From 3550de4ebeb449e221f2dc900d1937510d67cc95 Mon Sep 17 00:00:00 2001 From: Damien George Date: Thu, 2 Oct 2014 14:34:15 +0100 Subject: [PATCH] stmhal: Add basic CAN bus support. --- stmhal/Makefile | 2 + stmhal/can.c | 453 ++++++++++++++++++++++++++++++++++++++++++ stmhal/can.h | 36 ++++ stmhal/modpyb.c | 2 + stmhal/qstrdefsport.h | 16 ++ 5 files changed, 509 insertions(+) create mode 100644 stmhal/can.c create mode 100644 stmhal/can.h diff --git a/stmhal/Makefile b/stmhal/Makefile index 21e09666b9..8ff2d9294a 100644 --- a/stmhal/Makefile +++ b/stmhal/Makefile @@ -90,6 +90,7 @@ SRC_C = \ i2c.c \ spi.c \ uart.c \ + can.c \ usb.c \ printf.c \ gccollect.c \ @@ -132,6 +133,7 @@ SRC_HAL = $(addprefix $(HAL_DIR)/src/,\ stm32f4xx_hal.c \ stm32f4xx_hal_adc.c \ stm32f4xx_hal_adc_ex.c \ + stm32f4xx_hal_can.c \ stm32f4xx_hal_cortex.c \ stm32f4xx_hal_dac.c \ stm32f4xx_hal_dac_ex.c \ diff --git a/stmhal/can.c b/stmhal/can.c new file mode 100644 index 0000000000..82324a6386 --- /dev/null +++ b/stmhal/can.c @@ -0,0 +1,453 @@ +/* + * 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. + */ + +#include +#include +#include +#include + +#include "stm32f4xx_hal.h" + +#include "mpconfig.h" +#include "nlr.h" +#include "misc.h" +#include "qstr.h" +#include "obj.h" +#include "objtuple.h" +#include "runtime.h" +#include "bufhelper.h" +#include "can.h" +#include "pybioctl.h" + +/// \moduleref pyb +/// \class CAN - controller area network communication bus +/// +/// CAN implements the standard CAN communications protocol. At +/// the physical level it consists of 2 lines: RX and TX. Note that +/// to connect the pyboard to a CAN bus you must use a CAN transceiver +/// to convert the CAN logic signals from the pyboard to the correct +/// voltage levels on the bus. +/// +/// Note that this driver does not yet support filter configuration +/// (it defaults to a single filter that lets through all messages), +/// or bus timing configuration (except for setting the prescaler). +/// +/// Example usage (works without anything connected): +/// +/// from pyb import CAN +/// can = pyb.CAN(1, pyb.CAN.LOOPBACK) +/// can.send('message!', 123) # send message to id 123 +/// can.recv(0) # receive message on FIFO 0 + +typedef struct _pyb_can_obj_t { + mp_obj_base_t base; + mp_uint_t can_id : 8; + bool is_enabled : 1; + CAN_HandleTypeDef can; +} pyb_can_obj_t; + +// assumes Init parameters have been set up correctly +STATIC bool can_init(pyb_can_obj_t *can_obj) { + CAN_TypeDef *CANx = NULL; + + uint32_t GPIO_Pin = 0; + uint8_t GPIO_AF_CANx = 0; + GPIO_TypeDef* GPIO_Port = NULL; + + switch (can_obj->can_id) { + // CAN1 is on RX,TX = Y3,Y4 = PB9,PB9 + case PYB_CAN_1: + CANx = CAN1; + GPIO_AF_CANx = GPIO_AF9_CAN1; + GPIO_Port = GPIOB; + GPIO_Pin = GPIO_PIN_8 | GPIO_PIN_9; + __CAN1_CLK_ENABLE(); + break; + + // CAN2 is on RX,TX = Y5,Y6 = PB12,PB13 + case PYB_CAN_2: + CANx = CAN2; + GPIO_AF_CANx = GPIO_AF9_CAN2; + GPIO_Port = GPIOB; + GPIO_Pin = GPIO_PIN_12 | GPIO_PIN_13; + __CAN1_CLK_ENABLE(); // CAN2 is a "slave" and needs CAN1 enabled as well + __CAN2_CLK_ENABLE(); + break; + + default: + return false; + } + + // init GPIO + GPIO_InitTypeDef GPIO_InitStructure; + GPIO_InitStructure.Pin = GPIO_Pin; + GPIO_InitStructure.Speed = GPIO_SPEED_HIGH; + GPIO_InitStructure.Mode = GPIO_MODE_AF_PP; + GPIO_InitStructure.Pull = GPIO_PULLUP; + GPIO_InitStructure.Alternate = GPIO_AF_CANx; + HAL_GPIO_Init(GPIO_Port, &GPIO_InitStructure); + + // init CANx + can_obj->can.Instance = CANx; + HAL_CAN_Init(&can_obj->can); + + can_obj->is_enabled = true; + + return true; +} + +STATIC void can_deinit(pyb_can_obj_t *can_obj) { + can_obj->is_enabled = false; + CAN_HandleTypeDef *can = &can_obj->can; + HAL_CAN_DeInit(can); + if (can->Instance == CAN1) { + __CAN1_FORCE_RESET(); + __CAN1_RELEASE_RESET(); + __CAN1_CLK_DISABLE(); + } else if (can->Instance == CAN2) { + __CAN2_FORCE_RESET(); + __CAN2_RELEASE_RESET(); + __CAN2_CLK_DISABLE(); + } +} + +/******************************************************************************/ +// Micro Python bindings + +STATIC void pyb_can_print(void (*print)(void *env, const char *fmt, ...), void *env, mp_obj_t self_in, mp_print_kind_t kind) { + pyb_can_obj_t *self = self_in; + if (!self->is_enabled) { + print(env, "CAN(%u)", self->can_id); + } else { + print(env, "CAN(%u, ", self->can_id); + qstr mode; + switch (self->can.Init.Mode) { + case CAN_MODE_NORMAL: mode = MP_QSTR_NORMAL; break; + case CAN_MODE_LOOPBACK: mode = MP_QSTR_LOOPBACK; break; + case CAN_MODE_SILENT: mode = MP_QSTR_SILENT; break; + case CAN_MODE_SILENT_LOOPBACK: default: mode = MP_QSTR_SILENT_LOOPBACK; break; + } + print(env, "%s)", qstr_str(mode)); + } +} + +/// \method init(mode, prescaler=100, *, sjw=1, bs1=6, bs2=8) +/// +/// Initialise the CAN bus with the given parameters: +/// +/// - `mode` is one of: NORMAL, LOOPBACK, SILENT, SILENT_LOOPBACK +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) { + static const mp_arg_t allowed_args[] = { + { MP_QSTR_mode, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = CAN_MODE_NORMAL} }, + { MP_QSTR_prescaler, MP_ARG_INT, {.u_int = 100} }, + /* + { MP_QSTR_sjw, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 1} }, + { MP_QSTR_bs1, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 6} }, + { MP_QSTR_bs2, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 8} }, + */ + }; + + // parse args + 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); + + // 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[1].u_int; + init->SJW = CAN_SJW_1TQ; // TODO set from args + init->BS1 = CAN_BS1_6TQ; // TODO set from args + init->BS2 = CAN_BS2_8TQ; // TODO set from args + init->TTCM = DISABLE; + init->ABOM = DISABLE; + init->AWUM = DISABLE; + init->NART = DISABLE; + init->RFLM = DISABLE; + init->TXFP = DISABLE; + + // init CAN (if it fails, it's because the port doesn't exist) + if (!can_init(self)) { + nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "CAN port %d does not exist", self->can_id)); + } + + // set CAN filter to accept everything + CAN_FilterConfTypeDef filter; + filter.FilterIdHigh = 0; + filter.FilterIdLow = 0; + filter.FilterMaskIdHigh = 0; + filter.FilterMaskIdLow = 0; + filter.FilterFIFOAssignment = CAN_FILTER_FIFO0; + filter.FilterNumber = 0; // 0-27 + filter.FilterMode = CAN_FILTERMODE_IDMASK; + filter.FilterScale = CAN_FILTERSCALE_32BIT; + filter.FilterActivation = ENABLE; + filter.BankNumber = 0; // what's this for? + HAL_CAN_ConfigFilter(&self->can, &filter); + + return mp_const_none; +} + +/// \classmethod \constructor(bus, ...) +/// +/// Construct a CAN object on the given bus. `bus` can be 1-2, or 'YA' or 'YB'. +/// With no additional parameters, the CAN object is created but not +/// initialised (it has the settings from the last initialisation of +/// the bus, if any). If extra arguments are given, the bus is initialised. +/// See `init` for parameters of initialisation. +/// +/// The physical pins of the CAN busses are: +/// +/// - `CAN(1)` is on `YA`: `(RX, TX) = (Y3, Y4) = (PB8, PB9)` +/// - `CAN(2)` is on `YB`: `(RX, TX) = (Y5, Y6) = (PB12, PB13)` +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) { + // check arguments + mp_arg_check_num(n_args, n_kw, 1, MP_OBJ_FUN_ARGS_MAX, true); + + // create object + pyb_can_obj_t *o = m_new_obj(pyb_can_obj_t); + o->base.type = &pyb_can_type; + o->is_enabled = false; + + // work out port + o->can_id = 0; + if (MP_OBJ_IS_STR(args[0])) { + const char *port = mp_obj_str_get_str(args[0]); + if (0) { + #if defined(PYBV10) + } else if (strcmp(port, "YA") == 0) { + o->can_id = PYB_CAN_YA; + } else if (strcmp(port, "YB") == 0) { + o->can_id = PYB_CAN_YB; + #endif + } else { + nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "CAN port %s does not exist", port)); + } + } else { + o->can_id = mp_obj_get_int(args[0]); + } + + if (n_args > 1 || n_kw > 0) { + // start the peripheral + mp_map_t kw_args; + mp_map_init_fixed_table(&kw_args, n_kw, args + n_args); + pyb_can_init_helper(o, n_args - 1, args + 1, &kw_args); + } + + return o; +} + +STATIC mp_obj_t pyb_can_init(mp_uint_t n_args, const mp_obj_t *args, mp_map_t *kw_args) { + return pyb_can_init_helper(args[0], n_args - 1, args + 1, kw_args); +} +STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_can_init_obj, 1, pyb_can_init); + +/// \method deinit() +/// Turn off the CAN bus. +STATIC mp_obj_t pyb_can_deinit(mp_obj_t self_in) { + pyb_can_obj_t *self = self_in; + can_deinit(self); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_can_deinit_obj, pyb_can_deinit); + +/// \method any(fifo) +/// Return `True` if any message waiting on the FIFO, else `False`. +STATIC mp_obj_t pyb_can_any(mp_obj_t self_in, mp_obj_t fifo_in) { + pyb_can_obj_t *self = self_in; + mp_int_t fifo = mp_obj_get_int(fifo_in); + if (fifo == 0) { + if (__HAL_CAN_MSG_PENDING(&self->can, CAN_FIFO0) != 0) { + return mp_const_true; + } + } else { + if (__HAL_CAN_MSG_PENDING(&self->can, CAN_FIFO1) != 0) { + return mp_const_true; + } + } + return mp_const_false; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_2(pyb_can_any_obj, pyb_can_any); + +/// \method send(send, addr, *, timeout=5000) +/// Send a message on the bus: +/// +/// - `send` is the data to send (an integer to send, or a buffer object). +/// - `addr` is the address to send to +/// - `timeout` is the timeout in milliseconds to wait for the send. +/// +/// Return value: `None`. +STATIC mp_obj_t pyb_can_send(mp_uint_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { + static const mp_arg_t allowed_args[] = { + { MP_QSTR_send, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} }, + { MP_QSTR_addr, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = 0} }, + { MP_QSTR_timeout, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 5000} }, + }; + + // parse args + pyb_can_obj_t *self = pos_args[0]; + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); + + // 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); + // TODO check bufinfo.len <= 8 + + // send the data + CanTxMsgTypeDef tx_msg; + tx_msg.StdId = args[1].u_int & 0x7ff; + tx_msg.ExtId = 0; // TODO support extended ids + tx_msg.IDE = CAN_ID_STD; + tx_msg.RTR = CAN_RTR_DATA; + tx_msg.DLC = bufinfo.len; + for (mp_uint_t i = 0; i < bufinfo.len; i++) { + tx_msg.Data[i] = ((byte*)bufinfo.buf)[i]; // Data is uint32_t but holds only 1 byte + } + self->can.pTxMsg = &tx_msg; + HAL_StatusTypeDef status = HAL_CAN_Transmit(&self->can, args[2].u_int); + + if (status != HAL_OK) { + // TODO really need a HardwareError object, or something + nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_Exception, "HAL_CAN_Transmit failed with code %d", status)); + } + + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_can_send_obj, 1, pyb_can_send); + +/// \method recv(fifo, *, timeout=5000) +/// +/// Receive data on the bus: +/// +/// - `fifo` is an integer, which is the FIFO to receive on +/// - `timeout` is the timeout in milliseconds to wait for the receive. +/// +/// Return value: buffer of data bytes. +STATIC mp_obj_t pyb_can_recv(mp_uint_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { + 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} }, + }; + + // parse args + pyb_can_obj_t *self = pos_args[0]; + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); + + // receive the data + CanRxMsgTypeDef rx_msg; + self->can.pRxMsg = &rx_msg; + HAL_StatusTypeDef status = HAL_CAN_Receive(&self->can, args[0].u_int, args[1].u_int); + + if (status != HAL_OK) { + // TODO really need a HardwareError object, or something + nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_Exception, "HAL_CAN_Receive failed with code %d", status)); + } + + // return the received data + // TODO use a namedtuple (when namedtuple types can be stored in ROM) + mp_obj_tuple_t *tuple = mp_obj_new_tuple(4, NULL); + if (rx_msg.IDE == CAN_ID_STD) { + tuple->items[0] = MP_OBJ_NEW_SMALL_INT(rx_msg.StdId); + } else { + tuple->items[0] = MP_OBJ_NEW_SMALL_INT(rx_msg.ExtId); + } + tuple->items[1] = MP_OBJ_NEW_SMALL_INT(rx_msg.RTR); + tuple->items[2] = MP_OBJ_NEW_SMALL_INT(rx_msg.FMI); + byte *data; + 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, +}; diff --git a/stmhal/can.h b/stmhal/can.h new file mode 100644 index 0000000000..07b654d2e8 --- /dev/null +++ b/stmhal/can.h @@ -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; diff --git a/stmhal/modpyb.c b/stmhal/modpyb.c index 7f39098caf..ae2a1d7c4c 100644 --- a/stmhal/modpyb.c +++ b/stmhal/modpyb.c @@ -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 }, diff --git a/stmhal/qstrdefsport.h b/stmhal/qstrdefsport.h index d0d8c113b8..fd939d25db 100644 --- a/stmhal/qstrdefsport.h +++ b/stmhal/qstrdefsport.h @@ -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)