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stm32/pyb_can: Replace CAN.initfilterbanks with CAN.init keyword arg. 

The CAN.initfilterbanks() class method is removed, and its functionality is
replaced with the "num_filter_banks" keyword argument to the CAN
constructor and CAN.init().  This configures the filter bank split.

This new approach provides more flexibility configuring the resources used
by a given CAN instance, allowing other MCUs like H7 to fit the API.  It
also brings CAN closer to how other machine peripherals are configured,
where everything is done in the constructor/init method.

This is a breaking change to the CAN API.
This commit is contained in:
iabdalkader 2022-03-30 17:40:44 +02:00 committed by Damien George
parent a79706fb39
commit 5562ed3f43
1 changed files with 8 additions and 31 deletions
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39
ports/stm32/pyb_can.c
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@ -217,7 +217,7 @@ STATIC void pyb_can_get_bit_timing(mp_uint_t baudrate, mp_uint_t sample_point,
// init(mode, 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_prescaler, ARG_sjw, ARG_bs1, ARG_bs2, ARG_auto_restart, ARG_baudrate, ARG_sample_point,
ARG_brs_prescaler, ARG_brs_sjw, ARG_brs_bs1, ARG_brs_bs2, ARG_brs_baudrate, ARG_brs_sample_point };
ARG_num_filter_banks, ARG_brs_prescaler, ARG_brs_sjw, ARG_brs_bs1, ARG_brs_bs2, ARG_brs_baudrate, ARG_brs_sample_point };
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 = CAN_DEFAULT_PRESCALER} },
@ -227,6 +227,7 @@ STATIC mp_obj_t pyb_can_init_helper(pyb_can_obj_t *self, size_t n_args, const mp
{ MP_QSTR_auto_restart, MP_ARG_KW_ONLY | MP_ARG_BOOL, {.u_bool = false} },
{ MP_QSTR_baudrate, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} },
{ MP_QSTR_sample_point, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 75} }, // 75% sampling point
{ MP_QSTR_num_filter_banks, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 14} },
#if MICROPY_HW_ENABLE_FDCAN
{ MP_QSTR_brs_prescaler, MP_ARG_INT, {.u_int = CAN_DEFAULT_PRESCALER} },
{ MP_QSTR_brs_sjw, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = CAN_DEFAULT_SJW} },
@ -267,6 +268,12 @@ STATIC mp_obj_t pyb_can_init_helper(pyb_can_obj_t *self, size_t n_args, const mp
self->can.Init.DataSyncJumpWidth = args[ARG_brs_sjw].u_int;
self->can.Init.DataTimeSeg1 = args[ARG_bs1].u_int; // DataTimeSeg1 = Propagation_segment + Phase_segment_1
self->can.Init.DataTimeSeg2 = args[ARG_bs2].u_int;
#else
// Init filter banks for classic CAN.
can2_start_bank = args[ARG_num_filter_banks].u_int;
for (int f = 0; f < CAN_MAX_FILTER; f++) {
can_clearfilter(self, f, can2_start_bank);
}
#endif
if (!can_init(self, args[ARG_mode].u_int, args[ARG_prescaler].u_int, args[ARG_sjw].u_int,
@ -726,35 +733,6 @@ STATIC mp_obj_t pyb_can_recv(size_t n_args, const mp_obj_t *pos_args, mp_map_t *
}
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_can_recv_obj, 1, pyb_can_recv);
// initfilterbanks(n)
STATIC mp_obj_t pyb_can_initfilterbanks(mp_obj_t self_in, mp_obj_t bank_in) {
pyb_can_obj_t *self = MP_OBJ_TO_PTR(self_in);
#if MICROPY_HW_ENABLE_FDCAN
(void)self;
#if 0
FDCAN_InitTypeDef *init = &self->can.Init;
// Clear standard ID filters.
for (int f = 0; f < init->StdFiltersNbr; ++f) {
can_clearfilter(self, f, false);
}
// Clear extended ID filters.
for (int f = 0; f < init->ExtFiltersNbr; ++f) {
can_clearfilter(self, f, true);
}
#endif
#else
// NOTE: For classic CAN, this function calls HAL_CAN_ConfigFilter(NULL, &filter);
// if CAN3 is defined, ConfigFilter() will dereference a NULL pointer.
can2_start_bank = mp_obj_get_int(bank_in);
for (int f = 0; f < CAN_MAX_FILTER; f++) {
can_clearfilter(self, f, can2_start_bank);
}
#endif
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_2(pyb_can_initfilterbanks_fun_obj, pyb_can_initfilterbanks);
STATIC MP_DEFINE_CONST_CLASSMETHOD_OBJ(pyb_can_initfilterbanks_obj, MP_ROM_PTR(&pyb_can_initfilterbanks_fun_obj));
STATIC mp_obj_t pyb_can_clearfilter(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
enum { ARG_extframe };
static const mp_arg_t allowed_args[] = {
@ -1006,7 +984,6 @@ STATIC const mp_rom_map_elem_t pyb_can_locals_dict_table[] = {
{ MP_ROM_QSTR(MP_QSTR_any), MP_ROM_PTR(&pyb_can_any_obj) },
{ MP_ROM_QSTR(MP_QSTR_send), MP_ROM_PTR(&pyb_can_send_obj) },
{ MP_ROM_QSTR(MP_QSTR_recv), MP_ROM_PTR(&pyb_can_recv_obj) },
{ MP_ROM_QSTR(MP_QSTR_initfilterbanks), MP_ROM_PTR(&pyb_can_initfilterbanks_obj) },
{ MP_ROM_QSTR(MP_QSTR_setfilter), MP_ROM_PTR(&pyb_can_setfilter_obj) },
{ MP_ROM_QSTR(MP_QSTR_clearfilter), MP_ROM_PTR(&pyb_can_clearfilter_obj) },
{ MP_ROM_QSTR(MP_QSTR_rxcallback), MP_ROM_PTR(&pyb_can_rxcallback_obj) },