/* * 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 #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_FILTER (64) #define CAN_FIFO0 FDCAN_RX_FIFO0 #define CAN_FIFO1 FDCAN_RX_FIFO1 #define CAN_FILTER_FIFO0 (0) // Default timings; 125Kbps assuming 48MHz clock #define CAN_DEFAULT_PRESCALER (32) #define CAN_DEFAULT_SJW (1) #define CAN_DEFAULT_BS1 (8) #define CAN_DEFAULT_BS2 (3) #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 #define CAN2_RX0_IRQn FDCAN2_IT0_IRQn #define CAN2_RX1_IRQn FDCAN2_IT1_IRQn #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 // Both banks start at 0 STATIC uint8_t can2_start_bank = 0; #else #define CAN_MAX_FILTER (28) #define CAN_DEFAULT_PRESCALER (100) #define CAN_DEFAULT_SJW (1) #define CAN_DEFAULT_BS1 (6) #define CAN_DEFAULT_BS2 (8) #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, extframe=%q, auto_restart=%q)", self->can_id, mode, self->extframe ? MP_QSTR_True : MP_QSTR_False, #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 ); } } // 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, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { enum { ARG_mode, ARG_extframe, ARG_prescaler, ARG_sjw, ARG_bs1, ARG_bs2, ARG_auto_restart }; 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 = 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} }, }; // 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[ARG_extframe].u_bool; // set the CAN configuration values memset(&self->can, 0, sizeof(self->can)); // init CAN (if it fails, it's because the port doesn't exist) 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) doesn't exist"), 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); } 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_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 if (can->PSR & FDCAN_PSR_BO) { state = CAN_STATE_BUS_OFF; } else if (can->PSR & FDCAN_PSR_EP) { state = CAN_STATE_ERROR_PASSIVE; } else if (can->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) { #if MICROPY_HW_ENABLE_FDCAN // TODO implement for FDCAN return mp_const_none; #else 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); } } 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); return MP_OBJ_FROM_PTR(list); #endif } 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 }; 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 = 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 > 8) { 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[8]; tx_msg.MessageMarker = 0; tx_msg.ErrorStateIndicator = FDCAN_ESI_ACTIVE; tx_msg.BitRateSwitch = FDCAN_BRS_OFF; tx_msg.FDFormat = FDCAN_CLASSIC_CAN; tx_msg.TxEventFifoControl = FDCAN_NO_TX_EVENTS; tx_msg.DataLength = (bufinfo.len << 16); // TODO DLC for len > 8 if (self->extframe) { 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; } #else tx_msg.DLC = bufinfo.len; uint8_t *tx_data = tx_msg.Data; // Data is uint32_t but holds only 1 byte if (self->extframe) { 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 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[8]; #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 fourth 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(4, NULL); items = ((mp_obj_tuple_t *)MP_OBJ_TO_PTR(ret_obj))->items; items[3] = mp_obj_new_bytes(rx_data, rx_dlc); } else { // User should provide a list of length at least 4 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 < 4) { mp_raise_ValueError(NULL); } items = list->items; // Fourth 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[3], &mp_type_memoryview)) { mp_raise_TypeError(NULL); } mp_obj_array_t *mv = MP_OBJ_TO_PTR(items[3]); 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 3 values of the tuple/list #if MICROPY_HW_ENABLE_FDCAN items[0] = MP_OBJ_NEW_SMALL_INT(rx_msg.Identifier); items[1] = rx_msg.RxFrameType == FDCAN_REMOTE_FRAME ? mp_const_true : mp_const_false; items[2] = 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] = rx_msg.RTR == CAN_RTR_REMOTE ? mp_const_true : mp_const_false; items[2] = 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); // initfilterbanks(n) STATIC mp_obj_t pyb_can_initfilterbanks(mp_obj_t self, mp_obj_t bank_in) { #if MICROPY_HW_ENABLE_FDCAN can2_start_bank = 0; #else can2_start_bank = mp_obj_get_int(bank_in); #endif for (int f = 0; f < CAN_MAX_FILTER; f++) { can_clearfilter(MP_OBJ_TO_PTR(self), f, can2_start_bank); } 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, MP_ROM_PTR(&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 = MP_OBJ_TO_PTR(self_in); mp_int_t f = mp_obj_get_int(bank_in); if (self->can_id == 2) { f += can2_start_bank; } can_clearfilter(self, f, can2_start_bank); return mp_const_none; } STATIC MP_DEFINE_CONST_FUN_OBJ_2(pyb_can_clearfilter_obj, 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 }; 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 = 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}; filter.IdType = FDCAN_STANDARD_ID; // TODO check filter index filter.FilterIndex = args[ARG_bank].u_int; // 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, ¶ms); 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, ¶ms); 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 (self->extframe) { 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_initfilterbanks), MP_ROM_PTR(&pyb_can_initfilterbanks_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