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stm32/pyb_can: Add support for bus with mixed Classic/FD nodes. 

A CAN bus can have mixed classic/FD nodes.  Prior to this patch the CAN API
could be configured for either standard or extended ID, but not both/mixed
operation.

This patch allows extended IDs to be filtered and enabled on a per-message
basis, in send(), setfilter() and clearfilter().

This is a breaking change to the API: init() no longer accepts the extframe
keyword argument.
This commit is contained in:
iabdalkader 2022-01-29 03:16:26 +02:00 committed by Damien George
parent 3320ec44ed
commit e7264e9532
2 changed files with 31 additions and 25 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
ports/stm32/can.h
View File

@ -67,7 +67,6 @@ typedef struct _pyb_can_obj_t {
mp_obj_t rxcallback1; mp_obj_t rxcallback1;
mp_uint_t can_id : 8; mp_uint_t can_id : 8;
bool is_enabled : 1; bool is_enabled : 1;
bool extframe : 1;
byte rx_state0; byte rx_state0;
byte rx_state1; byte rx_state1;
uint16_t num_error_warning; uint16_t num_error_warning;

55
ports/stm32/pyb_can.c
View File

@ -133,10 +133,9 @@ STATIC void pyb_can_print(const mp_print_t *print, mp_obj_t self_in, mp_print_ki
mode = MP_QSTR_SILENT_LOOPBACK; mode = MP_QSTR_SILENT_LOOPBACK;
break; break;
} }
mp_printf(print, "CAN(%u, CAN.%q, extframe=%q, auto_restart=%q)", mp_printf(print, "CAN(%u, CAN.%q, auto_restart=%q)",
self->can_id, self->can_id,
mode, mode,
self->extframe ? MP_QSTR_True : MP_QSTR_False,
#if MICROPY_HW_ENABLE_FDCAN #if MICROPY_HW_ENABLE_FDCAN
(self->can.Instance->CCCR & FDCAN_CCCR_DAR) ? MP_QSTR_True : MP_QSTR_False (self->can.Instance->CCCR & FDCAN_CCCR_DAR) ? MP_QSTR_True : MP_QSTR_False
#else #else
@ -200,13 +199,12 @@ STATIC void pyb_can_get_bit_timing(mp_uint_t baudrate, mp_uint_t sample_point,
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("couldn't match baudrate and sample point")); mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("couldn't match baudrate and sample point"));
} }
// init(mode, extframe=False, prescaler=100, *, sjw=1, bs1=6, bs2=8) // 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) { 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, ARG_auto_restart, ARG_baudrate, ARG_sample_point, 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_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[] = { static const mp_arg_t allowed_args[] = {
{ MP_QSTR_mode, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = CAN_MODE_NORMAL} }, { MP_QSTR_mode, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = CAN_MODE_NORMAL} },
{ MP_QSTR_extframe, MP_ARG_BOOL, {.u_bool = false} },
{ MP_QSTR_prescaler, MP_ARG_INT, {.u_int = CAN_DEFAULT_PRESCALER} }, { MP_QSTR_prescaler, MP_ARG_INT, {.u_int = CAN_DEFAULT_PRESCALER} },
{ MP_QSTR_sjw, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = CAN_DEFAULT_SJW} }, { MP_QSTR_sjw, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = CAN_DEFAULT_SJW} },
{ MP_QSTR_bs1, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = CAN_DEFAULT_BS1} }, { MP_QSTR_bs1, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = CAN_DEFAULT_BS1} },
@ -228,8 +226,6 @@ STATIC mp_obj_t pyb_can_init_helper(pyb_can_obj_t *self, size_t n_args, const mp
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_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); mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
self->extframe = args[ARG_extframe].u_bool;
// set the CAN configuration values // set the CAN configuration values
memset(&self->can, 0, sizeof(self->can)); memset(&self->can, 0, sizeof(self->can));
@ -475,15 +471,16 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_2(pyb_can_any_obj, pyb_can_any);
// send(send, addr, *, timeout=5000) // send(send, addr, *, timeout=5000)
STATIC mp_obj_t pyb_can_send(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { STATIC mp_obj_t pyb_can_send(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
enum { ARG_data, ARG_id, ARG_timeout, ARG_rtr, ARG_fdf, ARG_brs }; enum { ARG_data, ARG_id, ARG_timeout, ARG_rtr, ARG_extframe, ARG_fdf, ARG_brs };
static const mp_arg_t allowed_args[] = { static const mp_arg_t allowed_args[] = {
{ MP_QSTR_data, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} }, { MP_QSTR_data, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} },
{ MP_QSTR_id, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = 0} }, { MP_QSTR_id, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = 0} },
{ MP_QSTR_timeout, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} }, { MP_QSTR_timeout, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} },
{ MP_QSTR_rtr, MP_ARG_KW_ONLY | MP_ARG_BOOL, {.u_bool = false} }, { MP_QSTR_rtr, MP_ARG_KW_ONLY | MP_ARG_BOOL, {.u_bool = false} },
{ MP_QSTR_extframe, MP_ARG_BOOL, {.u_bool = false} },
#if MICROPY_HW_ENABLE_FDCAN #if MICROPY_HW_ENABLE_FDCAN
{ MP_QSTR_fdf, MP_ARG_KW_ONLY | MP_ARG_BOOL, {.u_bool = false} }, { MP_QSTR_fdf, MP_ARG_KW_ONLY | MP_ARG_BOOL, {.u_bool = false} },
{ MP_QSTR_brs, MP_ARG_KW_ONLY | MP_ARG_BOOL, {.u_bool = false} }, { MP_QSTR_brs, MP_ARG_KW_ONLY | MP_ARG_BOOL, {.u_bool = false} },
#endif #endif
}; };
@ -512,7 +509,7 @@ STATIC mp_obj_t pyb_can_send(size_t n_args, const mp_obj_t *pos_args, mp_map_t *
tx_msg.ErrorStateIndicator = FDCAN_ESI_ACTIVE; tx_msg.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
tx_msg.TxEventFifoControl = FDCAN_NO_TX_EVENTS; tx_msg.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
if (self->extframe) { if (args[ARG_extframe].u_bool == true) {
tx_msg.Identifier = args[ARG_id].u_int & 0x1FFFFFFF; tx_msg.Identifier = args[ARG_id].u_int & 0x1FFFFFFF;
tx_msg.IdType = FDCAN_EXTENDED_ID; tx_msg.IdType = FDCAN_EXTENDED_ID;
} else { } else {
@ -545,7 +542,7 @@ STATIC mp_obj_t pyb_can_send(size_t n_args, const mp_obj_t *pos_args, mp_map_t *
tx_msg.DLC = bufinfo.len; tx_msg.DLC = bufinfo.len;
uint8_t *tx_data = tx_msg.Data; // Data is uint32_t but holds only 1 byte uint8_t *tx_data = tx_msg.Data; // Data is uint32_t but holds only 1 byte
if (self->extframe) { if (args[ARG_extframe].u_bool == true) {
tx_msg.ExtId = args[ARG_id].u_int & 0x1FFFFFFF; tx_msg.ExtId = args[ARG_id].u_int & 0x1FFFFFFF;
tx_msg.IDE = CAN_ID_EXT; tx_msg.IDE = CAN_ID_EXT;
} else { } else {
@ -739,11 +736,20 @@ STATIC mp_obj_t pyb_can_initfilterbanks(mp_obj_t self_in, mp_obj_t bank_in) {
STATIC MP_DEFINE_CONST_FUN_OBJ_2(pyb_can_initfilterbanks_fun_obj, pyb_can_initfilterbanks); 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_DEFINE_CONST_CLASSMETHOD_OBJ(pyb_can_initfilterbanks_obj, MP_ROM_PTR(&pyb_can_initfilterbanks_fun_obj));
STATIC mp_obj_t pyb_can_clearfilter(mp_obj_t self_in, mp_obj_t bank_in) { STATIC mp_obj_t pyb_can_clearfilter(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
pyb_can_obj_t *self = MP_OBJ_TO_PTR(self_in); enum { ARG_extframe };
mp_int_t f = mp_obj_get_int(bank_in); static const mp_arg_t allowed_args[] = {
{ MP_QSTR_extframe, MP_ARG_BOOL, {.u_bool = false} },
};
// parse args
pyb_can_obj_t *self = MP_OBJ_TO_PTR(pos_args[0]);
mp_int_t f = mp_obj_get_int(pos_args[1]);
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
mp_arg_parse_all(n_args - 2, pos_args + 2, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
#if MICROPY_HW_ENABLE_FDCAN #if MICROPY_HW_ENABLE_FDCAN
can_clearfilter(self, f, self->extframe); can_clearfilter(self, f, args[ARG_extframe].u_bool);
#else #else
if (self->can_id == 2) { if (self->can_id == 2) {
f += can2_start_bank; f += can2_start_bank;
@ -752,18 +758,19 @@ STATIC mp_obj_t pyb_can_clearfilter(mp_obj_t self_in, mp_obj_t bank_in) {
#endif #endif
return mp_const_none; return mp_const_none;
} }
STATIC MP_DEFINE_CONST_FUN_OBJ_2(pyb_can_clearfilter_obj, pyb_can_clearfilter); STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_can_clearfilter_obj, 2, pyb_can_clearfilter);
// setfilter(bank, mode, fifo, params, *, rtr) // setfilter(bank, mode, fifo, params, *, rtr)
#define EXTENDED_ID_TO_16BIT_FILTER(id) (((id & 0xC00000) >> 13) | ((id & 0x38000) >> 15)) | 8 #define EXTENDED_ID_TO_16BIT_FILTER(id) (((id & 0xC00000) >> 13) | ((id & 0x38000) >> 15)) | 8
STATIC mp_obj_t pyb_can_setfilter(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { STATIC mp_obj_t pyb_can_setfilter(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
enum { ARG_bank, ARG_mode, ARG_fifo, ARG_params, ARG_rtr }; enum { ARG_bank, ARG_mode, ARG_fifo, ARG_params, ARG_rtr, ARG_extframe };
static const mp_arg_t allowed_args[] = { static const mp_arg_t allowed_args[] = {
{ MP_QSTR_bank, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = 0} }, { MP_QSTR_bank, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = 0} },
{ MP_QSTR_mode, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = 0} }, { MP_QSTR_mode, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = 0} },
{ MP_QSTR_fifo, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = CAN_FILTER_FIFO0} }, { MP_QSTR_fifo, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = CAN_FILTER_FIFO0} },
{ MP_QSTR_params, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} }, { MP_QSTR_params, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} },
{ MP_QSTR_rtr, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} }, { MP_QSTR_rtr, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} },
{ MP_QSTR_extframe, MP_ARG_BOOL, {.u_bool = false} },
}; };
// parse args // parse args
@ -773,7 +780,7 @@ STATIC mp_obj_t pyb_can_setfilter(size_t n_args, const mp_obj_t *pos_args, mp_ma
#if MICROPY_HW_ENABLE_FDCAN #if MICROPY_HW_ENABLE_FDCAN
FDCAN_FilterTypeDef filter = {0}; FDCAN_FilterTypeDef filter = {0};
if (self->extframe) { if (args[ARG_extframe].u_bool == true) {
filter.IdType = FDCAN_EXTENDED_ID; filter.IdType = FDCAN_EXTENDED_ID;
} else { } else {
filter.IdType = FDCAN_STANDARD_ID; filter.IdType = FDCAN_STANDARD_ID;
@ -831,7 +838,7 @@ STATIC mp_obj_t pyb_can_setfilter(size_t n_args, const mp_obj_t *pos_args, mp_ma
goto error; goto error;
} }
filter.FilterScale = CAN_FILTERSCALE_16BIT; filter.FilterScale = CAN_FILTERSCALE_16BIT;
if (self->extframe) { if (args[ARG_extframe].u_bool == true) {
if (args[ARG_rtr].u_obj != MP_OBJ_NULL) { if (args[ARG_rtr].u_obj != MP_OBJ_NULL) {
if (args[ARG_mode].u_int == MASK16) { if (args[ARG_mode].u_int == MASK16) {
rtr_masks[0] = mp_obj_get_int(rtr_flags[0]) ? 0x02 : 0; rtr_masks[0] = mp_obj_get_int(rtr_flags[0]) ? 0x02 : 0;