((uint32_t)(CAN_BTR_TS1_2 | CAN_BTR_TS1_1 | CAN_BTR_TS1_0))
311 #define CAN_BS1_9TQ ((uint32_t)CAN_BTR_TS1_3)
312 #define CAN_BS1_10TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_0))
313 #define CAN_BS1_11TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_1))
314 #define CAN_BS1_12TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_1 | CAN_BTR_TS1_0))
315 #define CAN_BS1_13TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_2))
316 #define CAN_BS1_14TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_2 | CAN_BTR_TS1_0))
317 #define CAN_BS1_15TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_2 | CAN_BTR_TS1_1))
318 #define CAN_BS1_16TQ ((uint32_t)CAN_BTR_TS1)
326 #define CAN_BS2_1TQ ((uint32_t)0x00000000U)
327 #define CAN_BS2_2TQ ((uint32_t)CAN_BTR_TS2_0)
328 #define CAN_BS2_3TQ ((uint32_t)CAN_BTR_TS2_1)
329 #define CAN_BS2_4TQ ((uint32_t)(CAN_BTR_TS2_1 | CAN_BTR_TS2_0))
330 #define CAN_BS2_5TQ ((uint32_t)CAN_BTR_TS2_2)
331 #define CAN_BS2_6TQ ((uint32_t)(CAN_BTR_TS2_2 | CAN_BTR_TS2_0))
332 #define CAN_BS2_7TQ ((uint32_t)(CAN_BTR_TS2_2 | CAN_BTR_TS2_1))
333 #define CAN_BS2_8TQ ((uint32_t)CAN_BTR_TS2)
341 #define CAN_FILTERMODE_IDMASK ((uint8_t)0x00U)
342 #define CAN_FILTERMODE_IDLIST ((uint8_t)0x01U)
350 #define CAN_FILTERSCALE_16BIT ((uint8_t)0x00U)
351 #define CAN_FILTERSCALE_32BIT ((uint8_t)0x01U)
359 #define CAN_FILTER_FIFO0 ((uint8_t)0x00U)
360 #define CAN_FILTER_FIFO1 ((uint8_t)0x01U)
368 #define CAN_ID_STD ((uint32_t)0x00000000U)
369 #define CAN_ID_EXT ((uint32_t)0x00000004U)
377 #define CAN_RTR_DATA ((uint32_t)0x00000000U)
378 #define CAN_RTR_REMOTE ((uint32_t)0x00000002U)
386 #define CAN_FIFO0 ((uint8_t)0x00U)
387 #define CAN_FIFO1 ((uint8_t)0x01U)
395 /* If the flag is 0x3XXXXXXX, it means that it can be used with CAN_GetFlagStatus()
396  and CAN_ClearFlag() functions. */
397 /* If the flag is 0x1XXXXXXX, it means that it can only be used with
398  CAN_GetFlagStatus() function. */
399 
400 /* Transmit Flags */
401 #define CAN_FLAG_RQCP0 ((uint32_t)0x00000500U)
402 #define CAN_FLAG_RQCP1 ((uint32_t)0x00000508U)
403 #define CAN_FLAG_RQCP2 ((uint32_t)0x00000510U)
404 #define CAN_FLAG_TXOK0 ((uint32_t)0x00000501U)
405 #define CAN_FLAG_TXOK1 ((uint32_t)0x00000509U)
406 #define CAN_FLAG_TXOK2 ((uint32_t)0x00000511U)
407 #define CAN_FLAG_TME0 ((uint32_t)0x0000051AU)
408 #define CAN_FLAG_TME1 ((uint32_t)0x0000051BU)
409 #define CAN_FLAG_TME2 ((uint32_t)0x0000051CU)
411 /* Receive Flags */
412 #define CAN_FLAG_FF0 ((uint32_t)0x00000203U)
413 #define CAN_FLAG_FOV0 ((uint32_t)0x00000204U)
415 #define CAN_FLAG_FF1 ((uint32_t)0x00000403U)
416 #define CAN_FLAG_FOV1 ((uint32_t)0x00000404U)
418 /* Operating Mode Flags */
419 #define CAN_FLAG_INAK ((uint32_t)0x00000100U)
420 #define CAN_FLAG_SLAK ((uint32_t)0x00000101U)
421 #define CAN_FLAG_ERRI ((uint32_t)0x00000102U)
422 #define CAN_FLAG_WKU ((uint32_t)0x00000103U)
423 #define CAN_FLAG_SLAKI ((uint32_t)0x00000104U)
425 /* @note When SLAK interrupt is disabled (SLKIE=0), no polling on SLAKI is possible.
426  In this case the SLAK bit can be polled.*/
427 
428 /* Error Flags */
429 #define CAN_FLAG_EWG ((uint32_t)0x00000300U)
430 #define CAN_FLAG_EPV ((uint32_t)0x00000301U)
431 #define CAN_FLAG_BOF ((uint32_t)0x00000302U)
439 #define CAN_IT_TME ((uint32_t)CAN_IER_TMEIE)
441 /* Receive Interrupts */
442 #define CAN_IT_FMP0 ((uint32_t)CAN_IER_FMPIE0)
443 #define CAN_IT_FF0 ((uint32_t)CAN_IER_FFIE0)
444 #define CAN_IT_FOV0 ((uint32_t)CAN_IER_FOVIE0)
445 #define CAN_IT_FMP1 ((uint32_t)CAN_IER_FMPIE1)
446 #define CAN_IT_FF1 ((uint32_t)CAN_IER_FFIE1)
447 #define CAN_IT_FOV1 ((uint32_t)CAN_IER_FOVIE1)
449 /* Operating Mode Interrupts */
450 #define CAN_IT_WKU ((uint32_t)CAN_IER_WKUIE)
451 #define CAN_IT_SLK ((uint32_t)CAN_IER_SLKIE)
453 /* Error Interrupts */
454 #define CAN_IT_EWG ((uint32_t)CAN_IER_EWGIE)
455 #define CAN_IT_EPV ((uint32_t)CAN_IER_EPVIE)
456 #define CAN_IT_BOF ((uint32_t)CAN_IER_BOFIE)
457 #define CAN_IT_LEC ((uint32_t)CAN_IER_LECIE)
458 #define CAN_IT_ERR ((uint32_t)CAN_IER_ERRIE)
466 #define CAN_TXMAILBOX_0 ((uint8_t)0x00U)
467 #define CAN_TXMAILBOX_1 ((uint8_t)0x01U)
468 #define CAN_TXMAILBOX_2 ((uint8_t)0x02U)
469 
477 /* Exported macro ------------------------------------------------------------*/
486 #define __HAL_CAN_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_CAN_STATE_RESET)
487 
494 #define __HAL_CAN_ENABLE_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->IER) |= (__INTERRUPT__))
495 
502 #define __HAL_CAN_DISABLE_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->IER) &= ~(__INTERRUPT__))
503 
510 #define __HAL_CAN_MSG_PENDING(__HANDLE__, __FIFONUMBER__) (((__FIFONUMBER__) == CAN_FIFO0)? \
511 ((uint8_t)((__HANDLE__)->Instance->RF0R&(uint32_t)0x03U)) : ((uint8_t)((__HANDLE__)->Instance->RF1R & (uint32_t)0x03U)))
512 
540 #define __HAL_CAN_GET_FLAG(__HANDLE__, __FLAG__) \
541 ((((__FLAG__) >> 8U) == 5U)? ((((__HANDLE__)->Instance->TSR) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))): \
542  (((__FLAG__) >> 8U) == 2U)? ((((__HANDLE__)->Instance->RF0R) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))): \
543  (((__FLAG__) >> 8U) == 4U)? ((((__HANDLE__)->Instance->RF1R) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))): \
544  (((__FLAG__) >> 8U) == 1U)? ((((__HANDLE__)->Instance->MSR) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))): \
545  ((((__HANDLE__)->Instance->ESR) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))))
546 
571 #define __HAL_CAN_CLEAR_FLAG(__HANDLE__, __FLAG__) \
572 ((((__FLAG__) >> 8U) == 5U)? (((__HANDLE__)->Instance->TSR) = ((uint32_t)1U << ((__FLAG__) & CAN_FLAG_MASK))): \
573  (((__FLAG__) >> 8U) == 2U)? (((__HANDLE__)->Instance->RF0R) = ((uint32_t)1U << ((__FLAG__) & CAN_FLAG_MASK))): \
574  (((__FLAG__) >> 8U) == 4U)? (((__HANDLE__)->Instance->RF1R) = ((uint32_t)1U << ((__FLAG__) & CAN_FLAG_MASK))): \
575  (((__HANDLE__)->Instance->MSR) = ((uint32_t)1U << ((__FLAG__) & CAN_FLAG_MASK))))
576 
586 #define __HAL_CAN_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) ((((__HANDLE__)->Instance->IER & (__INTERRUPT__)) == (__INTERRUPT__)) ? SET : RESET)
587 
594 #define __HAL_CAN_TRANSMIT_STATUS(__HANDLE__, __TRANSMITMAILBOX__)\
595 (((__TRANSMITMAILBOX__) == CAN_TXMAILBOX_0)? ((((__HANDLE__)->Instance->TSR) & (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0)) == (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0)) :\
596  ((__TRANSMITMAILBOX__) == CAN_TXMAILBOX_1)? ((((__HANDLE__)->Instance->TSR) & (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1)) == (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1)) :\
597  ((((__HANDLE__)->Instance->TSR) & (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2)) == (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2)))
598 
605 #define __HAL_CAN_FIFO_RELEASE(__HANDLE__, __FIFONUMBER__) (((__FIFONUMBER__) == CAN_FIFO0)? \
606 ((__HANDLE__)->Instance->RF0R = CAN_RF0R_RFOM0) : ((__HANDLE__)->Instance->RF1R = CAN_RF1R_RFOM1))
607 
614 #define __HAL_CAN_CANCEL_TRANSMIT(__HANDLE__, __TRANSMITMAILBOX__)\
615 (((__TRANSMITMAILBOX__) == CAN_TXMAILBOX_0)? ((__HANDLE__)->Instance->TSR = CAN_TSR_ABRQ0) :\
616  ((__TRANSMITMAILBOX__) == CAN_TXMAILBOX_1)? ((__HANDLE__)->Instance->TSR = CAN_TSR_ABRQ1) :\
617  ((__HANDLE__)->Instance->TSR = CAN_TSR_ABRQ2))
618 
628 #define __HAL_CAN_DBG_FREEZE(__HANDLE__, __NEWSTATE__) (((__NEWSTATE__) == ENABLE)? \
629 ((__HANDLE__)->Instance->MCR |= CAN_MCR_DBF) : ((__HANDLE__)->Instance->MCR &= ~CAN_MCR_DBF))
630 
635 /* Exported functions --------------------------------------------------------*/
643 /* Initialization/de-initialization functions ***********************************/
644 HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef* hcan);
645 HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef* hcan, CAN_FilterConfTypeDef* sFilterConfig);
646 HAL_StatusTypeDef HAL_CAN_DeInit(CAN_HandleTypeDef* hcan);
647 void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan);
648 void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan);
656 /* I/O operation functions ******************************************************/
657 HAL_StatusTypeDef HAL_CAN_Transmit(CAN_HandleTypeDef *hcan, uint32_t Timeout);
658 HAL_StatusTypeDef HAL_CAN_Transmit_IT(CAN_HandleTypeDef *hcan);
659 HAL_StatusTypeDef HAL_CAN_Receive(CAN_HandleTypeDef *hcan, uint8_t FIFONumber, uint32_t Timeout);
660 HAL_StatusTypeDef HAL_CAN_Receive_IT(CAN_HandleTypeDef *hcan, uint8_t FIFONumber);
661 HAL_StatusTypeDef HAL_CAN_Sleep(CAN_HandleTypeDef *hcan);
662 HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef *hcan);
663 void HAL_CAN_IRQHandler(CAN_HandleTypeDef* hcan);
664 void HAL_CAN_TxCpltCallback(CAN_HandleTypeDef* hcan);
665 void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan);
666 void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan);
674 /* Peripheral State functions ***************************************************/
675 uint32_t HAL_CAN_GetError(CAN_HandleTypeDef *hcan);
676 HAL_CAN_StateTypeDef HAL_CAN_GetState(CAN_HandleTypeDef* hcan);
685 /* Private types -------------------------------------------------------------*/
694 /* Private variables ---------------------------------------------------------*/
703 /* Private constants ---------------------------------------------------------*/
707 #define CAN_TXSTATUS_NOMAILBOX ((uint8_t)0x04U)
708 #define CAN_FLAG_MASK ((uint32_t)0x000000FFU)
709 
713 /* Private macros ------------------------------------------------------------*/
717 #define IS_CAN_MODE(MODE) (((MODE) == CAN_MODE_NORMAL) || \
718  ((MODE) == CAN_MODE_LOOPBACK)|| \
719  ((MODE) == CAN_MODE_SILENT) || \
720  ((MODE) == CAN_MODE_SILENT_LOOPBACK))
721 #define IS_CAN_SJW(SJW) (((SJW) == CAN_SJW_1TQ) || ((SJW) == CAN_SJW_2TQ)|| \
722  ((SJW) == CAN_SJW_3TQ) || ((SJW) == CAN_SJW_4TQ))
723 #define IS_CAN_BS1(BS1) ((BS1) <= CAN_BS1_16TQ)
724 #define IS_CAN_BS2(BS2) ((BS2) <= CAN_BS2_8TQ)
725 #define IS_CAN_PRESCALER(PRESCALER) (((PRESCALER) >= 1U) && ((PRESCALER) <= 1024U))
726 #define IS_CAN_FILTER_NUMBER(NUMBER) ((NUMBER) <= 27U)
727 #define IS_CAN_FILTER_MODE(MODE) (((MODE) == CAN_FILTERMODE_IDMASK) || \
728  ((MODE) == CAN_FILTERMODE_IDLIST))
729 #define IS_CAN_FILTER_SCALE(SCALE) (((SCALE) == CAN_FILTERSCALE_16BIT) || \
730  ((SCALE) == CAN_FILTERSCALE_32BIT))
731 #define IS_CAN_FILTER_FIFO(FIFO) (((FIFO) == CAN_FILTER_FIFO0) || \
732  ((FIFO) == CAN_FILTER_FIFO1))
733 #define IS_CAN_BANKNUMBER(BANKNUMBER) ((BANKNUMBER) <= 28U)
734 
735 #define IS_CAN_TRANSMITMAILBOX(TRANSMITMAILBOX) ((TRANSMITMAILBOX) <= ((uint8_t)0x02U))
736 #define IS_CAN_STDID(STDID) ((STDID) <= ((uint32_t)0x7FFU))
737 #define IS_CAN_EXTID(EXTID) ((EXTID) <= ((uint32_t)0x1FFFFFFFU))
738 #define IS_CAN_DLC(DLC) ((DLC) <= ((uint8_t)0x08U))
739 
740 #define IS_CAN_IDTYPE(IDTYPE) (((IDTYPE) == CAN_ID_STD) || \
741  ((IDTYPE) == CAN_ID_EXT))
742 #define IS_CAN_RTR(RTR) (((RTR) == CAN_RTR_DATA) || ((RTR) == CAN_RTR_REMOTE))
743 #define IS_CAN_FIFO(FIFO) (((FIFO) == CAN_FIFO0) || ((FIFO) == CAN_FIFO1))
744 
749 /* Private functions ---------------------------------------------------------*/
758 #endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F427xx || STM32F437xx ||\
759  STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx || STM32F412Zx ||\
760  STM32F412Vx || STM32F412Rx || STM32F412Cx */
761 
770 #ifdef __cplusplus
771 }
772 #endif
773 
774 #endif /* __STM32F4xx_CAN_H */
775 
776 
777 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
stm32f4xx_hal_def.h
This file contains HAL common defines, enumeration, macros and structures definitions.
HAL_StatusTypeDef
HAL_StatusTypeDef
HAL Status structures definition.
Definition: stm32f4xx_hal_def.h:57
CAN_TypeDef
Controller Area Network.
Definition: stm32f405xx.h:264
__IO
#define __IO
Definition: core_cm0.h:213
HAL_LockTypeDef
HAL_LockTypeDef
HAL Lock structures definition.
Definition: stm32f4xx_hal_def.h:68