93 lines
3.0 KiB
C
93 lines
3.0 KiB
C
/*
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* This file is part of the MicroPython project, http://micropython.org/
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*
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* The MIT License (MIT)
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*
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* Copyright (c) 2014 Damien P. George
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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#ifndef MICROPY_INCLUDED_STM32_CAN_H
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#define MICROPY_INCLUDED_STM32_CAN_H
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#include "py/obj.h"
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#if MICROPY_HW_ENABLE_CAN
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#define PYB_CAN_1 (1)
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#define PYB_CAN_2 (2)
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#define PYB_CAN_3 (3)
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#define MASK16 (0)
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#define LIST16 (1)
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#define MASK32 (2)
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#define LIST32 (3)
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#if MICROPY_HW_ENABLE_FDCAN
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#define CAN_TypeDef FDCAN_GlobalTypeDef
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#define CAN_HandleTypeDef FDCAN_HandleTypeDef
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#define CanTxMsgTypeDef FDCAN_TxHeaderTypeDef
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#define CanRxMsgTypeDef FDCAN_RxHeaderTypeDef
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#endif
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enum {
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CAN_STATE_STOPPED,
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CAN_STATE_ERROR_ACTIVE,
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CAN_STATE_ERROR_WARNING,
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CAN_STATE_ERROR_PASSIVE,
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CAN_STATE_BUS_OFF,
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};
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typedef enum _rx_state_t {
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RX_STATE_FIFO_EMPTY = 0,
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RX_STATE_MESSAGE_PENDING,
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RX_STATE_FIFO_FULL,
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RX_STATE_FIFO_OVERFLOW,
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} rx_state_t;
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typedef struct _pyb_can_obj_t {
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mp_obj_base_t base;
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mp_obj_t rxcallback0;
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mp_obj_t rxcallback1;
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mp_uint_t can_id : 8;
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bool is_enabled : 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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extern const mp_obj_type_t pyb_can_type;
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void can_init0(void);
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void can_deinit_all(void);
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bool can_init(pyb_can_obj_t *can_obj, uint32_t mode, uint32_t prescaler, uint32_t sjw, uint32_t bs1, uint32_t bs2, bool auto_restart);
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void can_deinit(pyb_can_obj_t *self);
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void can_clearfilter(pyb_can_obj_t *self, uint32_t f, uint8_t bank);
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int can_receive(CAN_HandleTypeDef *can, int fifo, CanRxMsgTypeDef *msg, uint8_t *data, uint32_t timeout_ms);
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HAL_StatusTypeDef CAN_Transmit(CAN_HandleTypeDef *hcan, uint32_t Timeout);
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void pyb_can_handle_callback(pyb_can_obj_t *self, uint fifo_id, mp_obj_t callback, mp_obj_t irq_reason);
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#endif // MICROPY_HW_ENABLE_CAN
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#endif // MICROPY_INCLUDED_STM32_CAN_H
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