Access of register STM32 CAN communication

Question

你能帮我弄清楚这条线的作用吗：

while (hcan->Instance->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)

Answer 1

It is the common way to check flags or more precisliy - if bit is set in some register. In this particular example:

INAK: Initialization acknowledge This bit is set by hardware and indicates to the software that the CAN hardware is now in initialization mode.

So you are basically wait in the infinite loop until CAN enter initialization mode.

BTW. I think you have way to much structures in your CAN configuration. If you use CMSIS macros package, it should look like this:

while((CAN->MSR & CAN_MSR_INAK) == 0);