canio.CAN: switch rx/tx, make both mandatory, move declarations around

ports/atmel-samd/common-hal/_canio/CAN.c

@@ -47,14 +47,12 @@ STATIC canio_can_obj_t *can_objs[MP_ARRAY_SIZE(can_insts)];
 // This must be placed in the first 64kB of RAM
 STATIC COMPILER_SECTION(".canram") canio_can_state_t can_state[MP_ARRAY_SIZE(can_insts)];
 
-__attribute__((optimize("O0"), noinline))
+void common_hal_canio_can_construct(canio_can_obj_t *self, mcu_pin_obj_t *tx, mcu_pin_obj_t *rx, int baudrate, bool loopback, bool silent)
-void common_hal_canio_can_construct(canio_can_obj_t *self, mcu_pin_obj_t *rx, mcu_pin_obj_t *tx, int baudrate, bool loopback, bool silent)
 {
     mcu_pin_function_t *tx_function = mcu_find_pin_function(can_tx, tx, -1, MP_QSTR_tx);
-    int instance = tx_function ? tx_function->instance : -1;
+    int instance = tx_function->instance;
 
     mcu_pin_function_t *rx_function = mcu_find_pin_function(can_rx, rx, instance, MP_QSTR_rx);
-    instance = rx_function->instance;
 
     const uint32_t can_frequency = CONF_CAN0_FREQUENCY;
 
@@ -69,17 +67,13 @@ void common_hal_canio_can_construct(canio_can_obj_t *self, mcu_pin_obj_t *rx, mc
         mp_raise_OSError(MP_EINVAL); // baudrate cannot be attained (16kHz or something is lower bound, should never happen)
     }
 
-    if (tx_function) {
     gpio_set_pin_direction(tx_function->pin, GPIO_DIRECTION_OUT);
     gpio_set_pin_function(tx_function->pin, tx_function->function);
     common_hal_never_reset_pin(tx_function->obj);
-    }
 
-    if (rx_function) {
     gpio_set_pin_direction(rx_function->pin, GPIO_DIRECTION_IN);
     gpio_set_pin_function(rx_function->pin, rx_function->function);
     common_hal_never_reset_pin(rx_function->obj);
-    }
 
     self->tx_pin_number = tx ? common_hal_mcu_pin_number(tx) : COMMON_HAL_MCU_NO_PIN;
     self->rx_pin_number = rx ? common_hal_mcu_pin_number(rx) : COMMON_HAL_MCU_NO_PIN;

ports/atmel-samd/common-hal/_canio/CAN.h

@@ -28,6 +28,7 @@
 
 #include "py/obj.h"
 #include "shared-bindings/_canio/__init__.h"
+#include "shared-bindings/_canio/CAN.h"
 #include "component/can.h"
 #include "common-hal/microcontroller/Pin.h"
 #include "common-hal/_canio/__init__.h"
@@ -36,7 +37,7 @@
 #define COMMON_HAL_CAN_RX_FIFO_LEN (2)
 #define COMMON_HAL_CAN_TX_FIFO_LEN (2)
 
-typedef struct {
+typedef struct canio_can_obj {
     mp_obj_base_t base;
     Can *hw;
     canio_can_state_t *state;
@@ -52,22 +53,3 @@ typedef struct {
     bool fifo0_in_use:1;
     bool fifo1_in_use:1;
 } canio_can_obj_t;
-
-void common_hal_canio_can_construct(canio_can_obj_t *self, mcu_pin_obj_t *rx, mcu_pin_obj_t *tx, int baudrate, bool loopback, bool silent);
-bool common_hal_canio_can_auto_restart_get(canio_can_obj_t *self);
-bool common_hal_canio_can_deinited(canio_can_obj_t *self);
-int common_hal_canio_can_baudrate_get(canio_can_obj_t *self);
-int common_hal_canio_can_bus_off_state_count_get(canio_can_obj_t *self);
-int common_hal_canio_can_error_passive_state_count_get(canio_can_obj_t *self);
-int common_hal_canio_can_error_warning_state_count_get(canio_can_obj_t *self);
-bool common_hal_canio_can_loopback_get(canio_can_obj_t *self);
-int common_hal_canio_can_receive_error_count_get(canio_can_obj_t *self);
-canio_bus_state_t common_hal_canio_can_state_get(canio_can_obj_t *self);
-bool common_hal_canio_can_silent_get(canio_can_obj_t *self);
-int common_hal_canio_can_transmit_error_count_get(canio_can_obj_t *self);
-void common_hal_canio_can_auto_restart_set(canio_can_obj_t *self, bool auto_restart);
-void common_hal_canio_can_check_for_deinit(canio_can_obj_t *self);
-void common_hal_canio_can_deinit(canio_can_obj_t *self);
-void common_hal_canio_can_restart(canio_can_obj_t *self);
-void common_hal_canio_can_send(canio_can_obj_t *self, canio_message_obj_t *message);
-void common_hal_canio_reset(void);

shared-bindings/_canio/CAN.c

@@ -42,26 +42,23 @@
 //|     """CAN bus protocol"""
 //|
 //|     def __init__(self,
-//|             rx: Optional[microcontroller.Pin]=None,
+//|             tx: microcontroller.Pin,
-//|             tx: Optional[microcontroller.Pin]=None,
+//|             rx: microcontroller.Pin,
 //|             *,
 //|             baudrate: int = 250000,
 //|             loopback: bool = False,
+//|             silent: bool = False,
 //|             auto_restart: bool = False,
 //|         ):
 //|         """A common shared-bus protocol.  The rx and tx pins are generally
 //|         connected to a transceiver which controls the H and L pins on a
 //|         shared bus.
 //|
-//|         Normally, both ``tx`` and ``rx`` pins will be specified.  However,
+//|         :param ~microcontroller.Pin rx: the pin to receive with
-//|         in silent and loopback modes, the other pin may not be required and
+//|         :param ~microcontroller.Pin tx: the pin to transmit with
-//|         can be used for other purposes.
-//|
-//|         :param ~microcontroller.Pin rx: the pin to receive with, or None.
-//|         :param ~microcontroller.Pin tx: the pin to transmit with, or None.
 //|         :param int baudrate: The bit rate of the bus in Hz.  All devices on the bus must agree on this value.
-//|         :param bool loopback: True if the peripheral will be operated in loopback mode.  In loopback mode, the ``rx`` pin's value is ignored, and the device receives the packets it sends.
+//|         :param bool loopback: When True  the ``rx`` pin's value is ignored, and the device receives the packets it sends.
-//|         :param bool silent: True if the peripheral will be operated in silent mode.  In silent mode, the ``tx`` pin is always driven to the high logic level.  This mode can be used to "sniff" a CAN bus without interfering.
+//|         :param bool silent: When True the ``tx`` pin is always driven to the high logic level.  This mode can be used to "sniff" a CAN bus without interfering.
 //|         :param bool auto_restart: If True, will restart communications after entering bus-off state
 //|         """
 //|         ...
@@ -69,8 +66,8 @@
 STATIC mp_obj_t canio_can_make_new(const mp_obj_type_t *type, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
     enum { ARG_rx, ARG_tx, ARG_baudrate, ARG_loopback, ARG_silent, ARG_auto_restart, NUM_ARGS };
     static const mp_arg_t allowed_args[] = {
-        { MP_QSTR_rx, MP_ARG_OBJ, {.u_obj = mp_const_none} },
+        { MP_QSTR_tx, MP_ARG_OBJ | MP_ARG_REQUIRED },
-        { MP_QSTR_tx, MP_ARG_OBJ, {.u_obj = mp_const_none} },
+        { MP_QSTR_rx, MP_ARG_OBJ | MP_ARG_REQUIRED },
         { MP_QSTR_baudrate, MP_ARG_INT, {.u_int = 250000} },
         { MP_QSTR_loopback, MP_ARG_BOOL, {.u_bool = false} },
         { MP_QSTR_silent, MP_ARG_BOOL, {.u_bool = false} },
@@ -89,7 +86,7 @@ STATIC mp_obj_t canio_can_make_new(const mp_obj_type_t *type, size_t n_args, con
 
     canio_can_obj_t *self = m_new_obj(canio_can_obj_t);
     self->base.type = &canio_can_type;
-    common_hal_canio_can_construct(self, rx_pin, tx_pin, args[ARG_baudrate].u_int, args[ARG_loopback].u_bool, args[ARG_silent].u_bool);
+    common_hal_canio_can_construct(self, tx_pin, rx_pin, args[ARG_baudrate].u_int, args[ARG_loopback].u_bool, args[ARG_silent].u_bool);
 
     common_hal_canio_can_auto_restart_set(self, args[ARG_auto_restart].u_bool);
 

shared-bindings/_canio/CAN.h

@@ -27,5 +27,28 @@
 #pragma once
 
 #include "py/obj.h"
+#include "shared-bindings/microcontroller/Pin.h"
+#include "shared-bindings/_canio/Message.h"
 
 extern const mp_obj_type_t canio_can_type;
+
+typedef struct canio_can_obj canio_can_obj_t;
+
+void common_hal_canio_can_construct(canio_can_obj_t *self, mcu_pin_obj_t *tx, mcu_pin_obj_t *rx, int baudrate, bool loopback, bool silent);
+bool common_hal_canio_can_auto_restart_get(canio_can_obj_t *self);
+bool common_hal_canio_can_deinited(canio_can_obj_t *self);
+int common_hal_canio_can_baudrate_get(canio_can_obj_t *self);
+int common_hal_canio_can_bus_off_state_count_get(canio_can_obj_t *self);
+int common_hal_canio_can_error_passive_state_count_get(canio_can_obj_t *self);
+int common_hal_canio_can_error_warning_state_count_get(canio_can_obj_t *self);
+bool common_hal_canio_can_loopback_get(canio_can_obj_t *self);
+int common_hal_canio_can_receive_error_count_get(canio_can_obj_t *self);
+canio_bus_state_t common_hal_canio_can_state_get(canio_can_obj_t *self);
+bool common_hal_canio_can_silent_get(canio_can_obj_t *self);
+int common_hal_canio_can_transmit_error_count_get(canio_can_obj_t *self);
+void common_hal_canio_can_auto_restart_set(canio_can_obj_t *self, bool auto_restart);
+void common_hal_canio_can_check_for_deinit(canio_can_obj_t *self);
+void common_hal_canio_can_deinit(canio_can_obj_t *self);
+void common_hal_canio_can_restart(canio_can_obj_t *self);
+void common_hal_canio_can_send(canio_can_obj_t *self, canio_message_obj_t *message);
+void common_hal_canio_reset(void);