2020-10-21 11:38:01 -04:00
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/*
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* This file is part of the MicroPython project, http://micropython.org/
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*
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* The MIT License (MIT)
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*
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* Copyright (c) 2020 Jeff Epler for Adafruit Industries
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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#include <math.h>
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#include <string.h>
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#include "py/obj.h"
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#include "py/runtime.h"
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#include "common-hal/canio/__init__.h"
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#include "common-hal/canio/Listener.h"
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#include "shared-bindings/canio/Listener.h"
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#include "shared-bindings/util.h"
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#include "supervisor/shared/tick.h"
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#include "supervisor/shared/safe_mode.h"
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#include "hal/twai_ll.h"
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// IDE = "extended ID" flag of packet header. We always add this bit to the
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// mask because a match is always for just one kind of address length
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2021-03-15 09:57:36 -04:00
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#define FILTER16_IDE (1 << 3)
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#define FILTER32_IDE (1 << 2)
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2020-10-21 11:38:01 -04:00
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// Work around a problem reported at
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// https://github.com/espressif/esp-idf/issues/6020 where
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// twai_ll_set_acc_filter does not work under -Os optimization
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__attribute__((optimize("O0")))
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__attribute__((noinline))
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2021-03-15 09:57:36 -04:00
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static void canio_set_acc_filter(twai_dev_t *hw, uint32_t code, uint32_t mask, bool single_filter) {
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2020-10-21 11:38:01 -04:00
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uint32_t code_swapped = __builtin_bswap32(code);
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uint32_t mask_swapped = __builtin_bswap32(mask);
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for (int i = 0; i < 4; i++) {
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hw->acceptance_filter.acr[i].val = ((code_swapped >> (i * 8)) & 0xFF);
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hw->acceptance_filter.amr[i].val = ((mask_swapped >> (i * 8)) & 0xFF);
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}
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hw->mode_reg.afm = single_filter;
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}
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STATIC void install_standard_filter(canio_listener_obj_t *self, canio_match_obj_t *match) {
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canio_set_acc_filter(&TWAI, match->id << 21, ~(match->mask << 21), true);
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self->extended = false;
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self->standard = true;
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}
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STATIC void install_extended_filter(canio_listener_obj_t *self, canio_match_obj_t *match) {
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canio_set_acc_filter(&TWAI, match->id << 3, ~(match->mask << 3), true);
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self->extended = true;
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self->standard = false;
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}
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STATIC void install_all_match_filter(canio_listener_obj_t *self) {
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canio_set_acc_filter(&TWAI, 0u, ~0u, true);
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self->extended = true;
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self->standard = true;
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}
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__attribute__((noinline,optimize("O0")))
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void set_filters(canio_listener_obj_t *self, size_t nmatch, canio_match_obj_t **matches) {
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twai_ll_enter_reset_mode(&TWAI);
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if (!nmatch) {
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install_all_match_filter(self);
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} else {
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canio_match_obj_t *match = matches[0];
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if (match->extended) {
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install_extended_filter(self, match);
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} else {
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install_standard_filter(self, match);
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}
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}
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twai_ll_exit_reset_mode(&TWAI);
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}
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void common_hal_canio_listener_construct(canio_listener_obj_t *self, canio_can_obj_t *can, size_t nmatch, canio_match_obj_t **matches, float timeout) {
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if (can->fifo_in_use) {
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mp_raise_ValueError(translate("All RX FIFOs in use"));
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}
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if (nmatch > 1) {
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mp_raise_ValueError(translate("Filters too complex"));
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}
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// Nothing can fail now so it's safe to assign self->can
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can->fifo_in_use = 1;
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self->can = can;
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self->pending = false;
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set_filters(self, nmatch, matches);
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self->extended = self->standard = true;
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common_hal_canio_listener_set_timeout(self, timeout);
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}
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void common_hal_canio_listener_set_timeout(canio_listener_obj_t *self, float timeout) {
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self->timeout_ms = (int)MICROPY_FLOAT_C_FUN(ceil)(timeout * 1000);
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}
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float common_hal_canio_listener_get_timeout(canio_listener_obj_t *self) {
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return self->timeout_ms / 1000.0f;
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}
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void common_hal_canio_listener_check_for_deinit(canio_listener_obj_t *self) {
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if (!self->can) {
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raise_deinited_error();
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}
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common_hal_canio_can_check_for_deinit(self->can);
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}
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// The API has no peek method so we must receive a packet into a holding area
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// and then we can say that we have 1 message pending
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int common_hal_canio_listener_in_waiting(canio_listener_obj_t *self) {
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while (!self->pending && twai_receive(&self->message_in, 0) == ESP_OK) {
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if (self->message_in.extd && self->extended) {
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self->pending = true;
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}
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if (!self->message_in.extd && self->standard) {
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self->pending = true;
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}
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}
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return self->pending;
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}
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mp_obj_t common_hal_canio_listener_receive(canio_listener_obj_t *self) {
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if (!common_hal_canio_listener_in_waiting(self)) {
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uint64_t deadline = supervisor_ticks_ms64() + self->timeout_ms;
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do {
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if (supervisor_ticks_ms64() > deadline) {
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return NULL;
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}
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} while (!common_hal_canio_listener_in_waiting(self));
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}
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bool rtr = self->message_in.rtr;
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int dlc = self->message_in.data_length_code;
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canio_message_obj_t *message = m_new_obj(canio_message_obj_t);
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message->base.type = rtr ? &canio_remote_transmission_request_type : &canio_message_type;
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message->extended = self->message_in.extd;
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message->id = self->message_in.identifier;
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message->size = dlc;
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if (!rtr) {
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MP_STATIC_ASSERT(sizeof(self->message_in.data) == sizeof(message->data));
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memcpy(message->data, self->message_in.data, sizeof(message->data));
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}
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self->pending = false;
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return message;
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}
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void common_hal_canio_listener_deinit(canio_listener_obj_t *self) {
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if (self->can) {
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self->can->fifo_in_use = false;
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}
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self->can = NULL;
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}
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