stmhal: Add basic CAN bus support.
This commit is contained in:
Damien George
parent
5fc6aa8100
commit
3550de4ebe
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@ -90,6 +90,7 @@ SRC_C = \
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i2c.c \
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spi.c \
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uart.c \
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can.c \
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usb.c \
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printf.c \
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gccollect.c \
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@ -132,6 +133,7 @@ SRC_HAL = $(addprefix $(HAL_DIR)/src/,\
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stm32f4xx_hal.c \
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stm32f4xx_hal_adc.c \
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stm32f4xx_hal_adc_ex.c \
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stm32f4xx_hal_can.c \
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stm32f4xx_hal_cortex.c \
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stm32f4xx_hal_dac.c \
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stm32f4xx_hal_dac_ex.c \
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@ -0,0 +1,453 @@
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/*
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* This file is part of the Micro Python 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) 2014 Damien P. George
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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 <stdio.h>
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#include <string.h>
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#include <stdarg.h>
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#include <errno.h>
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#include "stm32f4xx_hal.h"
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#include "mpconfig.h"
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#include "nlr.h"
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#include "misc.h"
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#include "qstr.h"
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#include "obj.h"
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#include "objtuple.h"
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#include "runtime.h"
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#include "bufhelper.h"
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#include "can.h"
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#include "pybioctl.h"
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/// \moduleref pyb
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/// \class CAN - controller area network communication bus
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///
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/// CAN implements the standard CAN communications protocol. At
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/// the physical level it consists of 2 lines: RX and TX. Note that
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/// to connect the pyboard to a CAN bus you must use a CAN transceiver
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/// to convert the CAN logic signals from the pyboard to the correct
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/// voltage levels on the bus.
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///
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/// Note that this driver does not yet support filter configuration
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/// (it defaults to a single filter that lets through all messages),
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/// or bus timing configuration (except for setting the prescaler).
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///
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/// Example usage (works without anything connected):
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///
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/// from pyb import CAN
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/// can = pyb.CAN(1, pyb.CAN.LOOPBACK)
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/// can.send('message!', 123) # send message to id 123
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/// can.recv(0) # receive message on FIFO 0
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typedef struct _pyb_can_obj_t {
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mp_obj_base_t base;
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mp_uint_t can_id : 8;
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bool is_enabled : 1;
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CAN_HandleTypeDef can;
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} pyb_can_obj_t;
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// assumes Init parameters have been set up correctly
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STATIC bool can_init(pyb_can_obj_t *can_obj) {
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CAN_TypeDef *CANx = NULL;
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uint32_t GPIO_Pin = 0;
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uint8_t GPIO_AF_CANx = 0;
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GPIO_TypeDef* GPIO_Port = NULL;
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switch (can_obj->can_id) {
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// CAN1 is on RX,TX = Y3,Y4 = PB9,PB9
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case PYB_CAN_1:
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CANx = CAN1;
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GPIO_AF_CANx = GPIO_AF9_CAN1;
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GPIO_Port = GPIOB;
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GPIO_Pin = GPIO_PIN_8 | GPIO_PIN_9;
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__CAN1_CLK_ENABLE();
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break;
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// CAN2 is on RX,TX = Y5,Y6 = PB12,PB13
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case PYB_CAN_2:
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CANx = CAN2;
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GPIO_AF_CANx = GPIO_AF9_CAN2;
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GPIO_Port = GPIOB;
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GPIO_Pin = GPIO_PIN_12 | GPIO_PIN_13;
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__CAN1_CLK_ENABLE(); // CAN2 is a "slave" and needs CAN1 enabled as well
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__CAN2_CLK_ENABLE();
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break;
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default:
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return false;
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}
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// init GPIO
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_InitStructure.Pin = GPIO_Pin;
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GPIO_InitStructure.Speed = GPIO_SPEED_HIGH;
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GPIO_InitStructure.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStructure.Pull = GPIO_PULLUP;
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GPIO_InitStructure.Alternate = GPIO_AF_CANx;
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HAL_GPIO_Init(GPIO_Port, &GPIO_InitStructure);
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// init CANx
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can_obj->can.Instance = CANx;
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HAL_CAN_Init(&can_obj->can);
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can_obj->is_enabled = true;
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return true;
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}
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STATIC void can_deinit(pyb_can_obj_t *can_obj) {
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can_obj->is_enabled = false;
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CAN_HandleTypeDef *can = &can_obj->can;
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HAL_CAN_DeInit(can);
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if (can->Instance == CAN1) {
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__CAN1_FORCE_RESET();
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__CAN1_RELEASE_RESET();
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__CAN1_CLK_DISABLE();
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} else if (can->Instance == CAN2) {
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__CAN2_FORCE_RESET();
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__CAN2_RELEASE_RESET();
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__CAN2_CLK_DISABLE();
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}
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}
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/******************************************************************************/
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// Micro Python bindings
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STATIC void pyb_can_print(void (*print)(void *env, const char *fmt, ...), void *env, mp_obj_t self_in, mp_print_kind_t kind) {
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pyb_can_obj_t *self = self_in;
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if (!self->is_enabled) {
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print(env, "CAN(%u)", self->can_id);
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} else {
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print(env, "CAN(%u, ", self->can_id);
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qstr mode;
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switch (self->can.Init.Mode) {
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case CAN_MODE_NORMAL: mode = MP_QSTR_NORMAL; break;
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case CAN_MODE_LOOPBACK: mode = MP_QSTR_LOOPBACK; break;
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case CAN_MODE_SILENT: mode = MP_QSTR_SILENT; break;
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case CAN_MODE_SILENT_LOOPBACK: default: mode = MP_QSTR_SILENT_LOOPBACK; break;
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}
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print(env, "%s)", qstr_str(mode));
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}
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}
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/// \method init(mode, prescaler=100, *, sjw=1, bs1=6, bs2=8)
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///
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/// Initialise the CAN bus with the given parameters:
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///
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/// - `mode` is one of: NORMAL, LOOPBACK, SILENT, SILENT_LOOPBACK
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STATIC mp_obj_t pyb_can_init_helper(pyb_can_obj_t *self, mp_uint_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_mode, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = CAN_MODE_NORMAL} },
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{ MP_QSTR_prescaler, MP_ARG_INT, {.u_int = 100} },
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/*
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{ MP_QSTR_sjw, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 1} },
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{ MP_QSTR_bs1, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 6} },
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{ MP_QSTR_bs2, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 8} },
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*/
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};
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// parse args
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_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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// set the CAN configuration values
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memset(&self->can, 0, sizeof(self->can));
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CAN_InitTypeDef *init = &self->can.Init;
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init->Mode = args[0].u_int << 4; // shift-left so modes fit in a small-int
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init->Prescaler = args[1].u_int;
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init->SJW = CAN_SJW_1TQ; // TODO set from args
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init->BS1 = CAN_BS1_6TQ; // TODO set from args
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init->BS2 = CAN_BS2_8TQ; // TODO set from args
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init->TTCM = DISABLE;
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init->ABOM = DISABLE;
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init->AWUM = DISABLE;
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init->NART = DISABLE;
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init->RFLM = DISABLE;
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init->TXFP = DISABLE;
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// init CAN (if it fails, it's because the port doesn't exist)
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if (!can_init(self)) {
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nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "CAN port %d does not exist", self->can_id));
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}
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// set CAN filter to accept everything
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CAN_FilterConfTypeDef filter;
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filter.FilterIdHigh = 0;
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filter.FilterIdLow = 0;
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filter.FilterMaskIdHigh = 0;
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filter.FilterMaskIdLow = 0;
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filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;
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filter.FilterNumber = 0; // 0-27
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filter.FilterMode = CAN_FILTERMODE_IDMASK;
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filter.FilterScale = CAN_FILTERSCALE_32BIT;
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filter.FilterActivation = ENABLE;
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filter.BankNumber = 0; // what's this for?
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HAL_CAN_ConfigFilter(&self->can, &filter);
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return mp_const_none;
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}
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/// \classmethod \constructor(bus, ...)
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///
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/// Construct a CAN object on the given bus. `bus` can be 1-2, or 'YA' or 'YB'.
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/// With no additional parameters, the CAN object is created but not
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/// initialised (it has the settings from the last initialisation of
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/// the bus, if any). If extra arguments are given, the bus is initialised.
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/// See `init` for parameters of initialisation.
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///
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/// The physical pins of the CAN busses are:
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///
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/// - `CAN(1)` is on `YA`: `(RX, TX) = (Y3, Y4) = (PB8, PB9)`
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/// - `CAN(2)` is on `YB`: `(RX, TX) = (Y5, Y6) = (PB12, PB13)`
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STATIC mp_obj_t pyb_can_make_new(mp_obj_t type_in, mp_uint_t n_args, mp_uint_t n_kw, const mp_obj_t *args) {
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// check arguments
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mp_arg_check_num(n_args, n_kw, 1, MP_OBJ_FUN_ARGS_MAX, true);
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// create object
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pyb_can_obj_t *o = m_new_obj(pyb_can_obj_t);
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o->base.type = &pyb_can_type;
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o->is_enabled = false;
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// work out port
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o->can_id = 0;
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if (MP_OBJ_IS_STR(args[0])) {
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const char *port = mp_obj_str_get_str(args[0]);
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if (0) {
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#if defined(PYBV10)
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} else if (strcmp(port, "YA") == 0) {
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o->can_id = PYB_CAN_YA;
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} else if (strcmp(port, "YB") == 0) {
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o->can_id = PYB_CAN_YB;
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#endif
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} else {
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nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "CAN port %s does not exist", port));
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}
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} else {
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o->can_id = mp_obj_get_int(args[0]);
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}
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if (n_args > 1 || n_kw > 0) {
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// start the peripheral
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mp_map_t kw_args;
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mp_map_init_fixed_table(&kw_args, n_kw, args + n_args);
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pyb_can_init_helper(o, n_args - 1, args + 1, &kw_args);
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}
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return o;
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}
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STATIC mp_obj_t pyb_can_init(mp_uint_t n_args, const mp_obj_t *args, mp_map_t *kw_args) {
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return pyb_can_init_helper(args[0], n_args - 1, args + 1, kw_args);
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_can_init_obj, 1, pyb_can_init);
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/// \method deinit()
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/// Turn off the CAN bus.
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STATIC mp_obj_t pyb_can_deinit(mp_obj_t self_in) {
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pyb_can_obj_t *self = self_in;
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can_deinit(self);
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return mp_const_none;
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_can_deinit_obj, pyb_can_deinit);
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/// \method any(fifo)
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/// Return `True` if any message waiting on the FIFO, else `False`.
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STATIC mp_obj_t pyb_can_any(mp_obj_t self_in, mp_obj_t fifo_in) {
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pyb_can_obj_t *self = self_in;
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mp_int_t fifo = mp_obj_get_int(fifo_in);
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if (fifo == 0) {
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if (__HAL_CAN_MSG_PENDING(&self->can, CAN_FIFO0) != 0) {
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return mp_const_true;
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}
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} else {
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if (__HAL_CAN_MSG_PENDING(&self->can, CAN_FIFO1) != 0) {
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return mp_const_true;
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}
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}
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return mp_const_false;
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_2(pyb_can_any_obj, pyb_can_any);
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/// \method send(send, addr, *, timeout=5000)
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/// Send a message on the bus:
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///
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/// - `send` is the data to send (an integer to send, or a buffer object).
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/// - `addr` is the address to send to
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/// - `timeout` is the timeout in milliseconds to wait for the send.
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///
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/// Return value: `None`.
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STATIC mp_obj_t pyb_can_send(mp_uint_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_send, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} },
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{ MP_QSTR_addr, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = 0} },
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{ MP_QSTR_timeout, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 5000} },
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};
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// parse args
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pyb_can_obj_t *self = pos_args[0];
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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// get the buffer to send from
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mp_buffer_info_t bufinfo;
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uint8_t data[1];
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pyb_buf_get_for_send(args[0].u_obj, &bufinfo, data);
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// TODO check bufinfo.len <= 8
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// send the data
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CanTxMsgTypeDef tx_msg;
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tx_msg.StdId = args[1].u_int & 0x7ff;
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tx_msg.ExtId = 0; // TODO support extended ids
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tx_msg.IDE = CAN_ID_STD;
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tx_msg.RTR = CAN_RTR_DATA;
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tx_msg.DLC = bufinfo.len;
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for (mp_uint_t i = 0; i < bufinfo.len; i++) {
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tx_msg.Data[i] = ((byte*)bufinfo.buf)[i]; // Data is uint32_t but holds only 1 byte
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}
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self->can.pTxMsg = &tx_msg;
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HAL_StatusTypeDef status = HAL_CAN_Transmit(&self->can, args[2].u_int);
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if (status != HAL_OK) {
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// TODO really need a HardwareError object, or something
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nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_Exception, "HAL_CAN_Transmit failed with code %d", status));
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}
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return mp_const_none;
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_can_send_obj, 1, pyb_can_send);
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/// \method recv(fifo, *, timeout=5000)
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///
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/// Receive data on the bus:
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///
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/// - `fifo` is an integer, which is the FIFO to receive on
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/// - `timeout` is the timeout in milliseconds to wait for the receive.
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///
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/// Return value: buffer of data bytes.
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STATIC mp_obj_t pyb_can_recv(mp_uint_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_fifo, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = 0} },
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{ MP_QSTR_timeout, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 5000} },
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};
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// parse args
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pyb_can_obj_t *self = pos_args[0];
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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// receive the data
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CanRxMsgTypeDef rx_msg;
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self->can.pRxMsg = &rx_msg;
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HAL_StatusTypeDef status = HAL_CAN_Receive(&self->can, args[0].u_int, args[1].u_int);
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if (status != HAL_OK) {
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// TODO really need a HardwareError object, or something
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nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_Exception, "HAL_CAN_Receive failed with code %d", status));
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}
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// return the received data
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// TODO use a namedtuple (when namedtuple types can be stored in ROM)
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mp_obj_tuple_t *tuple = mp_obj_new_tuple(4, NULL);
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if (rx_msg.IDE == CAN_ID_STD) {
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tuple->items[0] = MP_OBJ_NEW_SMALL_INT(rx_msg.StdId);
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} else {
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tuple->items[0] = MP_OBJ_NEW_SMALL_INT(rx_msg.ExtId);
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}
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tuple->items[1] = MP_OBJ_NEW_SMALL_INT(rx_msg.RTR);
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tuple->items[2] = MP_OBJ_NEW_SMALL_INT(rx_msg.FMI);
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byte *data;
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tuple->items[3] = mp_obj_str_builder_start(&mp_type_bytes, rx_msg.DLC, &data);
|
||||
for (mp_uint_t i = 0; i < rx_msg.DLC; i++) {
|
||||
data[i] = rx_msg.Data[i]; // Data is uint32_t but holds only 1 byte
|
||||
}
|
||||
tuple->items[3] = mp_obj_str_builder_end(tuple->items[3]);
|
||||
return tuple;
|
||||
}
|
||||
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_can_recv_obj, 1, pyb_can_recv);
|
||||
|
||||
STATIC const mp_map_elem_t pyb_can_locals_dict_table[] = {
|
||||
// instance methods
|
||||
{ MP_OBJ_NEW_QSTR(MP_QSTR_init), (mp_obj_t)&pyb_can_init_obj },
|
||||
{ MP_OBJ_NEW_QSTR(MP_QSTR_deinit), (mp_obj_t)&pyb_can_deinit_obj },
|
||||
{ MP_OBJ_NEW_QSTR(MP_QSTR_any), (mp_obj_t)&pyb_can_any_obj },
|
||||
{ MP_OBJ_NEW_QSTR(MP_QSTR_send), (mp_obj_t)&pyb_can_send_obj },
|
||||
{ MP_OBJ_NEW_QSTR(MP_QSTR_recv), (mp_obj_t)&pyb_can_recv_obj },
|
||||
|
||||
// class constants
|
||||
/// \constant MASTER - for initialising the bus to master mode
|
||||
/// \constant SLAVE - for initialising the bus to slave mode
|
||||
/// \constant MSB - set the first bit to MSB
|
||||
/// \constant LSB - set the first bit to LSB
|
||||
// Note: we use the ST constants >> 4 so they fit in a small-int. The
|
||||
// right-shift is undone when the constants are used in the init function.
|
||||
{ MP_OBJ_NEW_QSTR(MP_QSTR_NORMAL), MP_OBJ_NEW_SMALL_INT(CAN_MODE_NORMAL >> 4) },
|
||||
{ MP_OBJ_NEW_QSTR(MP_QSTR_LOOPBACK), MP_OBJ_NEW_SMALL_INT(CAN_MODE_LOOPBACK >> 4) },
|
||||
{ MP_OBJ_NEW_QSTR(MP_QSTR_SILENT), MP_OBJ_NEW_SMALL_INT(CAN_MODE_SILENT >> 4) },
|
||||
{ MP_OBJ_NEW_QSTR(MP_QSTR_SILENT_LOOPBACK), MP_OBJ_NEW_SMALL_INT(CAN_MODE_SILENT_LOOPBACK >> 4) },
|
||||
};
|
||||
|
||||
STATIC MP_DEFINE_CONST_DICT(pyb_can_locals_dict, pyb_can_locals_dict_table);
|
||||
|
||||
mp_uint_t can_ioctl(mp_obj_t self_in, mp_uint_t request, int *errcode, ...) {
|
||||
pyb_can_obj_t *self = self_in;
|
||||
va_list vargs;
|
||||
va_start(vargs, errcode);
|
||||
mp_uint_t ret;
|
||||
if (request == MP_IOCTL_POLL) {
|
||||
mp_uint_t flags = va_arg(vargs, mp_uint_t);
|
||||
ret = 0;
|
||||
if ((flags & MP_IOCTL_POLL_RD)
|
||||
&& ((__HAL_CAN_MSG_PENDING(&self->can, CAN_FIFO0) != 0)
|
||||
|| (__HAL_CAN_MSG_PENDING(&self->can, CAN_FIFO1) != 0))) {
|
||||
ret |= MP_IOCTL_POLL_RD;
|
||||
}
|
||||
if ((flags & MP_IOCTL_POLL_WR) && (self->can.Instance->TSR & CAN_TSR_TME)) {
|
||||
ret |= MP_IOCTL_POLL_WR;
|
||||
}
|
||||
} else {
|
||||
*errcode = EINVAL;
|
||||
ret = -1;
|
||||
}
|
||||
va_end(vargs);
|
||||
return ret;
|
||||
}
|
||||
|
||||
STATIC const mp_stream_p_t can_stream_p = {
|
||||
//.read = can_read, // is read sensible for CAN?
|
||||
//.write = can_write, // is write sensible for CAN?
|
||||
.ioctl = can_ioctl,
|
||||
.is_text = false,
|
||||
};
|
||||
|
||||
const mp_obj_type_t pyb_can_type = {
|
||||
{ &mp_type_type },
|
||||
.name = MP_QSTR_CAN,
|
||||
.print = pyb_can_print,
|
||||
.make_new = pyb_can_make_new,
|
||||
.stream_p = &can_stream_p,
|
||||
.locals_dict = (mp_obj_t)&pyb_can_locals_dict,
|
||||
};
|
||||
|
|
@ -0,0 +1,36 @@
|
|||
/*
|
||||
* This file is part of the Micro Python project, http://micropython.org/
|
||||
*
|
||||
* The MIT License (MIT)
|
||||
*
|
||||
* Copyright (c) 2014 Damien P. George
|
||||
*
|
||||
* Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
* of this software and associated documentation files (the "Software"), to deal
|
||||
* in the Software without restriction, including without limitation the rights
|
||||
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
* copies of the Software, and to permit persons to whom the Software is
|
||||
* furnished to do so, subject to the following conditions:
|
||||
*
|
||||
* The above copyright notice and this permission notice shall be included in
|
||||
* all copies or substantial portions of the Software.
|
||||
*
|
||||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
* THE SOFTWARE.
|
||||
*/
|
||||
|
||||
#define PYB_CAN_1 (1)
|
||||
#define PYB_CAN_2 (2)
|
||||
|
||||
// aliases for pyboard
|
||||
#if defined(PYBV10)
|
||||
#define PYB_CAN_YA PYB_CAN_1 // CAN1 on RX,TX = Y3,Y4 = PB8,PB9
|
||||
#define PYB_CAN_YB PYB_CAN_2 // CAN2 on RX,TX = Y5,Y6 = PB12,PB13
|
||||
#endif
|
||||
|
||||
extern const mp_obj_type_t pyb_can_type;
|
||||
|
|
@ -49,6 +49,7 @@
|
|||
#include "i2c.h"
|
||||
#include "spi.h"
|
||||
#include "uart.h"
|
||||
#include "can.h"
|
||||
#include "adc.h"
|
||||
#include "storage.h"
|
||||
#include "sdcard.h"
|
||||
|
|
@ -436,6 +437,7 @@ STATIC const mp_map_elem_t pyb_module_globals_table[] = {
|
|||
{ MP_OBJ_NEW_QSTR(MP_QSTR_I2C), (mp_obj_t)&pyb_i2c_type },
|
||||
{ MP_OBJ_NEW_QSTR(MP_QSTR_SPI), (mp_obj_t)&pyb_spi_type },
|
||||
{ MP_OBJ_NEW_QSTR(MP_QSTR_UART), (mp_obj_t)&pyb_uart_type },
|
||||
{ MP_OBJ_NEW_QSTR(MP_QSTR_CAN), (mp_obj_t)&pyb_can_type },
|
||||
|
||||
{ MP_OBJ_NEW_QSTR(MP_QSTR_ADC), (mp_obj_t)&pyb_adc_type },
|
||||
{ MP_OBJ_NEW_QSTR(MP_QSTR_ADCAll), (mp_obj_t)&pyb_adc_all_type },
|
||||
|
|
|
|||
|
|
@ -144,6 +144,22 @@ Q(all)
|
|||
Q(send)
|
||||
Q(recv)
|
||||
|
||||
// for CAN class
|
||||
Q(CAN)
|
||||
Q(prescaler)
|
||||
Q(init)
|
||||
Q(deinit)
|
||||
Q(all)
|
||||
Q(send)
|
||||
Q(recv)
|
||||
Q(addr)
|
||||
Q(fifo)
|
||||
Q(timeout)
|
||||
Q(NORMAL)
|
||||
Q(LOOPBACK)
|
||||
Q(SILENT)
|
||||
Q(SILENT_LOOPBACK)
|
||||
|
||||
// for Timer class
|
||||
Q(Timer)
|
||||
Q(init)
|
||||
|
|
|
|||
Loading…
Reference in New Issue