circuitpython/tests/pyb/can.py

from pyb import CAN

CAN.initfilterbanks(14)
can = CAN(1)
print(can)

can.init(CAN.LOOPBACK)
print(can)
print(can.any(0))

# Catch all filter
can.setfilter(0, CAN.MASK16, 0, (0, 0, 0, 0))

can.send('abcd', 123)
print(can.any(0))
print(can.recv(0))

can.send('abcd', -1)
print(can.recv(0))

can.send('abcd', 0x7FF + 1)
print(can.recv(0))

# Test too long message
try:
    can.send('abcdefghi', 0x7FF)
except ValueError:
    print('passed')
else:
    print('failed')

del can

# Testing extended IDs
can = CAN(1, CAN.LOOPBACK, extframe = True)
# Catch all filter
can.setfilter(0, CAN.MASK32, 0, (0, 0))

print(can)

try:
    can.send('abcde', 0x7FF + 1)
except ValueError:
    print('failed')
else:
    r = can.recv(0)
    if r[0] == 0x7FF+1 and r[3] == b'abcde':
        print('passed')
    else:
        print('failed, wrong data received')

del can

# Test RxCallbacks
can = CAN(1, CAN.LOOPBACK)
can.setfilter(0, CAN.LIST16, 0, (1, 2, 3, 4))
can.setfilter(1, CAN.LIST16, 1, (5, 6, 7, 8))
def cb0(bus, reason):
    print('cb0')
    if reason == 0:
        print('pending')
    if reason == 1:
        print('full')
    if reason == 2:
        print('overflow')

def cb1(bus, reason):
    print('cb1')
    if reason == 0:
        print('pending')
    if reason == 1:
        print('full')
    if reason == 2:
        print('overflow')

def cb0a(bus, reason):
    print('cb0a')
    if reason == 0:
        print('pending')
    if reason == 1:
        print('full')
    if reason == 2:
        print('overflow')

def cb1a(bus, reason):
    print('cb1a')
    if reason == 0:
        print('pending')
    if reason == 1:
        print('full')
    if reason == 2:
        print('overflow')


can.rxcallback(0, cb0)
can.rxcallback(1, cb1)

can.send('11111111',1)
can.send('22222222',2)
can.send('33333333',3)
can.rxcallback(0, cb0a)
can.send('44444444',4)

can.send('55555555',5)
can.send('66666666',6)
can.send('77777777',7)
can.rxcallback(1, cb1a)
can.send('88888888',8)

print(can.recv(0))
print(can.recv(0))
print(can.recv(0))
print(can.recv(1))
print(can.recv(1))
print(can.recv(1))

can.send('11111111',1)
can.send('55555555',5)

print(can.recv(0))
print(can.recv(1))