Message: add extended address flag
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ca32a81bf1
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@ -32,13 +32,14 @@
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#include "py/runtime.h"
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//| class Message:
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//| def __init__(self, id: int=0, data: Optional[bytes] = None, *, size: Optional[int] = None, rtr: bool = False):
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//| def __init__(self, id: int=0, data: Optional[bytes] = None, *, size: Optional[int] = None, rtr: bool = False, extended: bool = False):
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//| """Construct a Message to send on a CAN bus
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//|
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//| :param int id: The numeric ID of the message
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//| :param bytes data: The content of the message
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//| :param int size: The amount of data requested, for an rtr
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//| :param bool rtr: True if the message represents an rtr (Remote Transmission Request)
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//| :param bool extended: True if the message has an extended identifier, False if it has a standard identifier
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//|
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//| In CAN, messages can have a size from 0 to 8 bytes.
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//|
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@ -47,12 +48,13 @@
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//| ...
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//|
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STATIC mp_obj_t canio_message_make_new(const mp_obj_type_t *type, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
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enum { ARG_id, ARG_data, ARG_size, ARG_rtr, NUM_ARGS };
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enum { ARG_id, ARG_data, ARG_size, ARG_rtr, ARG_extended, NUM_ARGS };
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_id, MP_ARG_INT, {.u_obj = 0} },
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{ MP_QSTR_data, MP_ARG_OBJ, {.u_obj = 0} },
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{ MP_QSTR_size, MP_ARG_INT, {.u_int = -1} },
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{ MP_QSTR_rtr, MP_ARG_BOOL, {.u_bool = false} },
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{ MP_QSTR_extended, MP_ARG_BOOL, {.u_bool = false} },
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};
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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MP_STATIC_ASSERT( MP_ARRAY_SIZE(allowed_args) == NUM_ARGS );
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@ -60,6 +62,7 @@ STATIC mp_obj_t canio_message_make_new(const mp_obj_type_t *type, size_t n_args,
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mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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bool rtr = args[ARG_rtr].u_bool;
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bool extended = args[ARG_extended].u_bool;
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size_t size = (size_t)args[ARG_size].u_int;
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bool specified_size = (size != (size_t)-1);
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bool specified_data = (args[ARG_data].u_obj != NULL);
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@ -85,7 +88,7 @@ STATIC mp_obj_t canio_message_make_new(const mp_obj_type_t *type, size_t n_args,
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canio_message_obj_t *self = m_new_obj(canio_message_obj_t);
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self->base.type = &canio_message_type;
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common_hal_canio_message_construct(self, args[ARG_id].u_int, data.buf, data.len, rtr);
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common_hal_canio_message_construct(self, args[ARG_id].u_int, data.buf, data.len, rtr, extended);
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return self;
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}
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@ -174,6 +177,31 @@ STATIC const mp_obj_property_t canio_message_size_obj = {
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(mp_obj_t)&mp_const_none_obj},
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};
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//| extended: bool
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//| """True if the message represents a remote transmission request (RTR)"""
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//|
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STATIC mp_obj_t canio_message_extended_get(const mp_obj_t self_in) {
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canio_message_obj_t *self = self_in;
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return mp_obj_new_bool(common_hal_canio_message_extended_get(self));
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}
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MP_DEFINE_CONST_FUN_OBJ_1(canio_message_extended_get_obj, canio_message_extended_get);
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STATIC mp_obj_t canio_message_extended_set(const mp_obj_t self_in, const mp_obj_t extended) {
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canio_message_obj_t *self = self_in;
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common_hal_canio_message_size_set(self, mp_obj_is_true(extended));
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return mp_const_none;
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}
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MP_DEFINE_CONST_FUN_OBJ_2(canio_message_extended_set_obj, canio_message_extended_set);
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STATIC const mp_obj_property_t canio_message_extended_obj = {
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.base.type = &mp_type_property,
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.proxy = {(mp_obj_t)&canio_message_extended_get_obj,
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(mp_obj_t)&canio_message_extended_set_obj,
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(mp_obj_t)&mp_const_none_obj},
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};
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//| rtr: bool
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//| """True if the message represents a remote transmission request (RTR)"""
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//|
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@ -204,6 +232,7 @@ STATIC const mp_rom_map_elem_t canio_message_locals_dict_table[] = {
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{ MP_ROM_QSTR(MP_QSTR_data), MP_ROM_PTR(&canio_message_data_obj) },
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{ MP_ROM_QSTR(MP_QSTR_size), MP_ROM_PTR(&canio_message_size_obj) },
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{ MP_ROM_QSTR(MP_QSTR_rtr), MP_ROM_PTR(&canio_message_rtr_obj) },
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{ MP_ROM_QSTR(MP_QSTR_extended), MP_ROM_PTR(&canio_message_extended_obj) },
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};
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STATIC MP_DEFINE_CONST_DICT(canio_message_locals_dict, canio_message_locals_dict_table);
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@ -28,11 +28,12 @@
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#include <string.h>
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void common_hal_canio_message_construct(canio_message_obj_t *self, int id, void *data, size_t size, bool rtr)
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void common_hal_canio_message_construct(canio_message_obj_t *self, int id, void *data, size_t size, bool rtr, bool extended)
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{
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self->id = id;
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self->size = size;
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self->rtr = rtr;
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self->extended = extended;
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if (data) {
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memcpy(self->data, data, size);
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} else {
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@ -84,3 +85,13 @@ void common_hal_canio_message_rtr_set(canio_message_obj_t *self, bool rtr)
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{
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self->rtr = rtr;
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}
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bool common_hal_canio_message_extended_get(const canio_message_obj_t *self)
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{
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return self->extended;
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}
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void common_hal_canio_message_extended_set(canio_message_obj_t *self, bool extended)
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{
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self->extended = extended;
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}
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@ -31,17 +31,20 @@
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typedef struct {
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mp_obj_base_t base;
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int id;
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size_t size;
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uint8_t data[8];
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bool rtr;
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size_t size:4;
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bool rtr:1;
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bool extended:1;
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} canio_message_obj_t;
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void common_hal_canio_message_construct(canio_message_obj_t *self, int id, void *data, size_t size, bool rtr);
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void common_hal_canio_message_construct(canio_message_obj_t *self, int id, void *data, size_t size, bool rtr, bool extended);
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bool common_hal_canio_message_rtr_get(const canio_message_obj_t *self);
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bool common_hal_canio_message_extended_get(const canio_message_obj_t *self);
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int common_hal_canio_message_id_get(const canio_message_obj_t *self);
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const void *common_hal_canio_message_data_get(const canio_message_obj_t *self);
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size_t common_hal_canio_message_size_get(const canio_message_obj_t *self);
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void common_hal_canio_message_rtr_set(canio_message_obj_t *self, bool rtr);
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void common_hal_canio_message_extended_set(canio_message_obj_t *self, bool extended);
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void common_hal_canio_message_id_set(canio_message_obj_t *self, int id);
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void common_hal_canio_message_data_set(canio_message_obj_t *self, const void *data, size_t size);
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void common_hal_canio_message_size_set(canio_message_obj_t *self, size_t size);
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