/* First 16-bit identifier and First 16-bit mask */
    /* Or First 16-bit identifier and Second 16-bit identifier */
    CAN1->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR1 = 
    ((0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterMaskIdLow) << 16) |
        (0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterIdLow);

    /* Second 16-bit identifier and Second 16-bit mask */
    /* Or Third 16-bit identifier and Fourth 16-bit identifier */
    CAN1->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR2 = 
    ((0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterMaskIdHigh) << 16) |
        (0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterIdHigh);
  }

  if (CAN_FilterInitStruct->CAN_FilterScale == CAN_FilterScale_32bit)
  {
    /* 32-bit scale for the filter */
    CAN1->FS1R |= filter_number_bit_pos;
    /* 32-bit identifier or First 32-bit identifier */
    CAN1->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR1 = 
    ((0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterIdHigh) << 16) |
        (0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterIdLow);
    /* 32-bit mask or Second 32-bit identifier */
    CAN1->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR2 = 
    ((0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterMaskIdHigh) << 16) |
        (0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterMaskIdLow);
  }

  /* Filter Mode */
  if (CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdMask)
  {
    /*Id/Mask mode for the filter*/
    CAN1->FM1R &= ~(uint32_t)filter_number_bit_pos;
  }
  else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */
  {
    /*Identifier list mode for the filter*/
    CAN1->FM1R |= (uint32_t)filter_number_bit_pos;
  }

  /* Filter FIFO assignment */
  if (CAN_FilterInitStruct->CAN_FilterFIFOAssignment == CAN_FilterFIFO0)
  {
    /* FIFO 0 assignation for the filter */
    CAN1->FFA1R &= ~(uint32_t)filter_number_bit_pos;
  }

  if (CAN_FilterInitStruct->CAN_FilterFIFOAssignment == CAN_FilterFIFO1)
  {
    /* FIFO 1 assignation for the filter */
    CAN1->FFA1R |= (uint32_t)filter_number_bit_pos;
  }
  
  /* Filter activation */
  if (CAN_FilterInitStruct->CAN_FilterActivation == ENABLE)
  {
    CAN1->FA1R |= filter_number_bit_pos;
  }

  /* Leave the initialisation mode for the filter */
  CAN1->FMR &= ~FMR_FINIT;
}

/**
  * @brief  Fills each CAN_InitStruct member with its default value.
  * @param  CAN_InitStruct: pointer to a CAN_InitTypeDef structure which
  *   will be initialized.
  * @retval None.
  */
void CAN_StructInit(CAN_InitTypeDef* CAN_InitStruct)
{
  /* Reset CAN init structure parameters values */
  /* Initialize the time triggered communication mode */
  CAN_InitStruct->CAN_TTCM = DISABLE;
  /* Initialize the automatic bus-off management */
  CAN_InitStruct->CAN_ABOM = DISABLE;
  /* Initialize the automatic wake-up mode */
  CAN_InitStruct->CAN_AWUM = DISABLE;
  /* Initialize the no automatic retransmission */
  CAN_InitStruct->CAN_NART = DISABLE;
  /* Initialize the receive FIFO locked mode */
  CAN_InitStruct->CAN_RFLM = DISABLE;
  /* Initialize the transmit FIFO priority */
  CAN_InitStruct->CAN_TXFP = DISABLE;
  /* Initialize the CAN_Mode member */
  CAN_InitStruct->CAN_Mode = CAN_Mode_Normal;
  /* Initialize the CAN_SJW member */
  CAN_InitStruct->CAN_SJW = CAN_SJW_1tq;
  /* Initialize the CAN_BS1 member */
  CAN_InitStruct->CAN_BS1 = CAN_BS1_4tq;
  /* Initialize the CAN_BS2 member */
  CAN_InitStruct->CAN_BS2 = CAN_BS2_3tq;
  /* Initialize the CAN_Prescaler member */
  CAN_InitStruct->CAN_Prescaler = 1;
}

/**
  * @brief  Select the start bank filter for slave CAN.
  * @note   This function applies only to STM32 Connectivity line devices.
  * @param  CAN_BankNumber: Select the start slave bank filter from 1..27.
  * @retval None.
  */
void CAN_SlaveStartBank(uint8_t CAN_BankNumber) 
{
  /* Check the parameters */
  assert_param(IS_CAN_BANKNUMBER(CAN_BankNumber));
  /* enter Initialisation mode for the filter */
  CAN1->FMR |= FMR_FINIT;
  /* Select the start slave bank */
  CAN1->FMR &= (uint32_t)0xFFFFC0F1 ;
  CAN1->FMR |= (uint32_t)(CAN_BankNumber)<<8;
  /* Leave Initialisation mode for the filter */
  CAN1->FMR &= ~FMR_FINIT;
}

/**
  * @brief  Enables or disables the specified CAN interrupts.
  * @param  CANx: where x can be 1 or 2 to to select the CAN peripheral.
  * @param  CAN_IT: specifies the CAN interrupt sources to be enabled or disabled.
  *   This parameter can be: CAN_IT_TME, CAN_IT_FMP0, CAN_IT_FF0,
  *   CAN_IT_FOV0, CAN_IT_FMP1, CAN_IT_FF1,
  *   CAN_IT_FOV1, CAN_IT_EWG, CAN_IT_EPV,
  *   CAN_IT_LEC, CAN_IT_ERR, CAN_IT_WKU or
  *   CAN_IT_SLK.
  * @param  NewState: new state of the CAN interrupts.
  *   This parameter can be: ENABLE or DISABLE.
  * @retval None.
  */
void CAN_ITConfig(CAN_TypeDef* CANx, uint32_t CAN_IT, FunctionalState NewState)
{
  /* Check the parameters */
  assert_param(IS_CAN_ALL_PERIPH(CANx));
  assert_param(IS_CAN_ITConfig(CAN_IT));
  assert_param(IS_FUNCTIONAL_STATE(NewState));

  if (NewState != DISABLE)
  {
    /* Enable the selected CAN interrupt */
    CANx->IER |= CAN_IT;
  }
  else
  {
    /* Disable the selected CAN interrupt */
    CANx->IER &= ~CAN_IT;
  }
}

/**
  * @brief  Initiates the transmission of a message.
  * @param  CANx: where x can be 1 or 2 to to select the CAN peripheral.
  * @param  TxMessage: pointer to a structure which contains CAN Id, CAN
  *   DLC and CAN datas.
  * @retval The number of the mailbox that is used for transmission
  *   or CAN_NO_MB if there is no empty mailbox.
  */
uint8_t CAN_Transmit(CAN_TypeDef* CANx, CanTxMsg* TxMessage)
{
  uint8_t transmit_mailbox = 0;
  /* Check the parameters */
  assert_param(IS_CAN_ALL_PERIPH(CANx));
  assert_param(IS_CAN_IDTYPE(TxMessage->IDE));
  assert_param(IS_CAN_RTR(TxMessage->RTR));
  assert_param(IS_CAN_DLC(TxMessage->DLC));

  /* Select one empty transmit mailbox */
  if ((CANx->TSR&TSR_TME0) == TSR_TME0)
  {
    transmit_mailbox = 0;
  }
  else if ((CANx->TSR&TSR_TME1) == TSR_TME1)
  {
    transmit_mailbox = 1;
  }
  else if ((CANx->TSR&TSR_TME2) == TSR_TME2)
  {
    transmit_mailbox = 2;
  }
  else
  {
    transmit_mailbox = CAN_NO_MB;
  }

  if (transmit_mailbox != CAN_NO_MB)
  {
    /* Set up the Id */
    CANx->sTxMailBox[transmit_mailbox].TIR &= TMIDxR_TXRQ;
    if (TxMessage->IDE == CAN_ID_STD)
    {
      assert_param(IS_CAN_STDID(TxMessage->StdId));  
      CANx->sTxMailBox[transmit_mailbox].TIR |= ((TxMessage->StdId << 21) | TxMessage->RTR);
    }
    else
    {
      assert_param(IS_CAN_EXTID(TxMessage->ExtId));
      CANx->sTxMailBox[transmit_mailbox].TIR |= ((TxMessage->ExtId<<3) | TxMessage->IDE | 
                                               TxMessage->RTR);
    }
    

    /* Set up the DLC */
    TxMessage->DLC &= (uint8_t)0x0000000F;
    CANx->sTxMailBox[transmit_mailbox].TDTR &= (uint32_t)0xFFFFFFF0;
    CANx->sTxMailBox[transmit_mailbox].TDTR |= TxMessage->DLC;

    /* Set up the data field */
    CANx->sTxMailBox[transmit_mailbox].TDLR = (((uint32_t)TxMessage->Data[3] << 24) | 
                                             ((uint32_t)TxMessage->Data[2] << 16) |
                                             ((uint32_t)TxMessage->Data[1] << 8) | 
                                             ((uint32_t)TxMessage->Data[0]));
    CANx->sTxMailBox[transmit_mailbox].TDHR = (((uint32_t)TxMessage->Data[7] << 24) | 
                                             ((uint32_t)TxMessage->Data[6] << 16) |
                                             ((uint32_t)TxMessage->Data[5] << 8) |
                                             ((uint32_t)TxMessage->Data[4]));
    /* Request transmission */
    CANx->sTxMailBox[transmit_mailbox].TIR |= TMIDxR_TXRQ;
  }
  return transmit_mailbox;
}

/**
  * @brief  Checks the transmission of a message.
  * @param  CANx: where x can be 1 or 2 to to select the CAN peripheral.
  * @param  TransmitMailbox: the number of the mailbox that is used for transmission.
  * @retval CANTXOK if the CAN driver transmits the message, CANTXFAILED in an other case.
  */
uint8_t CAN_TransmitStatus(CAN_TypeDef* CANx, uint8_t TransmitMailbox)
{
  /* RQCP, TXOK and TME bits */
  uint8_t state = 0;
  /* Check the parameters */
  assert_param(IS_CAN_ALL_PERIPH(CANx));
  assert_param(IS_CAN_TRANSMITMAILBOX(TransmitMailbox));
  switch (TransmitMailbox)
  {
    case (0): state |= (uint8_t)((CANx->TSR & TSR_RQCP0) << 2);
      state |= (uint8_t)((CANx->TSR & TSR_TXOK0) >> 0);
      state |= (uint8_t)((CANx->TSR & TSR_TME0) >> 26);
      break;
    case (1): state |= (uint8_t)((CANx->TSR & TSR_RQCP1) >> 6);
      state |= (uint8_t)((CANx->TSR & TSR_TXOK1) >> 8);
      state |= (uint8_t)((CANx->TSR & TSR_TME1) >> 27);
      break;
    case (2): state |= (uint8_t)((CANx->TSR & TSR_RQCP2) >> 14);
      state |= (uint8_t)((CANx->TSR & TSR_TXOK2) >> 16);
      state |= (uint8_t)((CANx->TSR & TSR_TME2) >> 28);
      break;
    default:
      state = CANTXFAILED;
      break;
  }
  switch (state)
  {
      /* transmit pending  */
    case (0x0): state = CANTXPENDING;
      break;
      /* transmit failed  */
    case (0x5): state = CANTXFAILED;
      break;
      /* transmit succedeed  */
    case (0x7): state = CANTXOK;
      break;
    default:
      state = CANTXFAILED;
      break;
  }
  return state;
}

/**
  * @brief  Cancels a transmit request.
  * @param  CANx: where x can be 1 or 2 to to select the CAN peripheral. 
  * @param  Mailbox: Mailbox number.
  * @retval None.
  */
void CAN_CancelTransmit(CAN_TypeDef* CANx, uint8_t Mailbox)
{
  /* Check the parameters */
  assert_param(IS_CAN_ALL_PERIPH(CANx));
  assert_param(IS_CAN_TRANSMITMAILBOX(Mailbox));
  /* abort transmission */
  switch (Mailbox)
  {
    case (0): CANx->TSR |= TSR_ABRQ0;
      break;
    case (1): CANx->TSR |= TSR_ABRQ1;
      break;
    case (2): CANx->TSR |= TSR_ABRQ2;
      break;
    default:
      break;
  }
}

/**
  * @brief  Releases a FIFO.
  * @param  CANx: where x can be 1 or 2 to to select the CAN peripheral. 
  * @param  FIFONumber: FIFO to release, CAN_FIFO0 or CAN_FIFO1.
  * @retval None.
  */
void CAN_FIFORelease(CAN_TypeDef* CANx, uint8_t FIFONumber)
{
  /* Check the parameters */
  assert_param(IS_CAN_ALL_PERIPH(CANx));
  assert_param(IS_CAN_FIFO(FIFONumber));
  /* Release FIFO0 */
  if (FIFONumber == CAN_FIFO0)
  {
    CANx->RF0R = RF0R_RFOM0;
  }
  /* Release FIFO1 */
  else /* FIFONumber == CAN_FIFO1 */
  {
    CANx->RF1R = RF1R_RFOM1;
  }
}

/**
  * @brief  Returns the number of pending messages.
  * @param  CANx: where x can be 1 or 2 to to select the CAN peripheral.
  * @param  FIFONumber: Receive FIFO number, CAN_FIFO0 or CAN_FIFO1.
  * @retval NbMessage which is the number of pending message.
  */
uint8_t CAN_MessagePending(CAN_TypeDef* CANx, uint8_t FIFONumber)
{
  uint8_t message_pending=0;
  /* Check the parameters */
  assert_param(IS_CAN_ALL_PERIPH(CANx));
  assert_param(IS_CAN_FIFO(FIFONumber));
  if (FIFONumber == CAN_FIFO0)
  {
    message_pending = (uint8_t)(CANx->RF0R&(uint32_t)0x03);
  }