stm32/can: Add CAN.info() method to retrieve error and tx/rx buf info.
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Damien George
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d7e67fb1b4
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a25e6c6b65
@ -113,6 +113,28 @@ Methods
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- ``CAN.BUS_OFF`` -- the controller is on but not participating in bus activity
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(TEC overflowed beyond 255).
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.. method:: CAN.info([list])
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Get information about the controller's error states and TX and RX buffers.
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If *list* is provided then it should be a list object with at least 8 entries,
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which will be filled in with the information. Otherwise a new list will be
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created and filled in. In both cases the return value of the method is the
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populated list.
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The values in the list are:
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- TEC value
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- REC value
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- number of times the controller enterted the Error Warning state (wrapped
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around to 0 after 65535)
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- number of times the controller enterted the Error Passive state (wrapped
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around to 0 after 65535)
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- number of times the controller enterted the Bus Off state (wrapped
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around to 0 after 65535)
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- number of pending TX messages
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- number of pending RX messages on fifo 0
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- number of pending RX messages on fifo 1
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.. method:: CAN.setfilter(bank, mode, fifo, params, \*, rtr)
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Configure a filter bank:
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@ -89,6 +89,9 @@ typedef struct _pyb_can_obj_t {
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bool extframe : 1;
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byte rx_state0;
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byte rx_state1;
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uint16_t num_error_warning;
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uint16_t num_error_passive;
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uint16_t num_bus_off;
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CAN_HandleTypeDef can;
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} pyb_can_obj_t;
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@ -103,6 +106,7 @@ STATIC bool can_init(pyb_can_obj_t *can_obj) {
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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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uint32_t sce_irq = 0;
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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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@ -111,6 +115,7 @@ STATIC bool can_init(pyb_can_obj_t *can_obj) {
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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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sce_irq = CAN1_SCE_IRQn;
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__CAN1_CLK_ENABLE();
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break;
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@ -121,6 +126,7 @@ STATIC bool can_init(pyb_can_obj_t *can_obj) {
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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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sce_irq = CAN2_SCE_IRQn;
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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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@ -144,6 +150,14 @@ STATIC bool can_init(pyb_can_obj_t *can_obj) {
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HAL_CAN_Init(&can_obj->can);
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can_obj->is_enabled = true;
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can_obj->num_error_warning = 0;
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can_obj->num_error_passive = 0;
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can_obj->num_bus_off = 0;
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__HAL_CAN_ENABLE_IT(&can_obj->can, CAN_IT_ERR | CAN_IT_BOF | CAN_IT_EPV | CAN_IT_EWG);
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HAL_NVIC_SetPriority(sce_irq, IRQ_PRI_CAN, IRQ_SUBPRI_CAN);
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HAL_NVIC_EnableIRQ(sce_irq);
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return true;
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}
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@ -459,6 +473,7 @@ STATIC mp_obj_t pyb_can_deinit(mp_obj_t self_in) {
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if (self->can.Instance == CAN1) {
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HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
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HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn);
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HAL_NVIC_DisableIRQ(CAN1_SCE_IRQn);
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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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@ -466,6 +481,7 @@ STATIC mp_obj_t pyb_can_deinit(mp_obj_t self_in) {
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} else if (self->can.Instance == CAN2) {
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HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn);
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HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn);
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HAL_NVIC_DisableIRQ(CAN2_SCE_IRQn);
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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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@ -512,6 +528,36 @@ STATIC mp_obj_t pyb_can_state(mp_obj_t self_in) {
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_can_state_obj, pyb_can_state);
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// Get info about error states and TX/RX buffers
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STATIC mp_obj_t pyb_can_info(size_t n_args, const mp_obj_t *args) {
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pyb_can_obj_t *self = MP_OBJ_TO_PTR(args[0]);
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mp_obj_list_t *list;
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if (n_args == 1) {
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list = MP_OBJ_TO_PTR(mp_obj_new_list(8, NULL));
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} else {
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if (!MP_OBJ_IS_TYPE(args[1], &mp_type_list)) {
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mp_raise_TypeError(NULL);
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}
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list = MP_OBJ_TO_PTR(args[1]);
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if (list->len < 8) {
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mp_raise_ValueError(NULL);
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}
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}
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CAN_TypeDef *can = self->can.Instance;
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uint32_t esr = can->ESR;
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list->items[0] = MP_OBJ_NEW_SMALL_INT(esr >> CAN_ESR_TEC_Pos & 0xff);
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list->items[1] = MP_OBJ_NEW_SMALL_INT(esr >> CAN_ESR_REC_Pos & 0xff);
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list->items[2] = MP_OBJ_NEW_SMALL_INT(self->num_error_warning);
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list->items[3] = MP_OBJ_NEW_SMALL_INT(self->num_error_passive);
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list->items[4] = MP_OBJ_NEW_SMALL_INT(self->num_bus_off);
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int n_tx_pending = 0x01121223 >> ((can->TSR >> CAN_TSR_TME_Pos & 7) << 2) & 0xf;
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list->items[5] = MP_OBJ_NEW_SMALL_INT(n_tx_pending);
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list->items[6] = MP_OBJ_NEW_SMALL_INT(can->RF0R >> CAN_RF0R_FMP0_Pos & 3);
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list->items[7] = MP_OBJ_NEW_SMALL_INT(can->RF1R >> CAN_RF1R_FMP1_Pos & 3);
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return MP_OBJ_FROM_PTR(list);
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_can_info_obj, 1, 2, pyb_can_info);
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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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@ -871,6 +917,7 @@ STATIC const mp_rom_map_elem_t pyb_can_locals_dict_table[] = {
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{ MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&pyb_can_deinit_obj) },
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{ MP_ROM_QSTR(MP_QSTR_restart), MP_ROM_PTR(&pyb_can_restart_obj) },
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{ MP_ROM_QSTR(MP_QSTR_state), MP_ROM_PTR(&pyb_can_state_obj) },
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{ MP_ROM_QSTR(MP_QSTR_info), MP_ROM_PTR(&pyb_can_info_obj) },
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{ MP_ROM_QSTR(MP_QSTR_any), MP_ROM_PTR(&pyb_can_any_obj) },
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{ MP_ROM_QSTR(MP_QSTR_send), MP_ROM_PTR(&pyb_can_send_obj) },
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{ MP_ROM_QSTR(MP_QSTR_recv), MP_ROM_PTR(&pyb_can_recv_obj) },
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@ -979,6 +1026,21 @@ void can_rx_irq_handler(uint can_id, uint fifo_id) {
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}
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}
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void can_sce_irq_handler(uint can_id) {
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pyb_can_obj_t *self = MP_STATE_PORT(pyb_can_obj_all)[can_id - 1];
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if (self) {
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self->can.Instance->MSR = CAN_MSR_ERRI;
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uint32_t esr = self->can.Instance->ESR;
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if (esr & CAN_ESR_BOFF) {
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++self->num_bus_off;
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} else if (esr & CAN_ESR_EPVF) {
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++self->num_error_passive;
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} else if (esr & CAN_ESR_EWGF) {
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++self->num_error_warning;
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}
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}
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}
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STATIC const mp_stream_p_t can_stream_p = {
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//.read = can_read, // is read sensible for CAN?
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//.write = can_write, // is write sensible for CAN?
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@ -34,5 +34,6 @@ extern const mp_obj_type_t pyb_can_type;
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void can_init0(void);
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void can_deinit(void);
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void can_rx_irq_handler(uint can_id, uint fifo_id);
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void can_sce_irq_handler(uint can_id);
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#endif // MICROPY_INCLUDED_STM32_CAN_H
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@ -749,6 +749,12 @@ void CAN1_RX1_IRQHandler(void) {
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IRQ_EXIT(CAN1_RX1_IRQn);
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}
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void CAN1_SCE_IRQHandler(void) {
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IRQ_ENTER(CAN1_SCE_IRQn);
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can_sce_irq_handler(PYB_CAN_1);
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IRQ_EXIT(CAN1_SCE_IRQn);
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}
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void CAN2_RX0_IRQHandler(void) {
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IRQ_ENTER(CAN2_RX0_IRQn);
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can_rx_irq_handler(PYB_CAN_2, CAN_FIFO0);
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@ -760,6 +766,12 @@ void CAN2_RX1_IRQHandler(void) {
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can_rx_irq_handler(PYB_CAN_2, CAN_FIFO1);
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IRQ_EXIT(CAN2_RX1_IRQn);
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}
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void CAN2_SCE_IRQHandler(void) {
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IRQ_ENTER(CAN2_SCE_IRQn);
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can_sce_irq_handler(PYB_CAN_2);
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IRQ_EXIT(CAN2_SCE_IRQn);
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}
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#endif // MICROPY_HW_ENABLE_CAN
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#if defined(MICROPY_HW_I2C1_SCL)
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