diff --git a/ports/stm32/Makefile b/ports/stm32/Makefile index 6c0c29572e8a..8dde85129745 100644 --- a/ports/stm32/Makefile +++ b/ports/stm32/Makefile @@ -256,6 +256,8 @@ SRC_C = \ qspi.c \ uart.c \ can.c \ + fdcan.c \ + pyb_can.c \ usb.c \ wdt.c \ eth.c \ diff --git a/ports/stm32/boards/NUCLEO_H743ZI/mpconfigboard.h b/ports/stm32/boards/NUCLEO_H743ZI/mpconfigboard.h index 8e227f1ba49d..40ce889ab9b7 100644 --- a/ports/stm32/boards/NUCLEO_H743ZI/mpconfigboard.h +++ b/ports/stm32/boards/NUCLEO_H743ZI/mpconfigboard.h @@ -66,6 +66,11 @@ void NUCLEO_H743ZI_board_early_init(void); #define MICROPY_HW_USB_VBUS_DETECT_PIN (pin_A9) #define MICROPY_HW_USB_OTG_ID_PIN (pin_A10) +// FDCAN bus +#define MICROPY_HW_CAN1_NAME "FDCAN1" +#define MICROPY_HW_CAN1_TX (pin_D1) +#define MICROPY_HW_CAN1_RX (pin_D0) + // SD card detect switch #define MICROPY_HW_SDCARD_DETECT_PIN (pin_G2) #define MICROPY_HW_SDCARD_DETECT_PULL (GPIO_PULLUP) diff --git a/ports/stm32/boards/NUCLEO_H743ZI/pins.csv b/ports/stm32/boards/NUCLEO_H743ZI/pins.csv index 6a0532dbfe51..daa36691b7b9 100644 --- a/ports/stm32/boards/NUCLEO_H743ZI/pins.csv +++ b/ports/stm32/boards/NUCLEO_H743ZI/pins.csv @@ -22,6 +22,8 @@ D14,PB9 D15,PB8 D22,PB5 D23,PB3 +D67,PD0 +D66,PD1 DAC1,PA4 DAC2,PA5 LED1,PB0 diff --git a/ports/stm32/boards/stm32h7xx_hal_conf_base.h b/ports/stm32/boards/stm32h7xx_hal_conf_base.h index 1d06be14fac2..5c97e2c44b72 100644 --- a/ports/stm32/boards/stm32h7xx_hal_conf_base.h +++ b/ports/stm32/boards/stm32h7xx_hal_conf_base.h @@ -34,6 +34,7 @@ #include "stm32h7xx_hal_crc.h" #include "stm32h7xx_hal_dac.h" #include "stm32h7xx_hal_dcmi.h" +#include "stm32h7xx_hal_fdcan.h" #include "stm32h7xx_hal_flash.h" #include "stm32h7xx_hal_gpio.h" #include "stm32h7xx_hal_hash.h" @@ -60,6 +61,7 @@ #define HAL_DAC_MODULE_ENABLED #define HAL_DCMI_MODULE_ENABLED #define HAL_DMA_MODULE_ENABLED +#define HAL_FDCAN_MODULE_ENABLED #define HAL_FLASH_MODULE_ENABLED #define HAL_GPIO_MODULE_ENABLED #define HAL_HASH_MODULE_ENABLED diff --git a/ports/stm32/can.c b/ports/stm32/can.c index 90a3d79a9523..763770a39bbf 100644 --- a/ports/stm32/can.c +++ b/ports/stm32/can.c @@ -40,69 +40,25 @@ #include "can.h" #include "irq.h" -#if MICROPY_HW_ENABLE_CAN +#if MICROPY_HW_ENABLE_CAN && !(MICROPY_HW_ENABLE_FDCAN) -#define MASK16 (0) -#define LIST16 (1) -#define MASK32 (2) -#define LIST32 (3) - -enum { - CAN_STATE_STOPPED, - CAN_STATE_ERROR_ACTIVE, - CAN_STATE_ERROR_WARNING, - CAN_STATE_ERROR_PASSIVE, - CAN_STATE_BUS_OFF, -}; - -/// \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; - uint16_t num_error_warning; - uint16_t num_error_passive; - uint16_t num_bus_off; - CAN_HandleTypeDef can; -} pyb_can_obj_t; - -STATIC mp_obj_t pyb_can_deinit(mp_obj_t self_in); +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; + } +} -STATIC uint8_t can2_start_bank = 14; +void can_deinit_all(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) { + can_deinit(can_obj); + } + } +} // assumes Init parameters have been set up correctly -STATIC bool can_init(pyb_can_obj_t *can_obj) { +bool can_init(pyb_can_obj_t *can_obj) { CAN_TypeDef *CANx = NULL; uint32_t sce_irq = 0; const pin_obj_t *pins[2]; @@ -169,22 +125,38 @@ STATIC bool can_init(pyb_can_obj_t *can_obj) { 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(MP_OBJ_FROM_PTR(can_obj)); - } +void can_deinit(pyb_can_obj_t *self) { + 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); + HAL_NVIC_DisableIRQ(CAN1_SCE_IRQn); + __HAL_RCC_CAN1_FORCE_RESET(); + __HAL_RCC_CAN1_RELEASE_RESET(); + __HAL_RCC_CAN1_CLK_DISABLE(); + #if defined(CAN2) + } else if (self->can.Instance == CAN2) { + HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn); + HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn); + HAL_NVIC_DisableIRQ(CAN2_SCE_IRQn); + __HAL_RCC_CAN2_FORCE_RESET(); + __HAL_RCC_CAN2_RELEASE_RESET(); + __HAL_RCC_CAN2_CLK_DISABLE(); + #endif + #if defined(CAN3) + } else if (self->can.Instance == CAN3) { + HAL_NVIC_DisableIRQ(CAN3_RX0_IRQn); + HAL_NVIC_DisableIRQ(CAN3_RX1_IRQn); + HAL_NVIC_DisableIRQ(CAN3_SCE_IRQn); + __HAL_RCC_CAN3_FORCE_RESET(); + __HAL_RCC_CAN3_RELEASE_RESET(); + __HAL_RCC_CAN3_CLK_DISABLE(); + #endif } } -STATIC void can_clearfilter(uint32_t f) { +void can_clearfilter(pyb_can_obj_t *self, uint32_t f, uint8_t bank) { CAN_FilterConfTypeDef filter; filter.FilterIdHigh = 0; @@ -196,17 +168,17 @@ STATIC void can_clearfilter(uint32_t f) { filter.FilterMode = CAN_FILTERMODE_IDMASK; filter.FilterScale = CAN_FILTERSCALE_16BIT; filter.FilterActivation = DISABLE; - filter.BankNumber = can2_start_bank; + filter.BankNumber = bank; HAL_CAN_ConfigFilter(NULL, &filter); } -STATIC int can_receive(CAN_TypeDef *can, int fifo, CanRxMsgTypeDef *msg, uint32_t timeout_ms) { +int can_receive(CAN_HandleTypeDef *can, int fifo, CanRxMsgTypeDef *msg, uint8_t *data, uint32_t timeout_ms) { volatile uint32_t *rfr; if (fifo == CAN_FIFO0) { - rfr = &can->RF0R; + rfr = &can->Instance->RF0R; } else { - rfr = &can->RF1R; + rfr = &can->Instance->RF1R; } // Wait for a message to become available, with timeout @@ -219,7 +191,7 @@ STATIC int can_receive(CAN_TypeDef *can, int fifo, CanRxMsgTypeDef *msg, uint32_ } // Read message data - CAN_FIFOMailBox_TypeDef *box = &can->sFIFOMailBox[fifo]; + CAN_FIFOMailBox_TypeDef *box = &can->Instance->sFIFOMailBox[fifo]; msg->IDE = box->RIR & 4; if (msg->IDE == CAN_ID_STD) { msg->StdId = box->RIR >> 21; @@ -230,15 +202,15 @@ STATIC int can_receive(CAN_TypeDef *can, int fifo, CanRxMsgTypeDef *msg, uint32_ msg->DLC = box->RDTR & 0xf; msg->FMI = box->RDTR >> 8 & 0xff; uint32_t rdlr = box->RDLR; - msg->Data[0] = rdlr; - msg->Data[1] = rdlr >> 8; - msg->Data[2] = rdlr >> 16; - msg->Data[3] = rdlr >> 24; + data[0] = rdlr; + data[1] = rdlr >> 8; + data[2] = rdlr >> 16; + data[3] = rdlr >> 24; uint32_t rdhr = box->RDHR; - msg->Data[4] = rdhr; - msg->Data[5] = rdhr >> 8; - msg->Data[6] = rdhr >> 16; - msg->Data[7] = rdhr >> 24; + data[4] = rdhr; + data[5] = rdhr >> 8; + data[6] = rdhr >> 16; + data[7] = rdhr >> 24; // Release (free) message from FIFO *rfr |= CAN_RF0R_RFOM0; @@ -247,7 +219,7 @@ STATIC int can_receive(CAN_TypeDef *can, int fifo, CanRxMsgTypeDef *msg, uint32_ } // 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) { +HAL_StatusTypeDef CAN_Transmit(CAN_HandleTypeDef *hcan, uint32_t Timeout) { uint32_t transmitmailbox; uint32_t tickstart; uint32_t rqcpflag; @@ -336,703 +308,6 @@ STATIC HAL_StatusTypeDef CAN_Transmit(CAN_HandleTypeDef *hcan, uint32_t Timeout) } } -/******************************************************************************/ -// MicroPython 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 = 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, - (self->can.Instance->MCR & CAN_MCR_ABOM) ? MP_QSTR_True : MP_QSTR_False); - } -} - -// 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 = 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} }, - { 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)); - CAN_InitTypeDef *init = &self->can.Init; - init->Mode = args[ARG_mode].u_int << 4; // shift-left so modes fit in a small-int - init->Prescaler = args[ARG_prescaler].u_int; - init->SJW = ((args[ARG_sjw].u_int - 1) & 3) << 24; - init->BS1 = ((args[ARG_bs1].u_int - 1) & 0xf) << 16; - init->BS2 = ((args[ARG_bs2].u_int - 1) & 7) << 20; - init->TTCM = DISABLE; - init->ABOM = args[ARG_auto_restart].u_bool ? ENABLE : 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(%d) doesn't 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, 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 { - nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "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))) { - nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "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 - pyb_can_deinit(MP_OBJ_FROM_PTR(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); - -/// \method deinit() -/// Turn off the CAN bus. -STATIC mp_obj_t pyb_can_deinit(mp_obj_t self_in) { - pyb_can_obj_t *self = MP_OBJ_TO_PTR(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); - HAL_NVIC_DisableIRQ(CAN1_SCE_IRQn); - __HAL_RCC_CAN1_FORCE_RESET(); - __HAL_RCC_CAN1_RELEASE_RESET(); - __HAL_RCC_CAN1_CLK_DISABLE(); - #if defined(CAN2) - } else if (self->can.Instance == CAN2) { - HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn); - HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn); - HAL_NVIC_DisableIRQ(CAN2_SCE_IRQn); - __HAL_RCC_CAN2_FORCE_RESET(); - __HAL_RCC_CAN2_RELEASE_RESET(); - __HAL_RCC_CAN2_CLK_DISABLE(); - #endif - #if defined(CAN3) - } else if (self->can.Instance == CAN3) { - HAL_NVIC_DisableIRQ(CAN3_RX0_IRQn); - HAL_NVIC_DisableIRQ(CAN3_RX1_IRQn); - HAL_NVIC_DisableIRQ(CAN3_SCE_IRQn); - __HAL_RCC_CAN3_FORCE_RESET(); - __HAL_RCC_CAN3_RELEASE_RESET(); - __HAL_RCC_CAN3_CLK_DISABLE(); - #endif - } - 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; - can->MCR |= CAN_MCR_INRQ; - while ((can->MSR & CAN_MSR_INAK) == 0) { - } - can->MCR &= ~CAN_MCR_INRQ; - while ((can->MSR & CAN_MSR_INAK)) { - } - 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 (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; - } - } - 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); - } - } - 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); -} -STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_can_info_obj, 1, 2, pyb_can_info); - -/// \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 = 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); - -/// \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(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("CAN data field too long"); - } - - // send the data - CanTxMsgTypeDef tx_msg; - 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; - } - 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[ARG_timeout].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, list=None, *, timeout=5000) -/// -/// Receive data on the bus: -/// -/// - `fifo` is an integer, which is the FIFO to receive on -/// - `list` if not None is a list with at least 4 elements -/// - `timeout` is the timeout in milliseconds to wait for the receive. -/// -/// Return value: buffer of data bytes. -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_PTR(&mp_const_none_obj)} }, - { 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; - int ret = can_receive(self->can.Instance, args[ARG_fifo].u_int, &rx_msg, args[ARG_timeout].u_int); - if (ret < 0) { - mp_raise_OSError(-ret); - } - - // Manage the rx state machine - mp_int_t fifo = args[ARG_fifo].u_int; - 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_FMP0 : CAN_IT_FMP1); - *state = RX_STATE_FIFO_EMPTY; - } - break; - case RX_STATE_FIFO_FULL: - __HAL_CAN_ENABLE_IT(&self->can, (fifo == 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, (fifo == CAN_FIFO0) ? CAN_IT_FOV0 : CAN_IT_FOV1); - __HAL_CAN_ENABLE_IT(&self->can, (fifo == CAN_FIFO0) ? CAN_IT_FF0 : CAN_IT_FF1); - *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_msg.Data[0], rx_msg.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_msg.DLC; - memcpy(mv->items, &rx_msg.Data[0], rx_msg.DLC); - } - - // Populate the first 3 values of the tuple/list - if (rx_msg.IDE == CAN_ID_STD) { - items[0] = MP_OBJ_NEW_SMALL_INT(rx_msg.StdId); - } else { - items[0] = MP_OBJ_NEW_SMALL_INT(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); - - // Return the result - return ret_obj; -} -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, 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(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(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); - - 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); - - return mp_const_none; - -error: - mp_raise_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 = 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_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); - __HAL_CAN_CLEAR_FLAG(&self->can, (fifo == CAN_FIFO0) ? CAN_FLAG_FF0 : CAN_FLAG_FF1); - __HAL_CAN_CLEAR_FLAG(&self->can, (fifo == CAN_FIFO0) ? CAN_FLAG_FOV0 : CAN_FLAG_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 = 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_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_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) }, - - // 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) }, - - // 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); - -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 ((flags & MP_STREAM_POLL_WR) && (self->can.Instance->TSR & CAN_TSR_TME)) { - ret |= MP_STREAM_POLL_WR; - } - } else { - *errcode = MP_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; @@ -1072,22 +347,7 @@ void can_rx_irq_handler(uint can_id, uint fifo_id) { break; } - 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); - printf("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(); - } + pyb_can_handle_callback(self, fifo_id, callback, irq_reason); } void can_sce_irq_handler(uint can_id) { @@ -1105,20 +365,4 @@ void can_sce_irq_handler(uint can_id) { } } -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 diff --git a/ports/stm32/can.h b/ports/stm32/can.h index ade77acf7ec9..6ffacaa86de6 100644 --- a/ports/stm32/can.h +++ b/ports/stm32/can.h @@ -30,11 +30,60 @@ #define PYB_CAN_2 (2) #define PYB_CAN_3 (3) +#define MASK16 (0) +#define LIST16 (1) +#define MASK32 (2) +#define LIST32 (3) + +#if MICROPY_HW_ENABLE_FDCAN +#define CAN_TypeDef FDCAN_GlobalTypeDef +#define CAN_HandleTypeDef FDCAN_HandleTypeDef +#define CanTxMsgTypeDef FDCAN_TxHeaderTypeDef +#define CanRxMsgTypeDef FDCAN_RxHeaderTypeDef +#endif + +enum { + CAN_STATE_STOPPED, + CAN_STATE_ERROR_ACTIVE, + CAN_STATE_ERROR_WARNING, + CAN_STATE_ERROR_PASSIVE, + CAN_STATE_BUS_OFF, +}; + +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; + uint16_t num_error_warning; + uint16_t num_error_passive; + uint16_t num_bus_off; + CAN_HandleTypeDef can; +} pyb_can_obj_t; + extern const mp_obj_type_t pyb_can_type; void can_init0(void); -void can_deinit(void); +void can_deinit_all(void); +bool can_init(pyb_can_obj_t *can_obj); +void can_deinit(pyb_can_obj_t *self); void can_rx_irq_handler(uint can_id, uint fifo_id); void can_sce_irq_handler(uint can_id); +void can_clearfilter(pyb_can_obj_t *self, uint32_t f, uint8_t bank); +int can_receive(CAN_HandleTypeDef *can, int fifo, CanRxMsgTypeDef *msg, uint8_t *data, uint32_t timeout_ms); +HAL_StatusTypeDef CAN_Transmit(CAN_HandleTypeDef *hcan, uint32_t Timeout); +void pyb_can_handle_callback(pyb_can_obj_t *self, uint fifo_id, mp_obj_t callback, mp_obj_t irq_reason); + #endif // MICROPY_INCLUDED_STM32_CAN_H diff --git a/ports/stm32/fdcan.c b/ports/stm32/fdcan.c new file mode 100644 index 000000000000..5727be8770e7 --- /dev/null +++ b/ports/stm32/fdcan.c @@ -0,0 +1,289 @@ +/* + * 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 +#include + +#include "py/objtuple.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 && MICROPY_HW_ENABLE_FDCAN + +#define FDCAN_ELEMENT_MASK_STDID ((uint32_t)0x1FFC0000U) /* Standard Identifier */ +#define FDCAN_ELEMENT_MASK_EXTID ((uint32_t)0x1FFFFFFFU) /* Extended Identifier */ +#define FDCAN_ELEMENT_MASK_RTR ((uint32_t)0x20000000U) /* Remote Transmission Request */ +#define FDCAN_ELEMENT_MASK_XTD ((uint32_t)0x40000000U) /* Extended Identifier */ +#define FDCAN_ELEMENT_MASK_ESI ((uint32_t)0x80000000U) /* Error State Indicator */ +#define FDCAN_ELEMENT_MASK_TS ((uint32_t)0x0000FFFFU) /* Timestamp */ +#define FDCAN_ELEMENT_MASK_DLC ((uint32_t)0x000F0000U) /* Data Length Code */ +#define FDCAN_ELEMENT_MASK_BRS ((uint32_t)0x00100000U) /* Bit Rate Switch */ +#define FDCAN_ELEMENT_MASK_FDF ((uint32_t)0x00200000U) /* FD Format */ +#define FDCAN_ELEMENT_MASK_EFC ((uint32_t)0x00800000U) /* Event FIFO Control */ +#define FDCAN_ELEMENT_MASK_MM ((uint32_t)0xFF000000U) /* Message Marker */ +#define FDCAN_ELEMENT_MASK_FIDX ((uint32_t)0x7F000000U) /* Filter Index */ +#define FDCAN_ELEMENT_MASK_ANMF ((uint32_t)0x80000000U) /* Accepted Non-matching Frame */ +#define FDCAN_ELEMENT_MASK_ET ((uint32_t)0x00C00000U) /* Event type */ + +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_all(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) { + can_deinit(can_obj); + } + } +} + +// assumes Init parameters have been set up correctly +bool can_init(pyb_can_obj_t *can_obj) { + FDCAN_GlobalTypeDef *CANx = NULL; + const pin_obj_t *pins[2]; + + switch (can_obj->can_id) { + #if defined(MICROPY_HW_CAN1_TX) + case PYB_CAN_1: + CANx = FDCAN1; + pins[0] = MICROPY_HW_CAN1_TX; + pins[1] = MICROPY_HW_CAN1_RX; + break; + #endif + + #if defined(MICROPY_HW_CAN2_TX) + case PYB_CAN_2: + CANx = FDCAN2; + pins[0] = MICROPY_HW_CAN2_TX; + pins[1] = MICROPY_HW_CAN2_RX; + break; + #endif + + default: + return false; + } + + // Enable FDCAN clock + __HAL_RCC_FDCAN_CLK_ENABLE(); + + // init GPIO + uint32_t mode = MP_HAL_PIN_MODE_ALT; + uint32_t pull = MP_HAL_PIN_PULL_UP; + for (int i = 0; i < 2; i++) { + if (!mp_hal_pin_config_alt(pins[i], mode, pull, AF_FN_CAN, can_obj->can_id)) { + return false; + } + } + + // init CANx + can_obj->can.Instance = CANx; + + HAL_FDCAN_Init(&can_obj->can); + + // Disable acceptance of non-matching frames (enabled by default) + HAL_FDCAN_ConfigGlobalFilter(&can_obj->can, + FDCAN_REJECT, FDCAN_REJECT, DISABLE, DISABLE); + + // The configuration registers are locked after CAN is started. + HAL_FDCAN_Start(&can_obj->can); + + // Reset all filters. + for (int f=0; f<64; f++) { + can_clearfilter(can_obj, f, 0); + } + + can_obj->is_enabled = true; + can_obj->num_error_warning = 0; + can_obj->num_error_passive = 0; + can_obj->num_bus_off = 0; + + switch (can_obj->can_id) { + case PYB_CAN_1: + NVIC_SetPriority(FDCAN1_IT0_IRQn, IRQ_PRI_CAN); + HAL_NVIC_EnableIRQ(FDCAN1_IT0_IRQn); + NVIC_SetPriority(FDCAN1_IT1_IRQn, IRQ_PRI_CAN); + HAL_NVIC_EnableIRQ(FDCAN1_IT1_IRQn); + break; + case PYB_CAN_2: + NVIC_SetPriority(FDCAN2_IT0_IRQn, IRQ_PRI_CAN); + HAL_NVIC_EnableIRQ(FDCAN2_IT0_IRQn); + NVIC_SetPriority(FDCAN2_IT1_IRQn, IRQ_PRI_CAN); + HAL_NVIC_EnableIRQ(FDCAN2_IT1_IRQn); + break; + default: + return false; + } + + __HAL_FDCAN_ENABLE_IT(&can_obj->can, FDCAN_IT_BUS_OFF | FDCAN_IT_ERROR_WARNING | FDCAN_IT_ERROR_PASSIVE); + __HAL_FDCAN_ENABLE_IT(&can_obj->can, FDCAN_IT_RX_FIFO0_NEW_MESSAGE | FDCAN_IT_RX_FIFO1_NEW_MESSAGE); + __HAL_FDCAN_ENABLE_IT(&can_obj->can, FDCAN_IT_RX_FIFO0_MESSAGE_LOST | FDCAN_IT_RX_FIFO1_MESSAGE_LOST); + __HAL_FDCAN_ENABLE_IT(&can_obj->can, FDCAN_IT_RX_FIFO0_FULL | FDCAN_IT_RX_FIFO1_FULL); + + return true; +} + +void can_deinit(pyb_can_obj_t *self) { + self->is_enabled = false; + HAL_FDCAN_DeInit(&self->can); + if (self->can.Instance == FDCAN1) { + HAL_NVIC_DisableIRQ(FDCAN1_IT0_IRQn); + HAL_NVIC_DisableIRQ(FDCAN1_IT1_IRQn); + // TODO check if FDCAN2 is used. + __HAL_RCC_FDCAN_FORCE_RESET(); + __HAL_RCC_FDCAN_RELEASE_RESET(); + __HAL_RCC_FDCAN_CLK_DISABLE(); + #if defined(MICROPY_HW_CAN2_TX) + } else if (self->can.Instance == FDCAN2) { + HAL_NVIC_DisableIRQ(FDCAN2_IT0_IRQn); + HAL_NVIC_DisableIRQ(FDCAN2_IT1_IRQn); + // TODO check if FDCAN2 is used. + __HAL_RCC_FDCAN_FORCE_RESET(); + __HAL_RCC_FDCAN_RELEASE_RESET(); + __HAL_RCC_FDCAN_CLK_DISABLE(); + #endif + } +} + +void can_clearfilter(pyb_can_obj_t *self, uint32_t f, uint8_t bank) { + if (self && self->can.Instance) { + FDCAN_FilterTypeDef filter = {0}; + filter.IdType = FDCAN_STANDARD_ID; + filter.FilterIndex = f; + filter.FilterConfig = FDCAN_FILTER_DISABLE; + HAL_FDCAN_ConfigFilter(&self->can, &filter); + } +} + +int can_receive(FDCAN_HandleTypeDef *can, int fifo, FDCAN_RxHeaderTypeDef *hdr, uint8_t *data, uint32_t timeout_ms) { + volatile uint32_t *rxf, *rxa; + if(fifo == FDCAN_RX_FIFO0) { + rxf = &can->Instance->RXF0S; + rxa = &can->Instance->RXF0A; + } else { + rxf = &can->Instance->RXF1S; + rxa = &can->Instance->RXF1A; + } + + // Wait for a message to become available, with timeout + uint32_t start = HAL_GetTick(); + while ((*rxf & 7) == 0) { + MICROPY_EVENT_POLL_HOOK + if (HAL_GetTick() - start >= timeout_ms) { + return -MP_ETIMEDOUT; + } + } + + // Read message data + uint32_t index = 0; + uint32_t *address; + + /* Calculate Rx FIFO 0 element address */ + index = ((can->Instance->RXF0S & FDCAN_RXF0S_F0GI) >> 8); + address = (uint32_t *)(can->msgRam.RxFIFO0SA + (index * can->Init.RxFifo0ElmtSize * 4)); + hdr->IdType = *address & FDCAN_ELEMENT_MASK_XTD; + if(hdr->IdType == FDCAN_STANDARD_ID) { + hdr->Identifier = ((*address & FDCAN_ELEMENT_MASK_STDID) >> 18); + } else { + hdr->Identifier = (*address & FDCAN_ELEMENT_MASK_EXTID); + } + hdr->RxFrameType = (*address & FDCAN_ELEMENT_MASK_RTR); + hdr->ErrorStateIndicator = (*address++ & FDCAN_ELEMENT_MASK_ESI); + hdr->RxTimestamp = (*address & FDCAN_ELEMENT_MASK_TS); + hdr->DataLength = ((*address & FDCAN_ELEMENT_MASK_DLC)>>16); + hdr->BitRateSwitch = (*address & FDCAN_ELEMENT_MASK_BRS); + hdr->FDFormat = (*address & FDCAN_ELEMENT_MASK_FDF); + hdr->FilterIndex = ((*address & FDCAN_ELEMENT_MASK_FIDX) >> 24); + hdr->IsFilterMatchingFrame = ((*address++ & FDCAN_ELEMENT_MASK_ANMF) >> 31); + // Copy data. + uint8_t *pdata = (uint8_t *)address; + for(uint32_t i=0; i<8; i++) { // TODO use DLCtoBytes[hdr->DataLength] for length > 8 + *data++ = *pdata++; + } + + // Release (free) message from FIFO + *rxa = index; + + return 0; // success +} + +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 == FDCAN_RX_FIFO0) { + callback = self->rxcallback0; + state = &self->rx_state0; + } else { + callback = self->rxcallback1; + state = &self->rx_state1; + } + + switch (*state) { + case RX_STATE_FIFO_EMPTY: + __HAL_FDCAN_DISABLE_IT(&self->can, (fifo_id == FDCAN_RX_FIFO0) ? + FDCAN_IT_RX_FIFO0_NEW_MESSAGE : FDCAN_IT_RX_FIFO1_NEW_MESSAGE); + irq_reason = MP_OBJ_NEW_SMALL_INT(0); + *state = RX_STATE_MESSAGE_PENDING; + break; + case RX_STATE_MESSAGE_PENDING: + __HAL_FDCAN_DISABLE_IT(&self->can, (fifo_id == FDCAN_RX_FIFO0) ? FDCAN_IT_RX_FIFO0_FULL : FDCAN_IT_RX_FIFO1_FULL); + __HAL_FDCAN_CLEAR_FLAG(&self->can, (fifo_id == FDCAN_RX_FIFO0) ? FDCAN_FLAG_RX_FIFO0_FULL : FDCAN_FLAG_RX_FIFO1_FULL); + irq_reason = MP_OBJ_NEW_SMALL_INT(1); + *state = RX_STATE_FIFO_FULL; + break; + case RX_STATE_FIFO_FULL: + __HAL_FDCAN_DISABLE_IT(&self->can, (fifo_id == FDCAN_RX_FIFO0) ? + FDCAN_IT_RX_FIFO0_MESSAGE_LOST : FDCAN_IT_RX_FIFO1_MESSAGE_LOST); + __HAL_FDCAN_CLEAR_FLAG(&self->can, (fifo_id == FDCAN_RX_FIFO0) ? + FDCAN_FLAG_RX_FIFO0_MESSAGE_LOST : FDCAN_FLAG_RX_FIFO1_MESSAGE_LOST); + irq_reason = MP_OBJ_NEW_SMALL_INT(2); + *state = RX_STATE_FIFO_OVERFLOW; + break; + case RX_STATE_FIFO_OVERFLOW: + // This should never happen + break; + } + + pyb_can_handle_callback(self, fifo_id, callback, irq_reason); +} + +#endif // MICROPY_HW_ENABLE_FDCAN diff --git a/ports/stm32/main.c b/ports/stm32/main.c index 14ea4e644bd2..93beb0fd70a6 100644 --- a/ports/stm32/main.c +++ b/ports/stm32/main.c @@ -731,7 +731,7 @@ void stm32_main(uint32_t reset_mode) { timer_deinit(); uart_deinit_all(); #if MICROPY_HW_ENABLE_CAN - can_deinit(); + can_deinit_all(); #endif machine_deinit(); diff --git a/ports/stm32/mpconfigboard_common.h b/ports/stm32/mpconfigboard_common.h index d353468f96ab..0ba46bf4dbca 100644 --- a/ports/stm32/mpconfigboard_common.h +++ b/ports/stm32/mpconfigboard_common.h @@ -275,6 +275,10 @@ // Enable CAN if there are any peripherals defined #if defined(MICROPY_HW_CAN1_TX) || defined(MICROPY_HW_CAN2_TX) || defined(MICROPY_HW_CAN3_TX) #define MICROPY_HW_ENABLE_CAN (1) +#if defined(STM32H7) +// Define for MCUs with FD CAN. +#define MICROPY_HW_ENABLE_FDCAN (1) +#endif #else #define MICROPY_HW_ENABLE_CAN (0) #define MICROPY_HW_MAX_CAN (0) diff --git a/ports/stm32/pin_defs_stm32.h b/ports/stm32/pin_defs_stm32.h index 89b659de5d32..739083dd6449 100644 --- a/ports/stm32/pin_defs_stm32.h +++ b/ports/stm32/pin_defs_stm32.h @@ -114,6 +114,14 @@ enum { #define I2S2 SPI2 #define I2S3 SPI3 +#if defined(STM32H7) +// Make H7 FDCAN more like CAN +#define CAN1 FDCAN1 +#define CAN2 FDCAN2 +#define GPIO_AF9_CAN1 GPIO_AF9_FDCAN1 +#define GPIO_AF9_CAN2 GPIO_AF9_FDCAN2 +#endif + enum { PIN_ADC1 = (1 << 0), PIN_ADC2 = (1 << 1), diff --git a/ports/stm32/pyb_can.c b/ports/stm32/pyb_can.c new file mode 100644 index 000000000000..6009f4bbd056 --- /dev/null +++ b/ports/stm32/pyb_can.c @@ -0,0 +1,949 @@ +/* + * 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 +#include + +#include "py/objtuple.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 +// Both banks start at 0 +STATIC uint8_t can2_start_bank = 0; +#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 + +#else +STATIC uint8_t can2_start_bank = 14; +#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 +#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)); + + #if MICROPY_HW_ENABLE_FDCAN + FDCAN_InitTypeDef *init = &self->can.Init; + init->FrameFormat = FDCAN_FRAME_CLASSIC; + init->Mode = args[ARG_mode].u_int; + + init->NominalPrescaler = args[ARG_prescaler].u_int; // tq = NominalPrescaler x (1/fdcan_ker_ck) + init->NominalSyncJumpWidth = args[ARG_sjw].u_int; + init->NominalTimeSeg1 = args[ARG_bs1].u_int; // NominalTimeSeg1 = Propagation_segment + Phase_segment_1 + init->NominalTimeSeg2 = args[ARG_bs2].u_int; + + init->AutoRetransmission = ENABLE; + init->TransmitPause = DISABLE; + init->ProtocolException = ENABLE; + // The Message RAM is shared between CAN1 and CAN2. Setting the offset to half + // the Message RAM for the second CAN and using half the resources for each CAN. + if (self->can_id == PYB_CAN_1) { + init->MessageRAMOffset = 0; + } else { + init->MessageRAMOffset = 2560/2; + } + + init->StdFiltersNbr = 64; // 128 / 2 + init->ExtFiltersNbr = 0; // Not used + + init->TxEventsNbr = 16; // 32 / 2 + init->RxBuffersNbr = 32; // 64 / 2 + init->TxBuffersNbr = 16; // 32 / 2 + + init->RxFifo0ElmtsNbr = 64; // 128 / 2 + init->RxFifo0ElmtSize = FDCAN_DATA_BYTES_8; + + init->RxFifo1ElmtsNbr = 64; // 128 / 2 + init->RxFifo1ElmtSize = FDCAN_DATA_BYTES_8; + + init->TxFifoQueueElmtsNbr = 16; // Tx fifo elements + init->TxElmtSize = FDCAN_DATA_BYTES_8; + init->TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION; + #else + CAN_InitTypeDef *init = &self->can.Init; + init->Mode = args[ARG_mode].u_int << 4; // shift-left so modes fit in a small-int + init->Prescaler = args[ARG_prescaler].u_int; + init->SJW = ((args[ARG_sjw].u_int - 1) & 3) << 24; + init->BS1 = ((args[ARG_bs1].u_int - 1) & 0xf) << 16; + init->BS2 = ((args[ARG_bs2].u_int - 1) & 7) << 20; + init->TTCM = DISABLE; + init->ABOM = args[ARG_auto_restart].u_bool ? ENABLE : DISABLE; + init->AWUM = DISABLE; + init->NART = DISABLE; + init->RFLM = DISABLE; + init->TXFP = DISABLE; + #endif + + // 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(%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 { + nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "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))) { + nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "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("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_PTR(&mp_const_none_obj)} }, + { 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(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("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); + printf("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 diff --git a/ports/stm32/stm32_it.c b/ports/stm32/stm32_it.c index 9f5a886f3d82..3e6ac112265f 100644 --- a/ports/stm32/stm32_it.c +++ b/ports/stm32/stm32_it.c @@ -793,6 +793,19 @@ void UART10_IRQHandler(void) { #endif #if defined(MICROPY_HW_CAN1_TX) +#if MICROPY_HW_ENABLE_FDCAN +void FDCAN1_IT0_IRQHandler(void) { + IRQ_ENTER(FDCAN1_IT0_IRQn); + can_rx_irq_handler(PYB_CAN_1, FDCAN_RX_FIFO0); + IRQ_EXIT(FDCAN1_IT0_IRQn); +} + +void FDCAN1_IT1_IRQHandler(void) { + IRQ_ENTER(FDCAN1_IT1_IRQn); + can_rx_irq_handler(PYB_CAN_1, FDCAN_RX_FIFO1); + IRQ_EXIT(FDCAN1_IT1_IRQn); +} +#else void CAN1_RX0_IRQHandler(void) { IRQ_ENTER(CAN1_RX0_IRQn); can_rx_irq_handler(PYB_CAN_1, CAN_FIFO0); @@ -811,8 +824,22 @@ void CAN1_SCE_IRQHandler(void) { IRQ_EXIT(CAN1_SCE_IRQn); } #endif +#endif #if defined(MICROPY_HW_CAN2_TX) +#if MICROPY_HW_ENABLE_FDCAN +void FDCAN2_IT0_IRQHandler(void) { + IRQ_ENTER(FDCAN2_IT0_IRQn); + can_rx_irq_handler(PYB_CAN_2, FDCAN_RX_FIFO0); + IRQ_EXIT(FDCAN2_IT0_IRQn); +} + +void FDCAN2_IT1_IRQHandler(void) { + IRQ_ENTER(FDCAN2_IT1_IRQn); + can_rx_irq_handler(PYB_CAN_2, FDCAN_RX_FIFO1); + IRQ_EXIT(FDCAN2_IT1_IRQn); +} +#else void CAN2_RX0_IRQHandler(void) { IRQ_ENTER(CAN2_RX0_IRQn); can_rx_irq_handler(PYB_CAN_2, CAN_FIFO0); @@ -831,6 +858,7 @@ void CAN2_SCE_IRQHandler(void) { IRQ_EXIT(CAN2_SCE_IRQn); } #endif +#endif #if defined(MICROPY_HW_CAN3_TX) void CAN3_RX0_IRQHandler(void) {