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stm32/can: Use enums to index keyword arguments, for clarity.

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This commit is contained in:
Damien George 2018-03-15 17:15:41 +11:00
parent 2036196d71
commit 1608c4f5be
1 changed files with 42 additions and 37 deletions
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79
ports/stm32/can.c
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@ -327,6 +327,7 @@ STATIC void pyb_can_print(const mp_print_t *print, mp_obj_t self_in, mp_print_ki
// init(mode, extframe=False, prescaler=100, *, sjw=1, bs1=6, bs2=8)
STATIC mp_obj_t pyb_can_init_helper(pyb_can_obj_t *self, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
enum { ARG_mode, ARG_extframe, ARG_prescaler, ARG_sjw, ARG_bs1, ARG_bs2 };
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_mode, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = CAN_MODE_NORMAL} },
{ MP_QSTR_extframe, MP_ARG_BOOL, {.u_bool = false} },
@ -340,16 +341,16 @@ STATIC mp_obj_t pyb_can_init_helper(pyb_can_obj_t *self, size_t n_args, const mp
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
self->extframe = args[1].u_bool;
self->extframe = args[ARG_extframe].u_bool;
// set the CAN configuration values
memset(&self->can, 0, sizeof(self->can));
CAN_InitTypeDef *init = &self->can.Init;
init->Mode = args[0].u_int << 4; // shift-left so modes fit in a small-int
init->Prescaler = args[2].u_int;
init->SJW = ((args[3].u_int - 1) & 3) << 24;
init->BS1 = ((args[4].u_int - 1) & 0xf) << 16;
init->BS2 = ((args[5].u_int - 1) & 7) << 20;
init->Mode = args[ARG_mode].u_int << 4; // shift-left so modes fit in a small-int
init->Prescaler = args[ARG_prescaler].u_int;
init->SJW = ((args[ARG_sjw].u_int - 1) & 3) << 24;
init->BS1 = ((args[ARG_bs1].u_int - 1) & 0xf) << 16;
init->BS2 = ((args[ARG_bs2].u_int - 1) & 7) << 20;
init->TTCM = DISABLE;
init->ABOM = DISABLE;
init->AWUM = DISABLE;
@ -495,6 +496,7 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_2(pyb_can_any_obj, pyb_can_any);
///
/// Return value: `None`.
STATIC mp_obj_t pyb_can_send(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
enum { ARG_data, ARG_id, ARG_timeout, ARG_rtr };
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_data, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} },
{ MP_QSTR_id, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = 0} },
@ -510,7 +512,7 @@ STATIC mp_obj_t pyb_can_send(size_t n_args, const mp_obj_t *pos_args, mp_map_t *
// get the buffer to send from
mp_buffer_info_t bufinfo;
uint8_t data[1];
pyb_buf_get_for_send(args[0].u_obj, &bufinfo, data);
pyb_buf_get_for_send(args[ARG_data].u_obj, &bufinfo, data);
if (bufinfo.len > 8) {
mp_raise_ValueError("CAN data field too long");
@ -519,13 +521,13 @@ STATIC mp_obj_t pyb_can_send(size_t n_args, const mp_obj_t *pos_args, mp_map_t *
// send the data
CanTxMsgTypeDef tx_msg;
if (self->extframe) {
tx_msg.ExtId = args[1].u_int & 0x1FFFFFFF;
tx_msg.ExtId = args[ARG_id].u_int & 0x1FFFFFFF;
tx_msg.IDE = CAN_ID_EXT;
} else {
tx_msg.StdId = args[1].u_int & 0x7FF;
tx_msg.StdId = args[ARG_id].u_int & 0x7FF;
tx_msg.IDE = CAN_ID_STD;
}
if (args[3].u_bool == false) {
if (args[ARG_rtr].u_bool == false) {
tx_msg.RTR = CAN_RTR_DATA;
} else {
tx_msg.RTR = CAN_RTR_REMOTE;
@ -536,7 +538,7 @@ STATIC mp_obj_t pyb_can_send(size_t n_args, const mp_obj_t *pos_args, mp_map_t *
}
self->can.pTxMsg = &tx_msg;
HAL_StatusTypeDef status = CAN_Transmit(&self->can, args[2].u_int);
HAL_StatusTypeDef status = CAN_Transmit(&self->can, args[ARG_timeout].u_int);
if (status != HAL_OK) {
mp_hal_raise(status);
@ -555,6 +557,7 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_can_send_obj, 1, pyb_can_send);
///
/// Return value: buffer of data bytes.
STATIC mp_obj_t pyb_can_recv(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
enum { ARG_fifo, ARG_timeout };
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_fifo, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = 0} },
{ MP_QSTR_timeout, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 5000} },
@ -567,33 +570,34 @@ STATIC mp_obj_t pyb_can_recv(size_t n_args, const mp_obj_t *pos_args, mp_map_t *
// receive the data
CanRxMsgTypeDef rx_msg;
int ret = can_receive(self->can.Instance, args[0].u_int, &rx_msg, args[1].u_int);
int ret = can_receive(self->can.Instance, args[ARG_fifo].u_int, &rx_msg, args[ARG_timeout].u_int);
if (ret < 0) {
mp_raise_OSError(-ret);
}
// Manage the rx state machine
if ((args[0].u_int == CAN_FIFO0 && self->rxcallback0 != mp_const_none) ||
(args[0].u_int == CAN_FIFO1 && self->rxcallback1 != mp_const_none)) {
byte *state = (args[0].u_int == CAN_FIFO0) ? &self->rx_state0 : &self->rx_state1;
mp_int_t fifo = args[ARG_fifo].u_int;
if ((fifo == CAN_FIFO0 && self->rxcallback0 != mp_const_none) ||
(fifo == CAN_FIFO1 && self->rxcallback1 != mp_const_none)) {
byte *state = (fifo == CAN_FIFO0) ? &self->rx_state0 : &self->rx_state1;
switch (*state) {
case RX_STATE_FIFO_EMPTY:
break;
case RX_STATE_MESSAGE_PENDING:
if (__HAL_CAN_MSG_PENDING(&self->can, args[0].u_int) == 0) {
if (__HAL_CAN_MSG_PENDING(&self->can, fifo) == 0) {
// Fifo is empty
__HAL_CAN_ENABLE_IT(&self->can, (args[0].u_int == CAN_FIFO0) ? CAN_IT_FMP0 : CAN_IT_FMP1);
__HAL_CAN_ENABLE_IT(&self->can, (fifo == CAN_FIFO0) ? CAN_IT_FMP0 : CAN_IT_FMP1);
*state = RX_STATE_FIFO_EMPTY;
}
break;
case RX_STATE_FIFO_FULL:
__HAL_CAN_ENABLE_IT(&self->can, (args[0].u_int == CAN_FIFO0) ? CAN_IT_FF0 : CAN_IT_FF1);
__HAL_CAN_ENABLE_IT(&self->can, (fifo == CAN_FIFO0) ? CAN_IT_FF0 : CAN_IT_FF1);
*state = RX_STATE_MESSAGE_PENDING;
break;
case RX_STATE_FIFO_OVERFLOW:
__HAL_CAN_ENABLE_IT(&self->can, (args[0].u_int == CAN_FIFO0) ? CAN_IT_FOV0 : CAN_IT_FOV1);
__HAL_CAN_ENABLE_IT(&self->can, (args[0].u_int == CAN_FIFO0) ? CAN_IT_FF0 : CAN_IT_FF1);
__HAL_CAN_ENABLE_IT(&self->can, (fifo == CAN_FIFO0) ? CAN_IT_FOV0 : CAN_IT_FOV1);
__HAL_CAN_ENABLE_IT(&self->can, (fifo == CAN_FIFO0) ? CAN_IT_FF0 : CAN_IT_FF1);
*state = RX_STATE_MESSAGE_PENDING;
break;
}
@ -656,6 +660,7 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_2(pyb_can_clearfilter_obj, pyb_can_clearfilter);
/// Return value: `None`.
#define EXTENDED_ID_TO_16BIT_FILTER(id) (((id & 0xC00000) >> 13) | ((id & 0x38000) >> 15)) | 8
STATIC mp_obj_t pyb_can_setfilter(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
enum { ARG_bank, ARG_mode, ARG_fifo, ARG_params, ARG_rtr };
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_bank, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = 0} },
{ MP_QSTR_mode, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = 0} },
@ -674,20 +679,20 @@ STATIC mp_obj_t pyb_can_setfilter(size_t n_args, const mp_obj_t *pos_args, mp_ma
mp_uint_t rtr_masks[4] = {0, 0, 0, 0};
mp_obj_t *rtr_flags;
mp_obj_t *params;
mp_obj_get_array(args[3].u_obj, &len, &params);
if (args[4].u_obj != MP_OBJ_NULL){
mp_obj_get_array(args[4].u_obj, &rtr_len, &rtr_flags);
mp_obj_get_array(args[ARG_params].u_obj, &len, &params);
if (args[ARG_rtr].u_obj != MP_OBJ_NULL){
mp_obj_get_array(args[ARG_rtr].u_obj, &rtr_len, &rtr_flags);
}
CAN_FilterConfTypeDef filter;
if (args[1].u_int == MASK16 || args[1].u_int == LIST16) {
if (args[ARG_mode].u_int == MASK16 || args[ARG_mode].u_int == LIST16) {
if (len != 4) {
goto error;
}
filter.FilterScale = CAN_FILTERSCALE_16BIT;
if (self->extframe) {
if (args[4].u_obj != MP_OBJ_NULL) {
if (args[1].u_int == MASK16) {
if (args[ARG_rtr].u_obj != MP_OBJ_NULL) {
if (args[ARG_mode].u_int == MASK16) {
rtr_masks[0] = mp_obj_get_int(rtr_flags[0]) ? 0x02 : 0;
rtr_masks[1] = 0x02;
rtr_masks[2] = mp_obj_get_int(rtr_flags[1]) ? 0x02 : 0;
@ -704,8 +709,8 @@ STATIC mp_obj_t pyb_can_setfilter(size_t n_args, const mp_obj_t *pos_args, mp_ma
filter.FilterIdHigh = EXTENDED_ID_TO_16BIT_FILTER(mp_obj_get_int(params[2])) | rtr_masks[2]; // id2
filter.FilterMaskIdHigh = EXTENDED_ID_TO_16BIT_FILTER(mp_obj_get_int(params[3])) | rtr_masks[3]; // mask2
} else { // Basic frames
if (args[4].u_obj != MP_OBJ_NULL) {
if (args[1].u_int == MASK16) {
if (args[ARG_rtr].u_obj != MP_OBJ_NULL) {
if (args[ARG_mode].u_int == MASK16) {
rtr_masks[0] = mp_obj_get_int(rtr_flags[0]) ? 0x10 : 0;
rtr_masks[1] = 0x10;
rtr_masks[2] = mp_obj_get_int(rtr_flags[1]) ? 0x10 : 0;
@ -722,20 +727,20 @@ STATIC mp_obj_t pyb_can_setfilter(size_t n_args, const mp_obj_t *pos_args, mp_ma
filter.FilterIdHigh = (mp_obj_get_int(params[2]) << 5) | rtr_masks[2]; // id2
filter.FilterMaskIdHigh = (mp_obj_get_int(params[3]) << 5) | rtr_masks[3]; // mask2
}
if (args[1].u_int == MASK16) {
if (args[ARG_mode].u_int == MASK16) {
filter.FilterMode = CAN_FILTERMODE_IDMASK;
}
if (args[1].u_int == LIST16) {
if (args[ARG_mode].u_int == LIST16) {
filter.FilterMode = CAN_FILTERMODE_IDLIST;
}
}
else if (args[1].u_int == MASK32 || args[1].u_int == LIST32) {
else if (args[ARG_mode].u_int == MASK32 || args[ARG_mode].u_int == LIST32) {
if (len != 2) {
goto error;
}
filter.FilterScale = CAN_FILTERSCALE_32BIT;
if (args[4].u_obj != MP_OBJ_NULL) {
if (args[1].u_int == MASK32) {
if (args[ARG_rtr].u_obj != MP_OBJ_NULL) {
if (args[ARG_mode].u_int == MASK32) {
rtr_masks[0] = mp_obj_get_int(rtr_flags[0]) ? 0x02 : 0;
rtr_masks[1] = 0x02;
} else { // LIST32
@ -747,18 +752,18 @@ STATIC mp_obj_t pyb_can_setfilter(size_t n_args, const mp_obj_t *pos_args, mp_ma
filter.FilterIdLow = (((mp_obj_get_int(params[0]) & 0x00001FFF) << 3) | 4) | rtr_masks[0];
filter.FilterMaskIdHigh = (mp_obj_get_int(params[1]) & 0x1FFFE000 ) >> 13;
filter.FilterMaskIdLow = (((mp_obj_get_int(params[1]) & 0x00001FFF) << 3) | 4) | rtr_masks[1];
if (args[1].u_int == MASK32) {
if (args[ARG_mode].u_int == MASK32) {
filter.FilterMode = CAN_FILTERMODE_IDMASK;
}
if (args[1].u_int == LIST32) {
if (args[ARG_mode].u_int == LIST32) {
filter.FilterMode = CAN_FILTERMODE_IDLIST;
}
} else {
goto error;
}
filter.FilterFIFOAssignment = args[2].u_int; // fifo
filter.FilterNumber = args[0].u_int; // bank
filter.FilterFIFOAssignment = args[ARG_fifo].u_int;
filter.FilterNumber = args[ARG_bank].u_int;
if (self->can_id == 1) {
if (filter.FilterNumber >= can2_start_bank) {
goto error;