| /* |
| * This file is part of the Micro Python project, http://micropython.org/ |
| * |
| * The MIT License (MIT) |
| * |
| * Copyright (c) 2014 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 <stdio.h> |
| #include <string.h> |
| #include <stdarg.h> |
| #include <errno.h> |
| |
| #include "py/nlr.h" |
| #include "py/objtuple.h" |
| #include "py/runtime.h" |
| #include "py/gc.h" |
| #include "py/mphal.h" |
| #include "bufhelper.h" |
| #include "can.h" |
| #include "pybioctl.h" |
| #include "irq.h" |
| |
| #if MICROPY_HW_ENABLE_CAN |
| |
| #define MASK16 (0) |
| #define LIST16 (1) |
| #define MASK32 (2) |
| #define LIST32 (3) |
| |
| /// \moduleref pyb |
| /// \class CAN - controller area network communication bus |
| /// |
| /// CAN implements the standard CAN communications protocol. At |
| /// the physical level it consists of 2 lines: RX and TX. Note that |
| /// to connect the pyboard to a CAN bus you must use a CAN transceiver |
| /// to convert the CAN logic signals from the pyboard to the correct |
| /// voltage levels on the bus. |
| /// |
| /// Note that this driver does not yet support filter configuration |
| /// (it defaults to a single filter that lets through all messages), |
| /// or bus timing configuration (except for setting the prescaler). |
| /// |
| /// Example usage (works without anything connected): |
| /// |
| /// from pyb import CAN |
| /// can = pyb.CAN(1, pyb.CAN.LOOPBACK) |
| /// can.send('message!', 123) # send message with id 123 |
| /// can.recv(0) # receive message on FIFO 0 |
| |
| typedef enum _rx_state_t { |
| RX_STATE_FIFO_EMPTY = 0, |
| RX_STATE_MESSAGE_PENDING, |
| RX_STATE_FIFO_FULL, |
| RX_STATE_FIFO_OVERFLOW, |
| } rx_state_t; |
| |
| typedef struct _pyb_can_obj_t { |
| mp_obj_base_t base; |
| mp_obj_t rxcallback0; |
| mp_obj_t rxcallback1; |
| mp_uint_t can_id : 8; |
| bool is_enabled : 1; |
| bool extframe : 1; |
| byte rx_state0; |
| byte rx_state1; |
| CAN_HandleTypeDef can; |
| } pyb_can_obj_t; |
| |
| STATIC mp_obj_t pyb_can_deinit(mp_obj_t self_in); |
| |
| STATIC uint8_t can2_start_bank = 14; |
| |
| // assumes Init parameters have been set up correctly |
| STATIC bool can_init(pyb_can_obj_t *can_obj) { |
| CAN_TypeDef *CANx = NULL; |
| |
| uint32_t GPIO_Pin = 0; |
| uint8_t GPIO_AF_CANx = 0; |
| GPIO_TypeDef* GPIO_Port = NULL; |
| |
| switch (can_obj->can_id) { |
| // CAN1 is on RX,TX = Y3,Y4 = PB9,PB9 |
| case PYB_CAN_1: |
| CANx = CAN1; |
| GPIO_AF_CANx = GPIO_AF9_CAN1; |
| GPIO_Port = GPIOB; |
| GPIO_Pin = GPIO_PIN_8 | GPIO_PIN_9; |
| __CAN1_CLK_ENABLE(); |
| break; |
| |
| // CAN2 is on RX,TX = Y5,Y6 = PB12,PB13 |
| case PYB_CAN_2: |
| CANx = CAN2; |
| GPIO_AF_CANx = GPIO_AF9_CAN2; |
| GPIO_Port = GPIOB; |
| GPIO_Pin = GPIO_PIN_12 | GPIO_PIN_13; |
| __CAN1_CLK_ENABLE(); // CAN2 is a "slave" and needs CAN1 enabled as well |
| __CAN2_CLK_ENABLE(); |
| break; |
| |
| default: |
| return false; |
| } |
| |
| // init GPIO |
| GPIO_InitTypeDef GPIO_InitStructure; |
| GPIO_InitStructure.Pin = GPIO_Pin; |
| GPIO_InitStructure.Speed = GPIO_SPEED_HIGH; |
| GPIO_InitStructure.Mode = GPIO_MODE_AF_PP; |
| GPIO_InitStructure.Pull = GPIO_PULLUP; |
| GPIO_InitStructure.Alternate = GPIO_AF_CANx; |
| HAL_GPIO_Init(GPIO_Port, &GPIO_InitStructure); |
| |
| // init CANx |
| can_obj->can.Instance = CANx; |
| HAL_CAN_Init(&can_obj->can); |
| |
| can_obj->is_enabled = true; |
| |
| return true; |
| } |
| |
| void can_init0(void) { |
| for (uint i = 0; i < MP_ARRAY_SIZE(MP_STATE_PORT(pyb_can_obj_all)); i++) { |
| MP_STATE_PORT(pyb_can_obj_all)[i] = NULL; |
| } |
| } |
| |
| void can_deinit(void) { |
| for (int i = 0; i < MP_ARRAY_SIZE(MP_STATE_PORT(pyb_can_obj_all)); i++) { |
| pyb_can_obj_t *can_obj = MP_STATE_PORT(pyb_can_obj_all)[i]; |
| if (can_obj != NULL) { |
| pyb_can_deinit(can_obj); |
| } |
| } |
| } |
| |
| STATIC void can_clearfilter(uint32_t f) { |
| CAN_FilterConfTypeDef filter; |
| |
| filter.FilterIdHigh = 0; |
| filter.FilterIdLow = 0; |
| filter.FilterMaskIdHigh = 0; |
| filter.FilterMaskIdLow = 0; |
| filter.FilterFIFOAssignment = CAN_FILTER_FIFO0; |
| filter.FilterNumber = f; |
| filter.FilterMode = CAN_FILTERMODE_IDMASK; |
| filter.FilterScale = CAN_FILTERSCALE_16BIT; |
| filter.FilterActivation = DISABLE; |
| filter.BankNumber = can2_start_bank; |
| |
| HAL_CAN_ConfigFilter(NULL, &filter); |
| } |
| |
| // We have our own version of CAN transmit so we can handle Timeout=0 correctly. |
| STATIC HAL_StatusTypeDef CAN_Transmit(CAN_HandleTypeDef *hcan, uint32_t Timeout) { |
| uint32_t transmitmailbox; |
| uint32_t tickstart; |
| uint32_t rqcpflag; |
| uint32_t txokflag; |
| |
| // Check the parameters |
| assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE)); |
| assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR)); |
| assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC)); |
| |
| // Select one empty transmit mailbox |
| if ((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0) { |
| transmitmailbox = CAN_TXMAILBOX_0; |
| rqcpflag = CAN_FLAG_RQCP0; |
| txokflag = CAN_FLAG_TXOK0; |
| } else if ((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1) { |
| transmitmailbox = CAN_TXMAILBOX_1; |
| rqcpflag = CAN_FLAG_RQCP1; |
| txokflag = CAN_FLAG_TXOK1; |
| } else if ((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2) { |
| transmitmailbox = CAN_TXMAILBOX_2; |
| rqcpflag = CAN_FLAG_RQCP2; |
| txokflag = CAN_FLAG_TXOK2; |
| } else { |
| transmitmailbox = CAN_TXSTATUS_NOMAILBOX; |
| } |
| |
| if (transmitmailbox != CAN_TXSTATUS_NOMAILBOX) { |
| // Set up the Id |
| hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ; |
| if (hcan->pTxMsg->IDE == CAN_ID_STD) { |
| assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId)); |
| hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->StdId << 21) | \ |
| hcan->pTxMsg->RTR); |
| } else { |
| assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId)); |
| hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->ExtId << 3) | \ |
| hcan->pTxMsg->IDE | \ |
| hcan->pTxMsg->RTR); |
| } |
| |
| // Set up the DLC |
| hcan->pTxMsg->DLC &= (uint8_t)0x0000000F; |
| hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0; |
| hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC; |
| |
| // Set up the data field |
| hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3] << 24) | |
| ((uint32_t)hcan->pTxMsg->Data[2] << 16) | |
| ((uint32_t)hcan->pTxMsg->Data[1] << 8) | |
| ((uint32_t)hcan->pTxMsg->Data[0])); |
| hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7] << 24) | |
| ((uint32_t)hcan->pTxMsg->Data[6] << 16) | |
| ((uint32_t)hcan->pTxMsg->Data[5] << 8) | |
| ((uint32_t)hcan->pTxMsg->Data[4])); |
| // Request transmission |
| hcan->Instance->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ; |
| |
| if (Timeout == 0) { |
| return HAL_OK; |
| } |
| |
| // Get tick |
| tickstart = HAL_GetTick(); |
| // Check End of transmission flag |
| while (!(__HAL_CAN_TRANSMIT_STATUS(hcan, transmitmailbox))) { |
| // Check for the Timeout |
| if (Timeout != HAL_MAX_DELAY) { |
| if ((HAL_GetTick() - tickstart) > Timeout) { |
| // When the timeout expires, we try to abort the transmission of the packet |
| __HAL_CAN_CANCEL_TRANSMIT(hcan, transmitmailbox); |
| while (!__HAL_CAN_GET_FLAG(hcan, rqcpflag)) { |
| } |
| if (__HAL_CAN_GET_FLAG(hcan, txokflag)) { |
| // The abort attempt failed and the message was sent properly |
| return HAL_OK; |
| } else { |
| return HAL_TIMEOUT; |
| } |
| } |
| } |
| } |
| return HAL_OK; |
| } else { |
| return HAL_BUSY; |
| } |
| } |
| |
| /******************************************************************************/ |
| // Micro Python bindings |
| |
| 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 = self_in; |
| if (!self->is_enabled) { |
| mp_printf(print, "CAN(%u)", self->can_id); |
| } else { |
| mp_printf(print, "CAN(%u, CAN.", self->can_id); |
| 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, "%q, extframe=", mode); |
| if (self->extframe) { |
| mode = MP_QSTR_True; |
| } else { |
| mode = MP_QSTR_False; |
| } |
| mp_printf(print, "%q)", mode); |
| } |
| } |
| |
| // init(mode, extframe=False, prescaler=100, *, sjw=1, bs1=6, bs2=8) |
| STATIC mp_obj_t pyb_can_init_helper(pyb_can_obj_t *self, mp_uint_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { |
| static const mp_arg_t allowed_args[] = { |
| { 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 = 100} }, |
| { MP_QSTR_sjw, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 1} }, |
| { MP_QSTR_bs1, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 6} }, |
| { MP_QSTR_bs2, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 8} }, |
| }; |
| |
| // 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); |
| |
| self->extframe = args[1].u_bool; |
| |
| // set the CAN configuration values |
| memset(&self->can, 0, sizeof(self->can)); |
| CAN_InitTypeDef *init = &self->can.Init; |
| init->Mode = args[0].u_int << 4; // shift-left so modes fit in a small-int |
| init->Prescaler = args[2].u_int; |
| init->SJW = ((args[3].u_int - 1) & 3) << 24; |
| init->BS1 = ((args[4].u_int - 1) & 0xf) << 16; |
| init->BS2 = ((args[5].u_int - 1) & 7) << 20; |
| init->TTCM = DISABLE; |
| init->ABOM = DISABLE; |
| init->AWUM = DISABLE; |
| init->NART = DISABLE; |
| init->RFLM = DISABLE; |
| init->TXFP = DISABLE; |
| |
| // init CAN (if it fails, it's because the port doesn't exist) |
| if (!can_init(self)) { |
| nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "CAN port %d does not exist", self->can_id)); |
| } |
| |
| return mp_const_none; |
| } |
| |
| /// \classmethod \constructor(bus, ...) |
| /// |
| /// Construct a CAN object on the given bus. `bus` can be 1-2, or 'YA' or 'YB'. |
| /// With no additional parameters, the CAN object is created but not |
| /// initialised (it has the settings from the last initialisation of |
| /// the bus, if any). If extra arguments are given, the bus is initialised. |
| /// See `init` for parameters of initialisation. |
| /// |
| /// The physical pins of the CAN busses are: |
| /// |
| /// - `CAN(1)` is on `YA`: `(RX, TX) = (Y3, Y4) = (PB8, PB9)` |
| /// - `CAN(2)` is on `YB`: `(RX, TX) = (Y5, Y6) = (PB12, PB13)` |
| STATIC mp_obj_t pyb_can_make_new(const mp_obj_type_t *type, mp_uint_t n_args, mp_uint_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); |
| |
| // create object |
| pyb_can_obj_t *o = m_new_obj(pyb_can_obj_t); |
| o->base.type = &pyb_can_type; |
| o->is_enabled = false; |
| |
| // work out port |
| o->can_id = 0; |
| 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) { |
| o->can_id = PYB_CAN_1; |
| #endif |
| #ifdef MICROPY_HW_CAN2_NAME |
| } else if (strcmp(port, MICROPY_HW_CAN2_NAME) == 0) { |
| o->can_id = PYB_CAN_2; |
| #endif |
| } else { |
| nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "CAN port %s does not exist", port)); |
| } |
| } else { |
| o->can_id = mp_obj_get_int(args[0]); |
| } |
| o->rxcallback0 = mp_const_none; |
| o->rxcallback1 = mp_const_none; |
| MP_STATE_PORT(pyb_can_obj_all)[o->can_id - 1] = o; |
| o->rx_state0 = RX_STATE_FIFO_EMPTY; |
| o->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(o, n_args - 1, args + 1, &kw_args); |
| } |
| |
| return o; |
| } |
| |
| STATIC mp_obj_t pyb_can_init(mp_uint_t n_args, const mp_obj_t *args, mp_map_t *kw_args) { |
| return pyb_can_init_helper(args[0], n_args - 1, args + 1, kw_args); |
| } |
| STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_can_init_obj, 1, pyb_can_init); |
| |
| /// \method deinit() |
| /// Turn off the CAN bus. |
| STATIC mp_obj_t pyb_can_deinit(mp_obj_t self_in) { |
| pyb_can_obj_t *self = self_in; |
| self->is_enabled = false; |
| HAL_CAN_DeInit(&self->can); |
| if (self->can.Instance == CAN1) { |
| HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn); |
| HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn); |
| __CAN1_FORCE_RESET(); |
| __CAN1_RELEASE_RESET(); |
| __CAN1_CLK_DISABLE(); |
| } else if (self->can.Instance == CAN2) { |
| HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn); |
| HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn); |
| __CAN2_FORCE_RESET(); |
| __CAN2_RELEASE_RESET(); |
| __CAN2_CLK_DISABLE(); |
| } |
| return mp_const_none; |
| } |
| STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_can_deinit_obj, pyb_can_deinit); |
| |
| /// \method 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 = 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); |
| |
| /// \method send(send, addr, *, timeout=5000) |
| /// Send a message on the bus: |
| /// |
| /// - `send` is the data to send (an integer to send, or a buffer object). |
| /// - `addr` is the address to send to |
| /// - `timeout` is the timeout in milliseconds to wait for the send. |
| /// |
| /// Return value: `None`. |
| STATIC mp_obj_t pyb_can_send(mp_uint_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { |
| 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} }, |
| }; |
| |
| // parse args |
| pyb_can_obj_t *self = 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[0].u_obj, &bufinfo, data); |
| |
| if (bufinfo.len > 8) { |
| nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "CAN data field too long")); |
| } |
| |
| // send the data |
| CanTxMsgTypeDef tx_msg; |
| if (self->extframe) { |
| tx_msg.ExtId = args[1].u_int & 0x1FFFFFFF; |
| tx_msg.IDE = CAN_ID_EXT; |
| } else { |
| tx_msg.StdId = args[1].u_int & 0x7FF; |
| tx_msg.IDE = CAN_ID_STD; |
| } |
| if (args[3].u_bool == false) { |
| tx_msg.RTR = CAN_RTR_DATA; |
| } else { |
| tx_msg.RTR = CAN_RTR_REMOTE; |
| } |
| tx_msg.DLC = bufinfo.len; |
| for (mp_uint_t i = 0; i < bufinfo.len; i++) { |
| tx_msg.Data[i] = ((byte*)bufinfo.buf)[i]; // Data is uint32_t but holds only 1 byte |
| } |
| |
| self->can.pTxMsg = &tx_msg; |
| HAL_StatusTypeDef status = CAN_Transmit(&self->can, args[2].u_int); |
| |
| 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); |
| |
| /// \method recv(fifo, *, timeout=5000) |
| /// |
| /// Receive data on the bus: |
| /// |
| /// - `fifo` is an integer, which is the FIFO to receive on |
| /// - `timeout` is the timeout in milliseconds to wait for the receive. |
| /// |
| /// Return value: buffer of data bytes. |
| STATIC mp_obj_t pyb_can_recv(mp_uint_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { |
| static const mp_arg_t allowed_args[] = { |
| { MP_QSTR_fifo, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = 0} }, |
| { MP_QSTR_timeout, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 5000} }, |
| }; |
| |
| // parse args |
| pyb_can_obj_t *self = 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; |
| self->can.pRxMsg = &rx_msg; |
| HAL_StatusTypeDef status = HAL_CAN_Receive(&self->can, args[0].u_int, args[1].u_int); |
| |
| if (status != HAL_OK) { |
| mp_hal_raise(status); |
| } |
| |
| // Manage the rx state machine |
| if ((args[0].u_int == CAN_FIFO0 && self->rxcallback0 != mp_const_none) || |
| (args[0].u_int == CAN_FIFO1 && self->rxcallback1 != mp_const_none)) { |
| byte *state = (args[0].u_int == 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, args[0].u_int) == 0) { |
| // Fifo is empty |
| __HAL_CAN_ENABLE_IT(&self->can, (args[0].u_int == CAN_FIFO0) ? CAN_IT_FMP0 : CAN_IT_FMP1); |
| *state = RX_STATE_FIFO_EMPTY; |
| } |
| break; |
| case RX_STATE_FIFO_FULL: |
| __HAL_CAN_ENABLE_IT(&self->can, (args[0].u_int == CAN_FIFO0) ? CAN_IT_FF0 : CAN_IT_FF1); |
| *state = RX_STATE_MESSAGE_PENDING; |
| break; |
| case RX_STATE_FIFO_OVERFLOW: |
| __HAL_CAN_ENABLE_IT(&self->can, (args[0].u_int == CAN_FIFO0) ? CAN_IT_FOV0 : CAN_IT_FOV1); |
| __HAL_CAN_ENABLE_IT(&self->can, (args[0].u_int == CAN_FIFO0) ? CAN_IT_FF0 : CAN_IT_FF1); |
| *state = RX_STATE_MESSAGE_PENDING; |
| break; |
| } |
| } |
| |
| // return the received data |
| // TODO use a namedtuple (when namedtuple types can be stored in ROM) |
| mp_obj_tuple_t *tuple = mp_obj_new_tuple(4, NULL); |
| if (rx_msg.IDE == CAN_ID_STD) { |
| tuple->items[0] = MP_OBJ_NEW_SMALL_INT(rx_msg.StdId); |
| } else { |
| tuple->items[0] = MP_OBJ_NEW_SMALL_INT(rx_msg.ExtId); |
| } |
| tuple->items[1] = rx_msg.RTR == CAN_RTR_REMOTE ? mp_const_true : mp_const_false; |
| tuple->items[2] = MP_OBJ_NEW_SMALL_INT(rx_msg.FMI); |
| vstr_t vstr; |
| vstr_init_len(&vstr, rx_msg.DLC); |
| for (mp_uint_t i = 0; i < rx_msg.DLC; i++) { |
| vstr.buf[i] = rx_msg.Data[i]; // Data is uint32_t but holds only 1 byte |
| } |
| tuple->items[3] = mp_obj_new_str_from_vstr(&mp_type_bytes, &vstr); |
| return tuple; |
| } |
| STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_can_recv_obj, 1, pyb_can_recv); |
| |
| /// \class method initfilterbanks |
| /// |
| /// Set up the filterbanks. All filter will be disabled and set to their reset states. |
| /// |
| /// - `banks` is an integer that sets how many filter banks that are reserved for CAN1. |
| /// 0 -> no filters assigned for CAN1 |
| /// 28 -> all filters are assigned to CAN1 |
| /// CAN2 will get the rest of the 28 available. |
| /// |
| /// Return value: none. |
| STATIC mp_obj_t pyb_can_initfilterbanks(mp_obj_t self, mp_obj_t bank_in) { |
| can2_start_bank = mp_obj_get_int(bank_in); |
| |
| for (int f = 0; f < 28; f++) { |
| can_clearfilter(f); |
| } |
| |
| return mp_const_none; |
| } |
| 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, (const mp_obj_t)&pyb_can_initfilterbanks_fun_obj); |
| |
| STATIC mp_obj_t pyb_can_clearfilter(mp_obj_t self_in, mp_obj_t bank_in) { |
| pyb_can_obj_t *self = self_in; |
| mp_int_t f = mp_obj_get_int(bank_in); |
| if (self->can_id == 2) { |
| f += can2_start_bank; |
| } |
| can_clearfilter(f); |
| return mp_const_none; |
| } |
| STATIC MP_DEFINE_CONST_FUN_OBJ_2(pyb_can_clearfilter_obj, pyb_can_clearfilter); |
| |
| /// Configures a filterbank |
| /// Return value: `None`. |
| #define EXTENDED_ID_TO_16BIT_FILTER(id) (((id & 0xC00000) >> 13) | ((id & 0x38000) >> 15)) | 8 |
| STATIC mp_obj_t pyb_can_setfilter(mp_uint_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { |
| 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} }, |
| }; |
| |
| // parse args |
| pyb_can_obj_t *self = 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); |
| |
| mp_uint_t len; |
| mp_uint_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[3].u_obj, &len, ¶ms); |
| if (args[4].u_obj != MP_OBJ_NULL){ |
| mp_obj_get_array(args[4].u_obj, &rtr_len, &rtr_flags); |
| } |
| |
| CAN_FilterConfTypeDef filter; |
| if (args[1].u_int == MASK16 || args[1].u_int == LIST16) { |
| if (len != 4) { |
| goto error; |
| } |
| filter.FilterScale = CAN_FILTERSCALE_16BIT; |
| if (self->extframe) { |
| if (args[4].u_obj != MP_OBJ_NULL) { |
| if (args[1].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[4].u_obj != MP_OBJ_NULL) { |
| if (args[1].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[1].u_int == MASK16) { |
| filter.FilterMode = CAN_FILTERMODE_IDMASK; |
| } |
| if (args[1].u_int == LIST16) { |
| filter.FilterMode = CAN_FILTERMODE_IDLIST; |
| } |
| } |
| else if (args[1].u_int == MASK32 || args[1].u_int == LIST32) { |
| if (len != 2) { |
| goto error; |
| } |
| filter.FilterScale = CAN_FILTERSCALE_32BIT; |
| if (args[4].u_obj != MP_OBJ_NULL) { |
| if (args[1].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[1].u_int == MASK32) { |
| filter.FilterMode = CAN_FILTERMODE_IDMASK; |
| } |
| if (args[1].u_int == LIST32) { |
| filter.FilterMode = CAN_FILTERMODE_IDLIST; |
| } |
| } else { |
| goto error; |
| } |
| |
| filter.FilterFIFOAssignment = args[2].u_int; // fifo |
| filter.FilterNumber = args[0].u_int; // bank |
| if (self->can_id == 1) { |
| if (filter.FilterNumber >= can2_start_bank) { |
| goto error; |
| } |
| } else { |
| filter.FilterNumber = filter.FilterNumber + can2_start_bank; |
| if (filter.FilterNumber > 27) { |
| goto error; |
| } |
| } |
| filter.FilterActivation = ENABLE; |
| filter.BankNumber = can2_start_bank; |
| HAL_CAN_ConfigFilter(&self->can, &filter); |
| |
| return mp_const_none; |
| |
| error: |
| nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "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 = 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_FMP0 : CAN_IT_FMP1); |
| __HAL_CAN_DISABLE_IT(&self->can, (fifo == 0) ? CAN_IT_FF0 : CAN_IT_FF1); |
| __HAL_CAN_DISABLE_IT(&self->can, (fifo == 0) ? CAN_IT_FOV0 : CAN_IT_FOV1); |
| *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; |
| if (self->can_id == PYB_CAN_1) { |
| irq = (fifo == 0) ? CAN1_RX0_IRQn : CAN1_RX1_IRQn; |
| } else { |
| irq = (fifo == 0) ? CAN2_RX0_IRQn : CAN2_RX1_IRQn; |
| } |
| HAL_NVIC_SetPriority(irq, IRQ_PRI_CAN, IRQ_SUBPRI_CAN); |
| HAL_NVIC_EnableIRQ(irq); |
| __HAL_CAN_ENABLE_IT(&self->can, (fifo == 0) ? CAN_IT_FMP0 : CAN_IT_FMP1); |
| __HAL_CAN_ENABLE_IT(&self->can, (fifo == 0) ? CAN_IT_FF0 : CAN_IT_FF1); |
| __HAL_CAN_ENABLE_IT(&self->can, (fifo == 0) ? CAN_IT_FOV0 : CAN_IT_FOV1); |
| } |
| return mp_const_none; |
| } |
| STATIC MP_DEFINE_CONST_FUN_OBJ_3(pyb_can_rxcallback_obj, pyb_can_rxcallback); |
| |
| STATIC const mp_map_elem_t pyb_can_locals_dict_table[] = { |
| // instance methods |
| { MP_OBJ_NEW_QSTR(MP_QSTR_init), (mp_obj_t)&pyb_can_init_obj }, |
| { MP_OBJ_NEW_QSTR(MP_QSTR_deinit), (mp_obj_t)&pyb_can_deinit_obj }, |
| { MP_OBJ_NEW_QSTR(MP_QSTR_any), (mp_obj_t)&pyb_can_any_obj }, |
| { MP_OBJ_NEW_QSTR(MP_QSTR_send), (mp_obj_t)&pyb_can_send_obj }, |
| { MP_OBJ_NEW_QSTR(MP_QSTR_recv), (mp_obj_t)&pyb_can_recv_obj }, |
| { MP_OBJ_NEW_QSTR(MP_QSTR_initfilterbanks), (mp_obj_t)&pyb_can_initfilterbanks_obj }, |
| { MP_OBJ_NEW_QSTR(MP_QSTR_setfilter), (mp_obj_t)&pyb_can_setfilter_obj }, |
| { MP_OBJ_NEW_QSTR(MP_QSTR_clearfilter), (mp_obj_t)&pyb_can_clearfilter_obj }, |
| { MP_OBJ_NEW_QSTR(MP_QSTR_rxcallback), (mp_obj_t)&pyb_can_rxcallback_obj }, |
| |
| // 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_OBJ_NEW_QSTR(MP_QSTR_NORMAL), MP_OBJ_NEW_SMALL_INT(CAN_MODE_NORMAL >> 4) }, |
| { MP_OBJ_NEW_QSTR(MP_QSTR_LOOPBACK), MP_OBJ_NEW_SMALL_INT(CAN_MODE_LOOPBACK >> 4) }, |
| { MP_OBJ_NEW_QSTR(MP_QSTR_SILENT), MP_OBJ_NEW_SMALL_INT(CAN_MODE_SILENT >> 4) }, |
| { MP_OBJ_NEW_QSTR(MP_QSTR_SILENT_LOOPBACK), MP_OBJ_NEW_SMALL_INT(CAN_MODE_SILENT_LOOPBACK >> 4) }, |
| { MP_OBJ_NEW_QSTR(MP_QSTR_MASK16), MP_OBJ_NEW_SMALL_INT(MASK16) }, |
| { MP_OBJ_NEW_QSTR(MP_QSTR_LIST16), MP_OBJ_NEW_SMALL_INT(LIST16) }, |
| { MP_OBJ_NEW_QSTR(MP_QSTR_MASK32), MP_OBJ_NEW_SMALL_INT(MASK32) }, |
| { MP_OBJ_NEW_QSTR(MP_QSTR_LIST32), MP_OBJ_NEW_SMALL_INT(LIST32) }, |
| }; |
| |
| STATIC MP_DEFINE_CONST_DICT(pyb_can_locals_dict, pyb_can_locals_dict_table); |
| |
| mp_uint_t can_ioctl(mp_obj_t self_in, mp_uint_t request, mp_uint_t arg, int *errcode) { |
| pyb_can_obj_t *self = self_in; |
| mp_uint_t ret; |
| if (request == MP_IOCTL_POLL) { |
| mp_uint_t flags = arg; |
| ret = 0; |
| if ((flags & MP_IOCTL_POLL_RD) |
| && ((__HAL_CAN_MSG_PENDING(&self->can, CAN_FIFO0) != 0) |
| || (__HAL_CAN_MSG_PENDING(&self->can, CAN_FIFO1) != 0))) { |
| ret |= MP_IOCTL_POLL_RD; |
| } |
| if ((flags & MP_IOCTL_POLL_WR) && (self->can.Instance->TSR & CAN_TSR_TME)) { |
| ret |= MP_IOCTL_POLL_WR; |
| } |
| } else { |
| *errcode = EINVAL; |
| ret = -1; |
| } |
| return ret; |
| } |
| |
| void can_rx_irq_handler(uint can_id, uint fifo_id) { |
| mp_obj_t callback; |
| pyb_can_obj_t *self; |
| mp_obj_t irq_reason = MP_OBJ_NEW_SMALL_INT(0); |
| byte *state; |
| |
| self = MP_STATE_PORT(pyb_can_obj_all)[can_id - 1]; |
| |
| if (fifo_id == CAN_FIFO0) { |
| callback = self->rxcallback0; |
| state = &self->rx_state0; |
| } else { |
| callback = self->rxcallback1; |
| state = &self->rx_state1; |
| } |
| |
| switch (*state) { |
| case RX_STATE_FIFO_EMPTY: |
| __HAL_CAN_DISABLE_IT(&self->can, (fifo_id == CAN_FIFO0) ? CAN_IT_FMP0 : CAN_IT_FMP1); |
| irq_reason = MP_OBJ_NEW_SMALL_INT(0); |
| *state = RX_STATE_MESSAGE_PENDING; |
| break; |
| case RX_STATE_MESSAGE_PENDING: |
| __HAL_CAN_DISABLE_IT(&self->can, (fifo_id == CAN_FIFO0) ? CAN_IT_FF0 : CAN_IT_FF1); |
| irq_reason = MP_OBJ_NEW_SMALL_INT(1); |
| *state = RX_STATE_FIFO_FULL; |
| break; |
| case RX_STATE_FIFO_FULL: |
| __HAL_CAN_DISABLE_IT(&self->can, (fifo_id == CAN_FIFO0) ? CAN_IT_FOV0 : CAN_IT_FOV1); |
| irq_reason = MP_OBJ_NEW_SMALL_INT(2); |
| *state = RX_STATE_FIFO_OVERFLOW; |
| break; |
| case RX_STATE_FIFO_OVERFLOW: |
| // This should never happen |
| break; |
| } |
| |
| if (callback != mp_const_none) { |
| gc_lock(); |
| nlr_buf_t nlr; |
| if (nlr_push(&nlr) == 0) { |
| mp_call_function_2(callback, self, irq_reason); |
| nlr_pop(); |
| } else { |
| // Uncaught exception; disable the callback so it doesn't run again. |
| pyb_can_rxcallback(self, MP_OBJ_NEW_SMALL_INT(fifo_id), mp_const_none); |
| printf("uncaught exception in CAN(%u) rx interrupt handler\n", self->can_id); |
| mp_obj_print_exception(&mp_plat_print, (mp_obj_t)nlr.ret_val); |
| } |
| gc_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, |
| .stream_p = &can_stream_p, |
| .locals_dict = (mp_obj_t)&pyb_can_locals_dict, |
| }; |
| |
| #endif // MICROPY_HW_ENABLE_CAN |