/* * This file is part of the MicroPython project, http://micropython.org/ * * The MIT License (MIT) * * Copyright (c) 2020 Jeff Epler for Adafruit Industries * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. */ #include "py/enum.h" #include "common-hal/canio/CAN.h" #include "common-hal/canio/Listener.h" #include "shared-bindings/canio/__init__.h" #include "shared-bindings/canio/CAN.h" #include "shared-bindings/canio/Listener.h" #include "shared-bindings/canio/Match.h" #include "shared-bindings/canio/Message.h" #include "shared-bindings/microcontroller/Pin.h" #include "py/objproperty.h" #include "py/runtime.h" //| class CAN: //| """CAN bus protocol""" //| //| def __init__( //| self, //| tx: microcontroller.Pin, //| rx: microcontroller.Pin, //| *, //| baudrate: int = 250000, //| loopback: bool = False, //| silent: bool = False, //| auto_restart: bool = False, //| ) -> None: //| """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. //| //| :param ~microcontroller.Pin rx: the pin to receive with //| :param ~microcontroller.Pin tx: the pin to transmit with //| :param int baudrate: The bit rate of the bus in Hz. All devices on the bus must agree on this value. //| :param bool loopback: When True the ``rx`` pin's value is ignored, and the device receives the packets it sends. //| :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 //| """ //| ... STATIC mp_obj_t canio_can_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *all_args) { enum { ARG_tx, ARG_rx, ARG_baudrate, ARG_loopback, ARG_silent, ARG_auto_restart, NUM_ARGS }; static const mp_arg_t allowed_args[] = { { MP_QSTR_tx, MP_ARG_OBJ | MP_ARG_REQUIRED }, { 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} }, { MP_QSTR_auto_restart, MP_ARG_BOOL, {.u_bool = false} }, }; mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; MP_STATIC_ASSERT(MP_ARRAY_SIZE(allowed_args) == NUM_ARGS); mp_arg_parse_all_kw_array(n_args, n_kw, all_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); const mcu_pin_obj_t *rx_pin = validate_obj_is_free_pin_or_none(args[ARG_rx].u_obj, MP_QSTR_rx); const mcu_pin_obj_t *tx_pin = validate_obj_is_free_pin_or_none(args[ARG_tx].u_obj, MP_QSTR_tx); if (!rx_pin && !tx_pin) { mp_raise_ValueError(MP_ERROR_TEXT("tx and rx cannot both be None")); } canio_can_obj_t *self = mp_obj_malloc(canio_can_obj_t, &canio_can_type); 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); return MP_OBJ_FROM_PTR(self); } //| auto_restart: bool //| """If True, will restart communications after entering bus-off state""" STATIC mp_obj_t canio_can_auto_restart_get(mp_obj_t self_in) { canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); common_hal_canio_can_check_for_deinit(self); return mp_obj_new_bool(common_hal_canio_can_auto_restart_get(self)); } MP_DEFINE_CONST_FUN_OBJ_1(canio_can_auto_restart_get_obj, canio_can_auto_restart_get); STATIC mp_obj_t canio_can_auto_restart_set(mp_obj_t self_in, mp_obj_t flag_in) { canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); common_hal_canio_can_check_for_deinit(self); common_hal_canio_can_auto_restart_set(self, mp_obj_is_true(flag_in)); return mp_const_none; } MP_DEFINE_CONST_FUN_OBJ_2(canio_can_auto_restart_set_obj, canio_can_auto_restart_set); MP_PROPERTY_GETSET(canio_can_auto_restart_obj, (mp_obj_t)&canio_can_auto_restart_get_obj, (mp_obj_t)&canio_can_auto_restart_set_obj); //| baudrate: int //| """The baud rate (read-only)""" STATIC mp_obj_t canio_can_baudrate_get(mp_obj_t self_in) { canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); common_hal_canio_can_check_for_deinit(self); return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_baudrate_get(self)); } MP_DEFINE_CONST_FUN_OBJ_1(canio_can_baudrate_get_obj, canio_can_baudrate_get); MP_PROPERTY_GETTER(canio_can_baudrate_obj, (mp_obj_t)&canio_can_baudrate_get_obj); //| transmit_error_count: int //| """The number of transmit errors (read-only). Increased for a detected transmission error, decreased for successful transmission. Limited to the range from 0 to 255 inclusive. Also called TEC.""" STATIC mp_obj_t canio_can_transmit_error_count_get(mp_obj_t self_in) { canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); common_hal_canio_can_check_for_deinit(self); return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_transmit_error_count_get(self)); } MP_DEFINE_CONST_FUN_OBJ_1(canio_can_transmit_error_count_get_obj, canio_can_transmit_error_count_get); MP_PROPERTY_GETTER(canio_can_transmit_error_count_obj, (mp_obj_t)&canio_can_transmit_error_count_get_obj); //| receive_error_count: int //| """The number of receive errors (read-only). Increased for a detected reception error, decreased for successful reception. Limited to the range from 0 to 255 inclusive. Also called REC.""" STATIC mp_obj_t canio_can_receive_error_count_get(mp_obj_t self_in) { canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); common_hal_canio_can_check_for_deinit(self); return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_receive_error_count_get(self)); } MP_DEFINE_CONST_FUN_OBJ_1(canio_can_receive_error_count_get_obj, canio_can_receive_error_count_get); MP_PROPERTY_GETTER(canio_can_receive_error_count_obj, (mp_obj_t)&canio_can_receive_error_count_get_obj); //| state: BusState //| """The current state of the bus. (read-only)""" STATIC mp_obj_t canio_can_state_get(mp_obj_t self_in) { canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); common_hal_canio_can_check_for_deinit(self); return cp_enum_find(&canio_bus_state_type, common_hal_canio_can_state_get(self)); } MP_DEFINE_CONST_FUN_OBJ_1(canio_can_state_get_obj, canio_can_state_get); MP_PROPERTY_GETTER(canio_can_state_obj, (mp_obj_t)&canio_can_state_get_obj); //| def restart(self) -> None: //| """If the device is in the bus off state, restart it.""" //| ... STATIC mp_obj_t canio_can_restart(mp_obj_t self_in) { canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); common_hal_canio_can_check_for_deinit(self); common_hal_canio_can_restart(self); return mp_const_none; } STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_can_restart_obj, canio_can_restart); //| def listen( //| self, matches: Optional[Sequence[Match]] = None, *, timeout: float = 10 //| ) -> Listener: //| """Start receiving messages that match any one of the filters. //| //| Creating a listener is an expensive operation and can interfere with reception of messages by other listeners. //| //| There is an implementation-defined maximum number of listeners and limit to the complexity of the filters. //| //| If the hardware cannot support all the requested matches, a ValueError is raised. Note that generally there are some number of hardware filters shared among all fifos. //| //| A message can be received by at most one Listener. If more than one listener matches a message, it is undefined which one actually receives it. //| //| An empty filter list causes all messages to be accepted. //| //| Timeout dictates how long receive() and next() will block. //| //| Platform specific notes: //| //| SAM E5x supports two Listeners. Filter blocks are shared between the two //| listeners. There are 4 standard filter blocks and 4 extended filter blocks. //| Each block can either match 2 single addresses or a mask of addresses. //| The number of filter blocks can be increased, up to a hardware maximum, by //| rebuilding CircuitPython, but this decreases the CircuitPython free //| memory even if canio is not used. //| //| STM32F405 supports two Listeners. Filter blocks are shared between the two listeners. //| There are 14 filter blocks. Each block can match 2 standard addresses with //| mask or 1 extended address with mask. //| //| ESP32S2 supports one Listener. There is a single filter block, which can either match a //| standard address with mask or an extended address with mask. //| """ //| ... STATIC mp_obj_t canio_can_listen(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { canio_can_obj_t *self = MP_OBJ_TO_PTR(pos_args[0]); common_hal_canio_can_check_for_deinit(self); enum { ARG_matches, ARG_timeout, NUM_ARGS }; static const mp_arg_t allowed_args[] = { { MP_QSTR_matches, MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} }, { MP_QSTR_timeout, MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} }, }; mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; MP_STATIC_ASSERT(MP_ARRAY_SIZE(allowed_args) == NUM_ARGS); mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); size_t nmatch = 0; mp_obj_t *match_objects = NULL; if (args[ARG_matches].u_obj) { mp_obj_get_array(args[ARG_matches].u_obj, &nmatch, &match_objects); } canio_match_obj_t *matches[nmatch]; for (size_t i = 0; i < nmatch; i++) { matches[i] = mp_arg_validate_type_in(match_objects[i], &canio_match_type, MP_QSTR_matches); } float timeout = args[ARG_timeout].u_obj ? mp_obj_get_float(args[ARG_timeout].u_obj) : 10.0f; canio_listener_obj_t *listener = m_new_obj(canio_listener_obj_t); listener->base.type = &canio_listener_type; common_hal_canio_listener_construct(listener, self, nmatch, matches, timeout); return listener; } MP_DEFINE_CONST_FUN_OBJ_KW(canio_can_listen_obj, 1, canio_can_listen); //| loopback: bool //| """True if the device was created in loopback mode, False //| otherwise (read-only)""" STATIC mp_obj_t canio_can_loopback_get(mp_obj_t self_in) { canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); common_hal_canio_can_check_for_deinit(self); return mp_obj_new_bool(common_hal_canio_can_loopback_get(self)); } MP_DEFINE_CONST_FUN_OBJ_1(canio_can_loopback_get_obj, canio_can_loopback_get); MP_PROPERTY_GETTER(canio_can_loopback_obj, (mp_obj_t)&canio_can_loopback_get_obj); //| def send(self, message: Union[RemoteTransmissionRequest, Message]) -> None: //| """Send a message on the bus with the given data and id. //| If the message could not be sent due to a full fifo or a bus error condition, RuntimeError is raised. //| """ //| ... STATIC mp_obj_t canio_can_send(mp_obj_t self_in, mp_obj_t message_in) { canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); common_hal_canio_can_check_for_deinit(self); const mp_obj_type_t *message_type = mp_obj_get_type(message_in); if (message_type != &canio_message_type && message_type != &canio_remote_transmission_request_type) { mp_raise_TypeError_varg(MP_ERROR_TEXT("%q must be of type %q or %q, not %q"), MP_QSTR_message, MP_QSTR_Message, MP_QSTR_RemoteTransmissionRequest, message_type->name); } canio_message_obj_t *message = message_in; common_hal_canio_can_send(self, message); return mp_const_none; } MP_DEFINE_CONST_FUN_OBJ_2(canio_can_send_obj, canio_can_send); //| silent: bool //| """True if the device was created in silent mode, False //| otherwise (read-only)""" STATIC mp_obj_t canio_can_silent_get(mp_obj_t self_in) { canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); common_hal_canio_can_check_for_deinit(self); return mp_obj_new_bool(common_hal_canio_can_silent_get(self)); } MP_DEFINE_CONST_FUN_OBJ_1(canio_can_silent_get_obj, canio_can_silent_get); MP_PROPERTY_GETTER(canio_can_silent_obj, (mp_obj_t)&canio_can_silent_get_obj); //| def deinit(self) -> None: //| """Deinitialize this object, freeing its hardware resources""" //| ... STATIC mp_obj_t canio_can_deinit(mp_obj_t self_in) { canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); common_hal_canio_can_deinit(self); return mp_const_none; } STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_can_deinit_obj, canio_can_deinit); //| def __enter__(self) -> CAN: //| """Returns self, to allow the object to be used in a `with` statement for resource control""" //| ... STATIC mp_obj_t canio_can_enter(mp_obj_t self_in) { canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); common_hal_canio_can_check_for_deinit(self); return self_in; } STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_can_enter_obj, canio_can_enter); //| def __exit__( //| self, //| unused1: Optional[Type[BaseException]], //| unused2: Optional[BaseException], //| unused3: Optional[TracebackType], //| ) -> None: //| """Calls deinit()""" //| ... //| STATIC mp_obj_t canio_can_exit(size_t num_args, const mp_obj_t args[]) { canio_can_obj_t *self = MP_OBJ_TO_PTR(args[0]); common_hal_canio_can_deinit(self); return mp_const_none; } STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(canio_can_exit_obj, 4, 4, canio_can_exit); STATIC const mp_rom_map_elem_t canio_can_locals_dict_table[] = { { MP_ROM_QSTR(MP_QSTR___enter__), MP_ROM_PTR(&canio_can_enter_obj) }, { MP_ROM_QSTR(MP_QSTR___exit__), MP_ROM_PTR(&canio_can_exit_obj) }, { MP_ROM_QSTR(MP_QSTR_auto_restart), MP_ROM_PTR(&canio_can_auto_restart_obj) }, { MP_ROM_QSTR(MP_QSTR_baudrate), MP_ROM_PTR(&canio_can_baudrate_obj) }, { MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&canio_can_deinit_obj) }, { MP_ROM_QSTR(MP_QSTR_listen), MP_ROM_PTR(&canio_can_listen_obj) }, { MP_ROM_QSTR(MP_QSTR_loopback), MP_ROM_PTR(&canio_can_loopback_obj) }, { MP_ROM_QSTR(MP_QSTR_receive_error_count), MP_ROM_PTR(&canio_can_receive_error_count_obj) }, { MP_ROM_QSTR(MP_QSTR_restart), MP_ROM_PTR(&canio_can_restart_obj) }, { MP_ROM_QSTR(MP_QSTR_send), MP_ROM_PTR(&canio_can_send_obj) }, { MP_ROM_QSTR(MP_QSTR_silent), MP_ROM_PTR(&canio_can_silent_obj) }, { MP_ROM_QSTR(MP_QSTR_state), MP_ROM_PTR(&canio_can_state_obj) }, { MP_ROM_QSTR(MP_QSTR_transmit_error_count), MP_ROM_PTR(&canio_can_transmit_error_count_obj) }, }; STATIC MP_DEFINE_CONST_DICT(canio_can_locals_dict, canio_can_locals_dict_table); MP_DEFINE_CONST_OBJ_TYPE( canio_can_type, MP_QSTR_CAN, MP_TYPE_FLAG_HAS_SPECIAL_ACCESSORS, make_new, canio_can_make_new, locals_dict, &canio_can_locals_dict );