circuitpython/shared-bindings/canio/CAN.c

353 lines
16 KiB
C

/*
* 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
);