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5562ed3f43
circuitpython/ports/stm32/pyb_can.c
iabdalkader 5562ed3f43 stm32/pyb_can: Replace CAN.initfilterbanks with CAN.init keyword arg. 
The CAN.initfilterbanks() class method is removed, and its functionality is
replaced with the "num_filter_banks" keyword argument to the CAN
constructor and CAN.init().  This configures the filter bank split.

This new approach provides more flexibility configuring the resources used
by a given CAN instance, allowing other MCUs like H7 to fit the API.  It
also brings CAN closer to how other machine peripherals are configured,
where everything is done in the constructor/init method.

This is a breaking change to the CAN API.
2022-04-02 22:42:00 +11:00

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/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2014-2018 Damien P. George
*
* 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 <string.h>
#include "py/objarray.h"
#include "py/runtime.h"
#include "py/gc.h"
#include "py/binary.h"
#include "py/stream.h"
#include "py/mperrno.h"
#include "py/mphal.h"
#include "bufhelper.h"
#include "can.h"
#include "irq.h"
#if MICROPY_HW_ENABLE_CAN
#if MICROPY_HW_ENABLE_FDCAN
#define CAN_MAX_DATA_FRAME (64)
#define CAN_FIFO0 FDCAN_RX_FIFO0
#define CAN_FIFO1 FDCAN_RX_FIFO1
#define CAN_FILTER_FIFO0 (0)
// Default timings; 125Kbps
#if defined(STM32G4)
// assuming 24MHz clock
#define CAN_DEFAULT_PRESCALER (16)
#else
// assuming 48MHz clock
#define CAN_DEFAULT_PRESCALER (32)
#endif
#define CAN_DEFAULT_SJW (1)
#define CAN_DEFAULT_BS1 (8)
#define CAN_DEFAULT_BS2 (3)
#define CAN_MAXIMUM_NBRP (512)
#define CAN_MAXIMUM_NBS1 (256)
#define CAN_MAXIMUM_NBS2 (128)
// Minimum Nominal time segment for FDCAN is 2.
#define CAN_MINIMUM_TSEG (2)
#define CAN_MAXIMUM_DBRP (32)
#define CAN_MAXIMUM_DBS1 (32)
#define CAN_MAXIMUM_DBS2 (16)
#define CAN_MODE_NORMAL FDCAN_MODE_NORMAL
#define CAN_MODE_LOOPBACK FDCAN_MODE_EXTERNAL_LOOPBACK
#define CAN_MODE_SILENT FDCAN_MODE_BUS_MONITORING
#define CAN_MODE_SILENT_LOOPBACK FDCAN_MODE_INTERNAL_LOOPBACK
#define CAN1_RX0_IRQn FDCAN1_IT0_IRQn
#define CAN1_RX1_IRQn FDCAN1_IT1_IRQn
#if defined(CAN2)
#define CAN2_RX0_IRQn FDCAN2_IT0_IRQn
#define CAN2_RX1_IRQn FDCAN2_IT1_IRQn
#endif
#define CAN_IT_FIFO0_FULL FDCAN_IT_RX_FIFO0_FULL
#define CAN_IT_FIFO1_FULL FDCAN_IT_RX_FIFO1_FULL
#define CAN_IT_FIFO0_OVRF FDCAN_IT_RX_FIFO0_MESSAGE_LOST
#define CAN_IT_FIFO1_OVRF FDCAN_IT_RX_FIFO1_MESSAGE_LOST
#define CAN_IT_FIFO0_PENDING FDCAN_IT_RX_FIFO0_NEW_MESSAGE
#define CAN_IT_FIFO1_PENDING FDCAN_IT_RX_FIFO1_NEW_MESSAGE
#define CAN_FLAG_FIFO0_FULL FDCAN_FLAG_RX_FIFO0_FULL
#define CAN_FLAG_FIFO1_FULL FDCAN_FLAG_RX_FIFO1_FULL
#define CAN_FLAG_FIFO0_OVRF FDCAN_FLAG_RX_FIFO0_MESSAGE_LOST
#define CAN_FLAG_FIFO1_OVRF FDCAN_FLAG_RX_FIFO1_MESSAGE_LOST
#define __HAL_CAN_ENABLE_IT __HAL_FDCAN_ENABLE_IT
#define __HAL_CAN_DISABLE_IT __HAL_FDCAN_DISABLE_IT
#define __HAL_CAN_CLEAR_FLAG __HAL_FDCAN_CLEAR_FLAG
#define __HAL_CAN_MSG_PENDING HAL_FDCAN_GetRxFifoFillLevel
extern const uint8_t DLCtoBytes[16];
#else
#define CAN_MAX_FILTER (28)
#define CAN_MAX_DATA_FRAME (8)
#define CAN_DEFAULT_PRESCALER (100)
#define CAN_DEFAULT_SJW (1)
#define CAN_DEFAULT_BS1 (6)
#define CAN_DEFAULT_BS2 (8)
#define CAN_MAXIMUM_NBRP (1024)
#define CAN_MAXIMUM_NBS1 (16)
#define CAN_MAXIMUM_NBS2 (8)
#define CAN_MINIMUM_TSEG (1)
#define CAN_IT_FIFO0_FULL CAN_IT_FF0
#define CAN_IT_FIFO1_FULL CAN_IT_FF1
#define CAN_IT_FIFO0_OVRF CAN_IT_FOV0
#define CAN_IT_FIFO1_OVRF CAN_IT_FOV1
#define CAN_IT_FIFO0_PENDING CAN_IT_FMP0
#define CAN_IT_FIFO1_PENDING CAN_IT_FMP1
#define CAN_FLAG_FIFO0_FULL CAN_FLAG_FF0
#define CAN_FLAG_FIFO1_FULL CAN_FLAG_FF1
#define CAN_FLAG_FIFO0_OVRF CAN_FLAG_FOV0
#define CAN_FLAG_FIFO1_OVRF CAN_FLAG_FOV1
STATIC uint8_t can2_start_bank = 14;
#endif
STATIC void pyb_can_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
pyb_can_obj_t *self = MP_OBJ_TO_PTR(self_in);
if (!self->is_enabled) {
mp_printf(print, "CAN(%u)", self->can_id);
} else {
qstr mode;
switch (self->can.Init.Mode) {
case CAN_MODE_NORMAL:
mode = MP_QSTR_NORMAL;
break;
case CAN_MODE_LOOPBACK:
mode = MP_QSTR_LOOPBACK;
break;
case CAN_MODE_SILENT:
mode = MP_QSTR_SILENT;
break;
case CAN_MODE_SILENT_LOOPBACK:
default:
mode = MP_QSTR_SILENT_LOOPBACK;
break;
}
mp_printf(print, "CAN(%u, CAN.%q, auto_restart=%q)",
self->can_id,
mode,
#if MICROPY_HW_ENABLE_FDCAN
(self->can.Instance->CCCR & FDCAN_CCCR_DAR) ? MP_QSTR_True : MP_QSTR_False
#else
(self->can.Instance->MCR & CAN_MCR_ABOM) ? MP_QSTR_True : MP_QSTR_False
#endif
);
}
}
STATIC uint32_t pyb_can_get_source_freq() {
uint32_t can_kern_clk = 0;
// Find CAN kernel clock
#if defined(STM32H7)
switch (__HAL_RCC_GET_FDCAN_SOURCE()) {
case RCC_FDCANCLKSOURCE_HSE:
can_kern_clk = HSE_VALUE;
break;
case RCC_FDCANCLKSOURCE_PLL: {
PLL1_ClocksTypeDef pll1_clocks;
HAL_RCCEx_GetPLL1ClockFreq(&pll1_clocks);
can_kern_clk = pll1_clocks.PLL1_Q_Frequency;
break;
}
case RCC_FDCANCLKSOURCE_PLL2: {
PLL2_ClocksTypeDef pll2_clocks;
HAL_RCCEx_GetPLL2ClockFreq(&pll2_clocks);
can_kern_clk = pll2_clocks.PLL2_Q_Frequency;
break;
}
}
#else // F4 and F7 and assume other MCUs too.
// CAN1/CAN2/CAN3 on APB1 use GetPCLK1Freq, alternatively use the following:
// can_kern_clk = ((HSE_VALUE / osc_config.PLL.PLLM ) * osc_config.PLL.PLLN) /
// (osc_config.PLL.PLLQ * clk_init.AHBCLKDivider * clk_init.APB1CLKDivider);
can_kern_clk = HAL_RCC_GetPCLK1Freq();
#endif
return can_kern_clk;
}
STATIC void pyb_can_get_bit_timing(mp_uint_t baudrate, mp_uint_t sample_point,
uint32_t max_brp, uint32_t max_bs1, uint32_t max_bs2, uint32_t min_tseg,
mp_int_t *bs1_out, mp_int_t *bs2_out, mp_int_t *prescaler_out) {
uint32_t can_kern_clk = pyb_can_get_source_freq();
// Calculate CAN bit timing.
for (uint32_t brp = 1; brp < max_brp; brp++) {
for (uint32_t bs1 = min_tseg; bs1 < max_bs1; bs1++) {
for (uint32_t bs2 = min_tseg; bs2 < max_bs2; bs2++) {
if ((baudrate == (can_kern_clk / (brp * (1 + bs1 + bs2)))) &&
((sample_point * 10) == (((1 + bs1) * 1000) / (1 + bs1 + bs2)))) {
*bs1_out = bs1;
*bs2_out = bs2;
*prescaler_out = brp;
return;
}
}
}
}
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("couldn't match baudrate and sample point"));
}
// 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) {
enum { ARG_mode, ARG_prescaler, ARG_sjw, ARG_bs1, ARG_bs2, ARG_auto_restart, ARG_baudrate, ARG_sample_point,
ARG_num_filter_banks, 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[] = {
{ MP_QSTR_mode, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = CAN_MODE_NORMAL} },
{ 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_bs1, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = CAN_DEFAULT_BS1} },
{ MP_QSTR_bs2, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = CAN_DEFAULT_BS2} },
{ MP_QSTR_auto_restart, MP_ARG_KW_ONLY | MP_ARG_BOOL, {.u_bool = false} },
{ MP_QSTR_baudrate, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} },
{ MP_QSTR_sample_point, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 75} }, // 75% sampling point
{ MP_QSTR_num_filter_banks, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 14} },
#if MICROPY_HW_ENABLE_FDCAN
{ MP_QSTR_brs_prescaler, MP_ARG_INT, {.u_int = CAN_DEFAULT_PRESCALER} },
{ MP_QSTR_brs_sjw, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = CAN_DEFAULT_SJW} },
{ MP_QSTR_brs_bs1, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = CAN_DEFAULT_BS1} },
{ MP_QSTR_brs_bs2, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = CAN_DEFAULT_BS2} },
{ MP_QSTR_brs_baudrate, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} },
{ MP_QSTR_brs_sample_point, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} }
#endif
};
// parse 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);
// set the CAN configuration values
memset(&self->can, 0, sizeof(self->can));
// Calculate CAN nominal bit timing from baudrate if provided
if (args[ARG_baudrate].u_int != 0) {
pyb_can_get_bit_timing(args[ARG_baudrate].u_int, args[ARG_sample_point].u_int,
CAN_MAXIMUM_NBRP, CAN_MAXIMUM_NBS1, CAN_MAXIMUM_NBS2, CAN_MINIMUM_TSEG,
&args[ARG_bs1].u_int, &args[ARG_bs2].u_int, &args[ARG_prescaler].u_int);
}
#if MICROPY_HW_ENABLE_FDCAN
// If no sample point is provided for data bit timing, use the nominal sample point.
if (args[ARG_brs_sample_point].u_int == 0) {
args[ARG_brs_sample_point].u_int = args[ARG_sample_point].u_int;
}
// Calculate CAN data bit timing from baudrate if provided
if (args[ARG_brs_baudrate].u_int != 0) {
pyb_can_get_bit_timing(args[ARG_brs_baudrate].u_int, args[ARG_brs_sample_point].u_int,
CAN_MAXIMUM_DBRP, CAN_MAXIMUM_DBS1, CAN_MAXIMUM_DBS2, 1,
&args[ARG_brs_bs1].u_int, &args[ARG_brs_bs2].u_int, &args[ARG_brs_prescaler].u_int);
}
// Set BRS bit timings.
self->can.Init.DataPrescaler = args[ARG_brs_prescaler].u_int;
self->can.Init.DataSyncJumpWidth = args[ARG_brs_sjw].u_int;
self->can.Init.DataTimeSeg1 = args[ARG_bs1].u_int; // DataTimeSeg1 = Propagation_segment + Phase_segment_1
self->can.Init.DataTimeSeg2 = args[ARG_bs2].u_int;
#else
// Init filter banks for classic CAN.
can2_start_bank = args[ARG_num_filter_banks].u_int;
for (int f = 0; f < CAN_MAX_FILTER; f++) {
can_clearfilter(self, f, can2_start_bank);
}
#endif
if (!can_init(self, args[ARG_mode].u_int, args[ARG_prescaler].u_int, args[ARG_sjw].u_int,
args[ARG_bs1].u_int, args[ARG_bs2].u_int, args[ARG_auto_restart].u_bool)) {
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("CAN(%d) init failure"), self->can_id);
}
return mp_const_none;
}
// CAN(bus, ...)
STATIC mp_obj_t pyb_can_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *args) {
// check arguments
mp_arg_check_num(n_args, n_kw, 1, MP_OBJ_FUN_ARGS_MAX, true);
// work out port
mp_uint_t can_idx;
if (mp_obj_is_str(args[0])) {
const char *port = mp_obj_str_get_str(args[0]);
if (0) {
#ifdef MICROPY_HW_CAN1_NAME
} else if (strcmp(port, MICROPY_HW_CAN1_NAME) == 0) {
can_idx = PYB_CAN_1;
#endif
#ifdef MICROPY_HW_CAN2_NAME
} else if (strcmp(port, MICROPY_HW_CAN2_NAME) == 0) {
can_idx = PYB_CAN_2;
#endif
#ifdef MICROPY_HW_CAN3_NAME
} else if (strcmp(port, MICROPY_HW_CAN3_NAME) == 0) {
can_idx = PYB_CAN_3;
#endif
} else {
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("CAN(%s) doesn't exist"), port);
}
} else {
can_idx = mp_obj_get_int(args[0]);
}
if (can_idx < 1 || can_idx > MP_ARRAY_SIZE(MP_STATE_PORT(pyb_can_obj_all))) {
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("CAN(%d) doesn't exist"), can_idx);
}
// check if the CAN is reserved for system use or not
if (MICROPY_HW_CAN_IS_RESERVED(can_idx)) {
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("CAN(%d) is reserved"), can_idx);
}
pyb_can_obj_t *self;
if (MP_STATE_PORT(pyb_can_obj_all)[can_idx - 1] == NULL) {
self = m_new_obj(pyb_can_obj_t);
self->base.type = &pyb_can_type;
self->can_id = can_idx;
self->is_enabled = false;
MP_STATE_PORT(pyb_can_obj_all)[can_idx - 1] = self;
} else {
self = MP_STATE_PORT(pyb_can_obj_all)[can_idx - 1];
}
if (!self->is_enabled || n_args > 1) {
if (self->is_enabled) {
// The caller is requesting a reconfiguration of the hardware
// this can only be done if the hardware is in init mode
can_deinit(self);
}
self->rxcallback0 = mp_const_none;
self->rxcallback1 = mp_const_none;
self->rx_state0 = RX_STATE_FIFO_EMPTY;
self->rx_state1 = RX_STATE_FIFO_EMPTY;
if (n_args > 1 || n_kw > 0) {
// start the peripheral
mp_map_t kw_args;
mp_map_init_fixed_table(&kw_args, n_kw, args + n_args);
pyb_can_init_helper(self, n_args - 1, args + 1, &kw_args);
}
}
return MP_OBJ_FROM_PTR(self);
}
STATIC mp_obj_t pyb_can_init(size_t n_args, const mp_obj_t *args, mp_map_t *kw_args) {
return pyb_can_init_helper(MP_OBJ_TO_PTR(args[0]), n_args - 1, args + 1, kw_args);
}
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_can_init_obj, 1, pyb_can_init);
// deinit()
STATIC mp_obj_t pyb_can_deinit(mp_obj_t self_in) {
pyb_can_obj_t *self = MP_OBJ_TO_PTR(self_in);
can_deinit(self);
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_can_deinit_obj, pyb_can_deinit);
// Force a software restart of the controller, to allow transmission after a bus error
STATIC mp_obj_t pyb_can_restart(mp_obj_t self_in) {
pyb_can_obj_t *self = MP_OBJ_TO_PTR(self_in);
if (!self->is_enabled) {
mp_raise_ValueError(NULL);
}
CAN_TypeDef *can = self->can.Instance;
#if MICROPY_HW_ENABLE_FDCAN
can->CCCR |= FDCAN_CCCR_INIT;
while ((can->CCCR & FDCAN_CCCR_INIT) == 0) {
}
can->CCCR |= FDCAN_CCCR_CCE;
while ((can->CCCR & FDCAN_CCCR_CCE) == 0) {
}
can->CCCR &= ~FDCAN_CCCR_INIT;
while ((can->CCCR & FDCAN_CCCR_INIT)) {
}
#else
can->MCR |= CAN_MCR_INRQ;
while ((can->MSR & CAN_MSR_INAK) == 0) {
}
can->MCR &= ~CAN_MCR_INRQ;
while ((can->MSR & CAN_MSR_INAK)) {
}
#endif
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_can_restart_obj, pyb_can_restart);
// Get the state of the controller
STATIC mp_obj_t pyb_can_state(mp_obj_t self_in) {
pyb_can_obj_t *self = MP_OBJ_TO_PTR(self_in);
mp_int_t state = CAN_STATE_STOPPED;
if (self->is_enabled) {
CAN_TypeDef *can = self->can.Instance;
#if MICROPY_HW_ENABLE_FDCAN
uint32_t psr = can->PSR;
if (psr & FDCAN_PSR_BO) {
state = CAN_STATE_BUS_OFF;
} else if (psr & FDCAN_PSR_EP) {
state = CAN_STATE_ERROR_PASSIVE;
} else if (psr & FDCAN_PSR_EW) {
state = CAN_STATE_ERROR_WARNING;
} else {
state = CAN_STATE_ERROR_ACTIVE;
}
#else
if (can->ESR & CAN_ESR_BOFF) {
state = CAN_STATE_BUS_OFF;
} else if (can->ESR & CAN_ESR_EPVF) {
state = CAN_STATE_ERROR_PASSIVE;
} else if (can->ESR & CAN_ESR_EWGF) {
state = CAN_STATE_ERROR_WARNING;
} else {
state = CAN_STATE_ERROR_ACTIVE;
}
#endif
}
return MP_OBJ_NEW_SMALL_INT(state);
}
STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_can_state_obj, pyb_can_state);
// Get info about error states and TX/RX buffers
STATIC mp_obj_t pyb_can_info(size_t n_args, const mp_obj_t *args) {
pyb_can_obj_t *self = MP_OBJ_TO_PTR(args[0]);
mp_obj_list_t *list;
if (n_args == 1) {
list = MP_OBJ_TO_PTR(mp_obj_new_list(8, NULL));
} else {
if (!mp_obj_is_type(args[1], &mp_type_list)) {
mp_raise_TypeError(NULL);
}
list = MP_OBJ_TO_PTR(args[1]);
if (list->len < 8) {
mp_raise_ValueError(NULL);
}
}
#if MICROPY_HW_ENABLE_FDCAN
FDCAN_GlobalTypeDef *can = self->can.Instance;
uint32_t esr = can->ECR;
list->items[0] = MP_OBJ_NEW_SMALL_INT((esr & FDCAN_ECR_TEC_Msk) >> FDCAN_ECR_TEC_Pos);
list->items[1] = MP_OBJ_NEW_SMALL_INT((esr & FDCAN_ECR_REC_Msk) >> FDCAN_ECR_REC_Pos);
list->items[2] = MP_OBJ_NEW_SMALL_INT(self->num_error_warning);
list->items[3] = MP_OBJ_NEW_SMALL_INT(self->num_error_passive);
list->items[4] = MP_OBJ_NEW_SMALL_INT(self->num_bus_off);
uint32_t TXEFS = can->TXEFS;
list->items[5] = MP_OBJ_NEW_SMALL_INT(TXEFS & 0x7);
list->items[6] = MP_OBJ_NEW_SMALL_INT((can->RXF0S & FDCAN_RXF0S_F0FL_Msk) >> FDCAN_RXF0S_F0FL_Pos);
list->items[7] = MP_OBJ_NEW_SMALL_INT((can->RXF1S & FDCAN_RXF1S_F1FL_Msk) >> FDCAN_RXF1S_F1FL_Pos);
#else
CAN_TypeDef *can = self->can.Instance;
uint32_t esr = can->ESR;
list->items[0] = MP_OBJ_NEW_SMALL_INT(esr >> CAN_ESR_TEC_Pos & 0xff);
list->items[1] = MP_OBJ_NEW_SMALL_INT(esr >> CAN_ESR_REC_Pos & 0xff);
list->items[2] = MP_OBJ_NEW_SMALL_INT(self->num_error_warning);
list->items[3] = MP_OBJ_NEW_SMALL_INT(self->num_error_passive);
list->items[4] = MP_OBJ_NEW_SMALL_INT(self->num_bus_off);
int n_tx_pending = 0x01121223 >> ((can->TSR >> CAN_TSR_TME_Pos & 7) << 2) & 0xf;
list->items[5] = MP_OBJ_NEW_SMALL_INT(n_tx_pending);
list->items[6] = MP_OBJ_NEW_SMALL_INT(can->RF0R >> CAN_RF0R_FMP0_Pos & 3);
list->items[7] = MP_OBJ_NEW_SMALL_INT(can->RF1R >> CAN_RF1R_FMP1_Pos & 3);
#endif
return MP_OBJ_FROM_PTR(list);
}
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_can_info_obj, 1, 2, pyb_can_info);
// any(fifo) - return `True` if any message waiting on the FIFO, else `False`
STATIC mp_obj_t pyb_can_any(mp_obj_t self_in, mp_obj_t fifo_in) {
pyb_can_obj_t *self = MP_OBJ_TO_PTR(self_in);
mp_int_t fifo = mp_obj_get_int(fifo_in);
if (fifo == 0) {
if (__HAL_CAN_MSG_PENDING(&self->can, CAN_FIFO0) != 0) {
return mp_const_true;
}
} else {
if (__HAL_CAN_MSG_PENDING(&self->can, CAN_FIFO1) != 0) {
return mp_const_true;
}
}
return mp_const_false;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_2(pyb_can_any_obj, pyb_can_any);
// 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) {
enum { ARG_data, ARG_id, ARG_timeout, ARG_rtr, ARG_extframe, ARG_fdf, ARG_brs };
static const mp_arg_t allowed_args[] = {
{ 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_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_extframe, MP_ARG_BOOL, {.u_bool = false} },
#if MICROPY_HW_ENABLE_FDCAN
{ 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} },
#endif
};
// parse args
pyb_can_obj_t *self = MP_OBJ_TO_PTR(pos_args[0]);
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
// get the buffer to send from
mp_buffer_info_t bufinfo;
uint8_t data[1];
pyb_buf_get_for_send(args[ARG_data].u_obj, &bufinfo, data);
if (bufinfo.len > CAN_MAX_DATA_FRAME) {
mp_raise_ValueError(MP_ERROR_TEXT("CAN data field too long"));
}
// send the data
CanTxMsgTypeDef tx_msg;
#if MICROPY_HW_ENABLE_FDCAN
uint8_t tx_data[CAN_MAX_DATA_FRAME];
memset(tx_data, 0, sizeof(tx_data));
tx_msg.MessageMarker = 0;
tx_msg.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
tx_msg.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
if (args[ARG_extframe].u_bool == true) {
tx_msg.Identifier = args[ARG_id].u_int & 0x1FFFFFFF;
tx_msg.IdType = FDCAN_EXTENDED_ID;
} else {
tx_msg.Identifier = args[ARG_id].u_int & 0x7FF;
tx_msg.IdType = FDCAN_STANDARD_ID;
}
if (args[ARG_rtr].u_bool == false) {
tx_msg.TxFrameType = FDCAN_DATA_FRAME;
} else {
tx_msg.TxFrameType = FDCAN_REMOTE_FRAME;
}
if (args[ARG_fdf].u_bool == false) {
tx_msg.FDFormat = FDCAN_CLASSIC_CAN;
} else {
tx_msg.FDFormat = FDCAN_FD_CAN;
}
if (args[ARG_brs].u_bool == false) {
tx_msg.BitRateSwitch = FDCAN_BRS_OFF;
} else {
tx_msg.BitRateSwitch = FDCAN_BRS_ON;
}
// Roundup DataLength to next DLC size and encode to DLC.
for (mp_uint_t i = 0; i < MP_ARRAY_SIZE(DLCtoBytes); i++) {
if (bufinfo.len <= DLCtoBytes[i]) {
tx_msg.DataLength = (i << 16);
break;
}
}
#else
tx_msg.DLC = bufinfo.len;
uint8_t *tx_data = tx_msg.Data; // Data is uint32_t but holds only 1 byte
if (args[ARG_extframe].u_bool == true) {
tx_msg.ExtId = args[ARG_id].u_int & 0x1FFFFFFF;
tx_msg.IDE = CAN_ID_EXT;
} else {
tx_msg.StdId = args[ARG_id].u_int & 0x7FF;
tx_msg.IDE = CAN_ID_STD;
}
if (args[ARG_rtr].u_bool == false) {
tx_msg.RTR = CAN_RTR_DATA;
} else {
tx_msg.RTR = CAN_RTR_REMOTE;
}
#endif
for (mp_uint_t i = 0; i < bufinfo.len; i++) {
tx_data[i] = ((byte *)bufinfo.buf)[i];
}
HAL_StatusTypeDef status;
#if MICROPY_HW_ENABLE_FDCAN
uint32_t timeout_ms = args[ARG_timeout].u_int;
uint32_t start = HAL_GetTick();
while (HAL_FDCAN_GetTxFifoFreeLevel(&self->can) == 0) {
if (timeout_ms == 0) {
mp_raise_OSError(MP_ETIMEDOUT);
}
// Check for the Timeout
if (timeout_ms != HAL_MAX_DELAY) {
if (HAL_GetTick() - start >= timeout_ms) {
mp_raise_OSError(MP_ETIMEDOUT);
}
}
MICROPY_EVENT_POLL_HOOK
}
status = HAL_FDCAN_AddMessageToTxFifoQ(&self->can, &tx_msg, tx_data);
#else
self->can.pTxMsg = &tx_msg;
status = CAN_Transmit(&self->can, args[ARG_timeout].u_int);
#endif
if (status != HAL_OK) {
mp_hal_raise(status);
}
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_can_send_obj, 1, pyb_can_send);
// recv(fifo, list=None, *, timeout=5000)
STATIC mp_obj_t pyb_can_recv(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
enum { ARG_fifo, ARG_list, ARG_timeout };
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_fifo, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = 0} },
{ MP_QSTR_list, MP_ARG_OBJ, {.u_rom_obj = MP_ROM_NONE} },
{ MP_QSTR_timeout, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 5000} },
};
// parse args
pyb_can_obj_t *self = MP_OBJ_TO_PTR(pos_args[0]);
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
// receive the data
CanRxMsgTypeDef rx_msg;
#if MICROPY_HW_ENABLE_FDCAN
uint8_t rx_data[CAN_MAX_DATA_FRAME];
#else
uint8_t *rx_data = rx_msg.Data;
#endif
mp_uint_t fifo = args[ARG_fifo].u_int;
if (fifo == 0) {
fifo = CAN_FIFO0;
} else if (fifo == 1) {
fifo = CAN_FIFO1;
} else {
mp_raise_TypeError(NULL);
}
int ret = can_receive(&self->can, fifo, &rx_msg, rx_data, args[ARG_timeout].u_int);
if (ret < 0) {
mp_raise_OSError(-ret);
}
#if MICROPY_HW_ENABLE_FDCAN
uint32_t rx_dlc = rx_msg.DataLength;
#else
uint32_t rx_dlc = rx_msg.DLC;
#endif
// Manage the rx state machine
if ((fifo == CAN_FIFO0 && self->rxcallback0 != mp_const_none) ||
(fifo == CAN_FIFO1 && self->rxcallback1 != mp_const_none)) {
byte *state = (fifo == CAN_FIFO0) ? &self->rx_state0 : &self->rx_state1;
switch (*state) {
case RX_STATE_FIFO_EMPTY:
break;
case RX_STATE_MESSAGE_PENDING:
if (__HAL_CAN_MSG_PENDING(&self->can, fifo) == 0) {
// Fifo is empty
__HAL_CAN_ENABLE_IT(&self->can, (fifo == CAN_FIFO0) ? CAN_IT_FIFO0_PENDING : CAN_IT_FIFO1_PENDING);
*state = RX_STATE_FIFO_EMPTY;
}
break;
case RX_STATE_FIFO_FULL:
__HAL_CAN_ENABLE_IT(&self->can, (fifo == CAN_FIFO0) ? CAN_IT_FIFO0_FULL : CAN_IT_FIFO1_FULL);
*state = RX_STATE_MESSAGE_PENDING;
break;
case RX_STATE_FIFO_OVERFLOW:
__HAL_CAN_ENABLE_IT(&self->can, (fifo == CAN_FIFO0) ? CAN_IT_FIFO0_OVRF : CAN_IT_FIFO1_OVRF);
__HAL_CAN_ENABLE_IT(&self->can, (fifo == CAN_FIFO0) ? CAN_IT_FIFO0_FULL : CAN_IT_FIFO1_FULL);
*state = RX_STATE_MESSAGE_PENDING;
break;
}
}
// Create the tuple, or get the list, that will hold the return values
// Also populate the fifth element, either a new bytes or reuse existing memoryview
mp_obj_t ret_obj = args[ARG_list].u_obj;
mp_obj_t *items;
if (ret_obj == mp_const_none) {
ret_obj = mp_obj_new_tuple(5, NULL);
items = ((mp_obj_tuple_t *)MP_OBJ_TO_PTR(ret_obj))->items;
items[4] = mp_obj_new_bytes(rx_data, rx_dlc);
} else {
// User should provide a list of length at least 5 to hold the values
if (!mp_obj_is_type(ret_obj, &mp_type_list)) {
mp_raise_TypeError(NULL);
}
mp_obj_list_t *list = MP_OBJ_TO_PTR(ret_obj);
if (list->len < 5) {
mp_raise_ValueError(NULL);
}
items = list->items;
// Fifth element must be a memoryview which we assume points to a
// byte-like array which is large enough, and then we resize it inplace
if (!mp_obj_is_type(items[4], &mp_type_memoryview)) {
mp_raise_TypeError(NULL);
}
mp_obj_array_t *mv = MP_OBJ_TO_PTR(items[4]);
if (!(mv->typecode == (MP_OBJ_ARRAY_TYPECODE_FLAG_RW | BYTEARRAY_TYPECODE)
|| (mv->typecode | 0x20) == (MP_OBJ_ARRAY_TYPECODE_FLAG_RW | 'b'))) {
mp_raise_ValueError(NULL);
}
mv->len = rx_dlc;
memcpy(mv->items, rx_data, rx_dlc);
}
// Populate the first 4 values of the tuple/list
#if MICROPY_HW_ENABLE_FDCAN
items[0] = MP_OBJ_NEW_SMALL_INT(rx_msg.Identifier);
items[1] = mp_obj_new_bool(rx_msg.IdType == FDCAN_EXTENDED_ID);
items[2] = rx_msg.RxFrameType == FDCAN_REMOTE_FRAME ? mp_const_true : mp_const_false;
items[3] = MP_OBJ_NEW_SMALL_INT(rx_msg.FilterIndex);
#else
items[0] = MP_OBJ_NEW_SMALL_INT((rx_msg.IDE == CAN_ID_STD ? rx_msg.StdId : rx_msg.ExtId));
items[1] = mp_obj_new_bool(rx_msg.IDE == CAN_ID_EXT);
items[2] = rx_msg.RTR == CAN_RTR_REMOTE ? mp_const_true : mp_const_false;
items[3] = MP_OBJ_NEW_SMALL_INT(rx_msg.FMI);
#endif
// Return the result
return ret_obj;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_can_recv_obj, 1, pyb_can_recv);
STATIC mp_obj_t pyb_can_clearfilter(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
enum { ARG_extframe };
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
can_clearfilter(self, f, args[ARG_extframe].u_bool);
#else
if (self->can_id == 2) {
f += can2_start_bank;
}
can_clearfilter(self, f, can2_start_bank);
#endif
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_can_clearfilter_obj, 2, pyb_can_clearfilter);
// setfilter(bank, mode, fifo, params, *, rtr)
#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) {
enum { ARG_bank, ARG_mode, ARG_fifo, ARG_params, ARG_rtr, ARG_extframe };
static const mp_arg_t allowed_args[] = {
{ 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_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_rtr, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} },
{ MP_QSTR_extframe, MP_ARG_BOOL, {.u_bool = false} },
};
// parse args
pyb_can_obj_t *self = MP_OBJ_TO_PTR(pos_args[0]);
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
#if MICROPY_HW_ENABLE_FDCAN
FDCAN_FilterTypeDef filter = {0};
if (args[ARG_extframe].u_bool == true) {
filter.IdType = FDCAN_EXTENDED_ID;
} else {
filter.IdType = FDCAN_STANDARD_ID;
}
filter.FilterIndex = args[ARG_bank].u_int;
// Check filter index.
if ((filter.IdType == FDCAN_STANDARD_ID && filter.FilterIndex >= self->can.Init.StdFiltersNbr) ||
(filter.IdType == FDCAN_EXTENDED_ID && filter.FilterIndex >= self->can.Init.ExtFiltersNbr)) {
goto error;
}
// Check filter mode
if (((args[ARG_mode].u_int != FDCAN_FILTER_RANGE) &&
(args[ARG_mode].u_int != FDCAN_FILTER_DUAL) &&
(args[ARG_mode].u_int != FDCAN_FILTER_MASK))) {
goto error;
}
// Check FIFO index.
if (args[ARG_fifo].u_int == 0) {
filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
} else if (args[ARG_fifo].u_int == 1) {
filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO1;
} else {
goto error;
}
size_t len;
mp_obj_t *params;
mp_obj_get_array(args[ARG_params].u_obj, &len, &params);
if (len != 2) { // Check params len
goto error;
}
filter.FilterID1 = mp_obj_get_int(params[0]);
filter.FilterID2 = mp_obj_get_int(params[1]);
filter.FilterType = args[ARG_mode].u_int;
HAL_FDCAN_ConfigFilter(&self->can, &filter);
#else
size_t len;
size_t rtr_len;
mp_uint_t rtr_masks[4] = {0, 0, 0, 0};
mp_obj_t *rtr_flags;
mp_obj_t *params;
mp_obj_get_array(args[ARG_params].u_obj, &len, &params);
if (args[ARG_rtr].u_obj != MP_OBJ_NULL) {
mp_obj_get_array(args[ARG_rtr].u_obj, &rtr_len, &rtr_flags);
}
CAN_FilterConfTypeDef filter;
if (args[ARG_mode].u_int == MASK16 || args[ARG_mode].u_int == LIST16) {
if (len != 4) {
goto error;
}
filter.FilterScale = CAN_FILTERSCALE_16BIT;
if (args[ARG_extframe].u_bool == true) {
if (args[ARG_rtr].u_obj != MP_OBJ_NULL) {
if (args[ARG_mode].u_int == MASK16) {
rtr_masks[0] = mp_obj_get_int(rtr_flags[0]) ? 0x02 : 0;
rtr_masks[1] = 0x02;
rtr_masks[2] = mp_obj_get_int(rtr_flags[1]) ? 0x02 : 0;
rtr_masks[3] = 0x02;
} else { // LIST16
rtr_masks[0] = mp_obj_get_int(rtr_flags[0]) ? 0x02 : 0;
rtr_masks[1] = mp_obj_get_int(rtr_flags[1]) ? 0x02 : 0;
rtr_masks[2] = mp_obj_get_int(rtr_flags[2]) ? 0x02 : 0;
rtr_masks[3] = mp_obj_get_int(rtr_flags[3]) ? 0x02 : 0;
}
}
filter.FilterIdLow = EXTENDED_ID_TO_16BIT_FILTER(mp_obj_get_int(params[0])) | rtr_masks[0]; // id1
filter.FilterMaskIdLow = EXTENDED_ID_TO_16BIT_FILTER(mp_obj_get_int(params[1])) | rtr_masks[1]; // mask1
filter.FilterIdHigh = EXTENDED_ID_TO_16BIT_FILTER(mp_obj_get_int(params[2])) | rtr_masks[2]; // id2
filter.FilterMaskIdHigh = EXTENDED_ID_TO_16BIT_FILTER(mp_obj_get_int(params[3])) | rtr_masks[3]; // mask2
} else { // Basic frames
if (args[ARG_rtr].u_obj != MP_OBJ_NULL) {
if (args[ARG_mode].u_int == MASK16) {
rtr_masks[0] = mp_obj_get_int(rtr_flags[0]) ? 0x10 : 0;
rtr_masks[1] = 0x10;
rtr_masks[2] = mp_obj_get_int(rtr_flags[1]) ? 0x10 : 0;
rtr_masks[3] = 0x10;
} else { // LIST16
rtr_masks[0] = mp_obj_get_int(rtr_flags[0]) ? 0x10 : 0;
rtr_masks[1] = mp_obj_get_int(rtr_flags[1]) ? 0x10 : 0;
rtr_masks[2] = mp_obj_get_int(rtr_flags[2]) ? 0x10 : 0;
rtr_masks[3] = mp_obj_get_int(rtr_flags[3]) ? 0x10 : 0;
}
}
filter.FilterIdLow = (mp_obj_get_int(params[0]) << 5) | rtr_masks[0]; // id1
filter.FilterMaskIdLow = (mp_obj_get_int(params[1]) << 5) | rtr_masks[1]; // mask1
filter.FilterIdHigh = (mp_obj_get_int(params[2]) << 5) | rtr_masks[2]; // id2
filter.FilterMaskIdHigh = (mp_obj_get_int(params[3]) << 5) | rtr_masks[3]; // mask2
}
if (args[ARG_mode].u_int == MASK16) {
filter.FilterMode = CAN_FILTERMODE_IDMASK;
}
if (args[ARG_mode].u_int == LIST16) {
filter.FilterMode = CAN_FILTERMODE_IDLIST;
}
} else if (args[ARG_mode].u_int == MASK32 || args[ARG_mode].u_int == LIST32) {
if (len != 2) {
goto error;
}
filter.FilterScale = CAN_FILTERSCALE_32BIT;
if (args[ARG_rtr].u_obj != MP_OBJ_NULL) {
if (args[ARG_mode].u_int == MASK32) {
rtr_masks[0] = mp_obj_get_int(rtr_flags[0]) ? 0x02 : 0;
rtr_masks[1] = 0x02;
} else { // LIST32
rtr_masks[0] = mp_obj_get_int(rtr_flags[0]) ? 0x02 : 0;
rtr_masks[1] = mp_obj_get_int(rtr_flags[1]) ? 0x02 : 0;
}
}
filter.FilterIdHigh = (mp_obj_get_int(params[0]) & 0x1FFFE000) >> 13;
filter.FilterIdLow = (((mp_obj_get_int(params[0]) & 0x00001FFF) << 3) | 4) | rtr_masks[0];
filter.FilterMaskIdHigh = (mp_obj_get_int(params[1]) & 0x1FFFE000) >> 13;
filter.FilterMaskIdLow = (((mp_obj_get_int(params[1]) & 0x00001FFF) << 3) | 4) | rtr_masks[1];
if (args[ARG_mode].u_int == MASK32) {
filter.FilterMode = CAN_FILTERMODE_IDMASK;
}
if (args[ARG_mode].u_int == LIST32) {
filter.FilterMode = CAN_FILTERMODE_IDLIST;
}
} else {
goto error;
}
filter.FilterFIFOAssignment = args[ARG_fifo].u_int;
filter.FilterNumber = args[ARG_bank].u_int;
if (self->can_id == 1) {
if (filter.FilterNumber >= can2_start_bank) {
goto error;
}
} else if (self->can_id == 2) {
filter.FilterNumber = filter.FilterNumber + can2_start_bank;
if (filter.FilterNumber > 27) {
goto error;
}
} else {
if (filter.FilterNumber > 13) { // CAN3 is independant and has its own 14 filters.
goto error;
}
}
filter.FilterActivation = ENABLE;
filter.BankNumber = can2_start_bank;
HAL_CAN_ConfigFilter(&self->can, &filter);
#endif
return mp_const_none;
error:
mp_raise_ValueError(MP_ERROR_TEXT("CAN filter parameter error"));
}
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_can_setfilter_obj, 1, pyb_can_setfilter);
STATIC mp_obj_t pyb_can_rxcallback(mp_obj_t self_in, mp_obj_t fifo_in, mp_obj_t callback_in) {
pyb_can_obj_t *self = MP_OBJ_TO_PTR(self_in);
mp_int_t fifo = mp_obj_get_int(fifo_in);
mp_obj_t *callback;
callback = (fifo == 0) ? &self->rxcallback0 : &self->rxcallback1;
if (callback_in == mp_const_none) {
__HAL_CAN_DISABLE_IT(&self->can, (fifo == 0) ? CAN_IT_FIFO0_PENDING : CAN_IT_FIFO1_PENDING);
__HAL_CAN_DISABLE_IT(&self->can, (fifo == 0) ? CAN_IT_FIFO0_FULL : CAN_IT_FIFO1_FULL);
__HAL_CAN_DISABLE_IT(&self->can, (fifo == 0) ? CAN_IT_FIFO0_OVRF : CAN_IT_FIFO1_OVRF);
__HAL_CAN_CLEAR_FLAG(&self->can, (fifo == CAN_FIFO0) ? CAN_FLAG_FIFO0_FULL : CAN_FLAG_FIFO1_FULL);
__HAL_CAN_CLEAR_FLAG(&self->can, (fifo == CAN_FIFO0) ? CAN_FLAG_FIFO0_OVRF : CAN_FLAG_FIFO1_OVRF);
*callback = mp_const_none;
} else if (*callback != mp_const_none) {
// Rx call backs has already been initialized
// only the callback function should be changed
*callback = callback_in;
} else if (mp_obj_is_callable(callback_in)) {
*callback = callback_in;
uint32_t irq = 0;
if (self->can_id == PYB_CAN_1) {
irq = (fifo == 0) ? CAN1_RX0_IRQn : CAN1_RX1_IRQn;
#if defined(CAN2)
} else if (self->can_id == PYB_CAN_2) {
irq = (fifo == 0) ? CAN2_RX0_IRQn : CAN2_RX1_IRQn;
#endif
#if defined(CAN3)
} else {
irq = (fifo == 0) ? CAN3_RX0_IRQn : CAN3_RX1_IRQn;
#endif
}
NVIC_SetPriority(irq, IRQ_PRI_CAN);
HAL_NVIC_EnableIRQ(irq);
__HAL_CAN_ENABLE_IT(&self->can, (fifo == 0) ? CAN_IT_FIFO0_PENDING : CAN_IT_FIFO1_PENDING);
__HAL_CAN_ENABLE_IT(&self->can, (fifo == 0) ? CAN_IT_FIFO0_FULL : CAN_IT_FIFO1_FULL);
__HAL_CAN_ENABLE_IT(&self->can, (fifo == 0) ? CAN_IT_FIFO0_OVRF : CAN_IT_FIFO1_OVRF);
}
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_3(pyb_can_rxcallback_obj, pyb_can_rxcallback);
STATIC const mp_rom_map_elem_t pyb_can_locals_dict_table[] = {
// instance methods
{ MP_ROM_QSTR(MP_QSTR_init), MP_ROM_PTR(&pyb_can_init_obj) },
{ MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&pyb_can_deinit_obj) },
{ MP_ROM_QSTR(MP_QSTR_restart), MP_ROM_PTR(&pyb_can_restart_obj) },
{ MP_ROM_QSTR(MP_QSTR_state), MP_ROM_PTR(&pyb_can_state_obj) },
{ MP_ROM_QSTR(MP_QSTR_info), MP_ROM_PTR(&pyb_can_info_obj) },
{ MP_ROM_QSTR(MP_QSTR_any), MP_ROM_PTR(&pyb_can_any_obj) },
{ MP_ROM_QSTR(MP_QSTR_send), MP_ROM_PTR(&pyb_can_send_obj) },
{ MP_ROM_QSTR(MP_QSTR_recv), MP_ROM_PTR(&pyb_can_recv_obj) },
{ MP_ROM_QSTR(MP_QSTR_setfilter), MP_ROM_PTR(&pyb_can_setfilter_obj) },
{ MP_ROM_QSTR(MP_QSTR_clearfilter), MP_ROM_PTR(&pyb_can_clearfilter_obj) },
{ MP_ROM_QSTR(MP_QSTR_rxcallback), MP_ROM_PTR(&pyb_can_rxcallback_obj) },
#if MICROPY_HW_ENABLE_FDCAN
{ MP_ROM_QSTR(MP_QSTR_NORMAL), MP_ROM_INT(CAN_MODE_NORMAL) },
{ MP_ROM_QSTR(MP_QSTR_LOOPBACK), MP_ROM_INT(CAN_MODE_LOOPBACK) },
{ MP_ROM_QSTR(MP_QSTR_SILENT), MP_ROM_INT(CAN_MODE_SILENT) },
{ MP_ROM_QSTR(MP_QSTR_SILENT_LOOPBACK), MP_ROM_INT(CAN_MODE_SILENT_LOOPBACK) },
{ MP_ROM_QSTR(MP_QSTR_RANGE), MP_ROM_INT(FDCAN_FILTER_RANGE) },
{ MP_ROM_QSTR(MP_QSTR_DUAL), MP_ROM_INT(FDCAN_FILTER_DUAL) },
{ MP_ROM_QSTR(MP_QSTR_MASK), MP_ROM_INT(FDCAN_FILTER_MASK) },
#else
// class constants
// Note: we use the ST constants >> 4 so they fit in a small-int. The
// right-shift is undone when the constants are used in the init function.
{ MP_ROM_QSTR(MP_QSTR_NORMAL), MP_ROM_INT(CAN_MODE_NORMAL >> 4) },
{ MP_ROM_QSTR(MP_QSTR_LOOPBACK), MP_ROM_INT(CAN_MODE_LOOPBACK >> 4) },
{ MP_ROM_QSTR(MP_QSTR_SILENT), MP_ROM_INT(CAN_MODE_SILENT >> 4) },
{ MP_ROM_QSTR(MP_QSTR_SILENT_LOOPBACK), MP_ROM_INT(CAN_MODE_SILENT_LOOPBACK >> 4) },
{ MP_ROM_QSTR(MP_QSTR_MASK16), MP_ROM_INT(MASK16) },
{ MP_ROM_QSTR(MP_QSTR_LIST16), MP_ROM_INT(LIST16) },
{ MP_ROM_QSTR(MP_QSTR_MASK32), MP_ROM_INT(MASK32) },
{ MP_ROM_QSTR(MP_QSTR_LIST32), MP_ROM_INT(LIST32) },
#endif
// values for CAN.state()
{ MP_ROM_QSTR(MP_QSTR_STOPPED), MP_ROM_INT(CAN_STATE_STOPPED) },
{ MP_ROM_QSTR(MP_QSTR_ERROR_ACTIVE), MP_ROM_INT(CAN_STATE_ERROR_ACTIVE) },
{ MP_ROM_QSTR(MP_QSTR_ERROR_WARNING), MP_ROM_INT(CAN_STATE_ERROR_WARNING) },
{ MP_ROM_QSTR(MP_QSTR_ERROR_PASSIVE), MP_ROM_INT(CAN_STATE_ERROR_PASSIVE) },
{ MP_ROM_QSTR(MP_QSTR_BUS_OFF), MP_ROM_INT(CAN_STATE_BUS_OFF) },
};
STATIC MP_DEFINE_CONST_DICT(pyb_can_locals_dict, pyb_can_locals_dict_table);
STATIC mp_uint_t can_ioctl(mp_obj_t self_in, mp_uint_t request, uintptr_t arg, int *errcode) {
pyb_can_obj_t *self = MP_OBJ_TO_PTR(self_in);
mp_uint_t ret;
if (request == MP_STREAM_POLL) {
uintptr_t flags = arg;
ret = 0;
if ((flags & MP_STREAM_POLL_RD)
&& ((__HAL_CAN_MSG_PENDING(&self->can, CAN_FIFO0) != 0)
|| (__HAL_CAN_MSG_PENDING(&self->can, CAN_FIFO1) != 0))) {
ret |= MP_STREAM_POLL_RD;
}
#if MICROPY_HW_ENABLE_FDCAN
if ((flags & MP_STREAM_POLL_WR) && (self->can.Instance->IR & FDCAN_IR_TFE))
#else
if ((flags & MP_STREAM_POLL_WR) && (self->can.Instance->TSR & CAN_TSR_TME))
#endif
{
ret |= MP_STREAM_POLL_WR;
}
} else {
*errcode = MP_EINVAL;
ret = -1;
}
return ret;
}
void pyb_can_handle_callback(pyb_can_obj_t *self, uint fifo_id, mp_obj_t callback, mp_obj_t irq_reason) {
if (callback != mp_const_none) {
mp_sched_lock();
gc_lock();
nlr_buf_t nlr;
if (nlr_push(&nlr) == 0) {
mp_call_function_2(callback, MP_OBJ_FROM_PTR(self), irq_reason);
nlr_pop();
} else {
// Uncaught exception; disable the callback so it doesn't run again.
pyb_can_rxcallback(MP_OBJ_FROM_PTR(self), MP_OBJ_NEW_SMALL_INT(fifo_id), mp_const_none);
mp_printf(MICROPY_ERROR_PRINTER, "uncaught exception in CAN(%u) rx interrupt handler\n", self->can_id);
mp_obj_print_exception(&mp_plat_print, MP_OBJ_FROM_PTR(nlr.ret_val));
}
gc_unlock();
mp_sched_unlock();
}
}
STATIC const mp_stream_p_t can_stream_p = {
// .read = can_read, // is read sensible for CAN?
// .write = can_write, // is write sensible for CAN?
.ioctl = can_ioctl,
.is_text = false,
};
const mp_obj_type_t pyb_can_type = {
{ &mp_type_type },
.name = MP_QSTR_CAN,
.print = pyb_can_print,
.make_new = pyb_can_make_new,
.protocol = &can_stream_p,
.locals_dict = (mp_obj_dict_t *)&pyb_can_locals_dict,
};
#endif // MICROPY_HW_ENABLE_CAN
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