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stm32/can: Add "auto_restart" option to constructor and init() method.

This commit is contained in:
Damien George 2018-03-15 17:17:33 +11:00
parent 1608c4f5be
commit 823ca03008
2 changed files with 11 additions and 11 deletions
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4
docs/library/pyb.CAN.rst
View File

@ -49,7 +49,7 @@ Class Methods
Methods
-------
.. method:: CAN.init(mode, extframe=False, prescaler=100, \*, sjw=1, bs1=6, bs2=8)
.. method:: CAN.init(mode, extframe=False, prescaler=100, \*, sjw=1, bs1=6, bs2=8, auto_restart=False)
Initialise the CAN bus with the given parameters:
@ -64,6 +64,8 @@ Methods
it can be between 1 and 1024 inclusive
- *bs2* defines the location of the transmit point in units of the time quanta;
it can be between 1 and 16 inclusive
- *auto_restart* sets whether the controller will automatically try and restart
communications after entering the bus-off state
The time quanta tq is the basic unit of time for the CAN bus. tq is the CAN
prescaler value divided by PCLK1 (the frequency of internal peripheral bus 1);

18
ports/stm32/can.c
View File

@ -307,7 +307,6 @@ STATIC void pyb_can_print(const mp_print_t *print, mp_obj_t self_in, mp_print_ki
if (!self->is_enabled) {
mp_printf(print, "CAN(%u)", self->can_id);
} else {
mp_printf(print, "CAN(%u, CAN.", self->can_id);
qstr mode;
switch (self->can.Init.Mode) {
case CAN_MODE_NORMAL: mode = MP_QSTR_NORMAL; break;
@ -315,19 +314,17 @@ STATIC void pyb_can_print(const mp_print_t *print, mp_obj_t self_in, mp_print_ki
case CAN_MODE_SILENT: mode = MP_QSTR_SILENT; break;
case CAN_MODE_SILENT_LOOPBACK: default: mode = MP_QSTR_SILENT_LOOPBACK; break;
}
mp_printf(print, "%q, extframe=", mode);
if (self->extframe) {
mode = MP_QSTR_True;
} else {
mode = MP_QSTR_False;
}
mp_printf(print, "%q)", mode);
mp_printf(print, "CAN(%u, CAN.%q, extframe=%q, auto_restart=%q)",
self->can_id,
mode,
self->extframe ? MP_QSTR_True : MP_QSTR_False,
(self->can.Instance->MCR & CAN_MCR_ABOM) ? MP_QSTR_True : MP_QSTR_False);
}
}
// 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 };
enum { ARG_mode, ARG_extframe, ARG_prescaler, ARG_sjw, ARG_bs1, ARG_bs2, ARG_auto_restart };
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} },
@ -335,6 +332,7 @@ STATIC mp_obj_t pyb_can_init_helper(pyb_can_obj_t *self, size_t n_args, const mp
{ 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} },
{ MP_QSTR_auto_restart, MP_ARG_KW_ONLY | MP_ARG_BOOL, {.u_bool = false} },
};
// parse args
@ -352,7 +350,7 @@ STATIC mp_obj_t pyb_can_init_helper(pyb_can_obj_t *self, size_t n_args, const mp
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->ABOM = args[ARG_auto_restart].u_bool ? ENABLE : DISABLE;
init->AWUM = DISABLE;
init->NART = DISABLE;
init->RFLM = DISABLE;