Damien George
10 years ago
5 changed files with 509 additions and 0 deletions
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/*
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* This file is part of the Micro Python project, http://micropython.org/
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* |
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* The MIT License (MIT) |
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* |
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* Copyright (c) 2014 Damien P. George |
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* |
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* Permission is hereby granted, free of charge, to any person obtaining a copy |
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* of this software and associated documentation files (the "Software"), to deal |
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* in the Software without restriction, including without limitation the rights |
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
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* copies of the Software, and to permit persons to whom the Software is |
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* furnished to do so, subject to the following conditions: |
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* |
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* The above copyright notice and this permission notice shall be included in |
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* all copies or substantial portions of the Software. |
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* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
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* THE SOFTWARE. |
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*/ |
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#include <stdio.h> |
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#include <string.h> |
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#include <stdarg.h> |
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#include <errno.h> |
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#include "stm32f4xx_hal.h" |
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#include "mpconfig.h" |
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#include "nlr.h" |
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#include "misc.h" |
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#include "qstr.h" |
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#include "obj.h" |
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#include "objtuple.h" |
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#include "runtime.h" |
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#include "bufhelper.h" |
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#include "can.h" |
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#include "pybioctl.h" |
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/// \moduleref pyb
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/// \class CAN - controller area network communication bus
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///
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/// CAN implements the standard CAN communications protocol. At
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/// the physical level it consists of 2 lines: RX and TX. Note that
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/// to connect the pyboard to a CAN bus you must use a CAN transceiver
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/// to convert the CAN logic signals from the pyboard to the correct
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/// voltage levels on the bus.
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///
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/// Note that this driver does not yet support filter configuration
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/// (it defaults to a single filter that lets through all messages),
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/// or bus timing configuration (except for setting the prescaler).
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///
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/// Example usage (works without anything connected):
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///
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/// from pyb import CAN
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/// can = pyb.CAN(1, pyb.CAN.LOOPBACK)
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/// can.send('message!', 123) # send message to id 123
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/// can.recv(0) # receive message on FIFO 0
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typedef struct _pyb_can_obj_t { |
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mp_obj_base_t base; |
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mp_uint_t can_id : 8; |
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bool is_enabled : 1; |
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CAN_HandleTypeDef can; |
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} pyb_can_obj_t; |
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// assumes Init parameters have been set up correctly
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STATIC bool can_init(pyb_can_obj_t *can_obj) { |
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CAN_TypeDef *CANx = NULL; |
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uint32_t GPIO_Pin = 0; |
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uint8_t GPIO_AF_CANx = 0; |
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GPIO_TypeDef* GPIO_Port = NULL; |
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switch (can_obj->can_id) { |
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// CAN1 is on RX,TX = Y3,Y4 = PB9,PB9
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case PYB_CAN_1: |
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CANx = CAN1; |
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GPIO_AF_CANx = GPIO_AF9_CAN1; |
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GPIO_Port = GPIOB; |
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GPIO_Pin = GPIO_PIN_8 | GPIO_PIN_9; |
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__CAN1_CLK_ENABLE(); |
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break; |
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// CAN2 is on RX,TX = Y5,Y6 = PB12,PB13
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case PYB_CAN_2: |
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CANx = CAN2; |
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GPIO_AF_CANx = GPIO_AF9_CAN2; |
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GPIO_Port = GPIOB; |
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GPIO_Pin = GPIO_PIN_12 | GPIO_PIN_13; |
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__CAN1_CLK_ENABLE(); // CAN2 is a "slave" and needs CAN1 enabled as well
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__CAN2_CLK_ENABLE(); |
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break; |
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default: |
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return false; |
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} |
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// init GPIO
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GPIO_InitTypeDef GPIO_InitStructure; |
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GPIO_InitStructure.Pin = GPIO_Pin; |
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GPIO_InitStructure.Speed = GPIO_SPEED_HIGH; |
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GPIO_InitStructure.Mode = GPIO_MODE_AF_PP; |
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GPIO_InitStructure.Pull = GPIO_PULLUP; |
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GPIO_InitStructure.Alternate = GPIO_AF_CANx; |
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HAL_GPIO_Init(GPIO_Port, &GPIO_InitStructure); |
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// init CANx
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can_obj->can.Instance = CANx; |
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HAL_CAN_Init(&can_obj->can); |
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can_obj->is_enabled = true; |
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return true; |
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} |
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STATIC void can_deinit(pyb_can_obj_t *can_obj) { |
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can_obj->is_enabled = false; |
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CAN_HandleTypeDef *can = &can_obj->can; |
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HAL_CAN_DeInit(can); |
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if (can->Instance == CAN1) { |
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__CAN1_FORCE_RESET(); |
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__CAN1_RELEASE_RESET(); |
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__CAN1_CLK_DISABLE(); |
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} else if (can->Instance == CAN2) { |
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__CAN2_FORCE_RESET(); |
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__CAN2_RELEASE_RESET(); |
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__CAN2_CLK_DISABLE(); |
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} |
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} |
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/******************************************************************************/ |
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// Micro Python bindings
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STATIC void pyb_can_print(void (*print)(void *env, const char *fmt, ...), void *env, mp_obj_t self_in, mp_print_kind_t kind) { |
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pyb_can_obj_t *self = self_in; |
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if (!self->is_enabled) { |
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print(env, "CAN(%u)", self->can_id); |
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} else { |
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print(env, "CAN(%u, ", self->can_id); |
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qstr mode; |
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switch (self->can.Init.Mode) { |
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case CAN_MODE_NORMAL: mode = MP_QSTR_NORMAL; break; |
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case CAN_MODE_LOOPBACK: mode = MP_QSTR_LOOPBACK; break; |
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case CAN_MODE_SILENT: mode = MP_QSTR_SILENT; break; |
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case CAN_MODE_SILENT_LOOPBACK: default: mode = MP_QSTR_SILENT_LOOPBACK; break; |
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} |
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print(env, "%s)", qstr_str(mode)); |
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} |
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} |
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/// \method init(mode, prescaler=100, *, sjw=1, bs1=6, bs2=8)
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///
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/// Initialise the CAN bus with the given parameters:
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///
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/// - `mode` is one of: NORMAL, LOOPBACK, SILENT, SILENT_LOOPBACK
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STATIC mp_obj_t pyb_can_init_helper(pyb_can_obj_t *self, mp_uint_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { |
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static const mp_arg_t allowed_args[] = { |
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{ MP_QSTR_mode, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = CAN_MODE_NORMAL} }, |
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{ MP_QSTR_prescaler, MP_ARG_INT, {.u_int = 100} }, |
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/*
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{ MP_QSTR_sjw, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 1} }, |
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{ MP_QSTR_bs1, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 6} }, |
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{ MP_QSTR_bs2, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 8} }, |
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*/ |
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}; |
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// parse args
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; |
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mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); |
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// set the CAN configuration values
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memset(&self->can, 0, sizeof(self->can)); |
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CAN_InitTypeDef *init = &self->can.Init; |
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init->Mode = args[0].u_int << 4; // shift-left so modes fit in a small-int
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init->Prescaler = args[1].u_int; |
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init->SJW = CAN_SJW_1TQ; // TODO set from args
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init->BS1 = CAN_BS1_6TQ; // TODO set from args
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init->BS2 = CAN_BS2_8TQ; // TODO set from args
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init->TTCM = DISABLE; |
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init->ABOM = DISABLE; |
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init->AWUM = DISABLE; |
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init->NART = DISABLE; |
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init->RFLM = DISABLE; |
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init->TXFP = DISABLE; |
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// init CAN (if it fails, it's because the port doesn't exist)
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if (!can_init(self)) { |
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nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "CAN port %d does not exist", self->can_id)); |
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} |
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// set CAN filter to accept everything
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CAN_FilterConfTypeDef filter; |
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filter.FilterIdHigh = 0; |
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filter.FilterIdLow = 0; |
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filter.FilterMaskIdHigh = 0; |
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filter.FilterMaskIdLow = 0; |
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filter.FilterFIFOAssignment = CAN_FILTER_FIFO0; |
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filter.FilterNumber = 0; // 0-27
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filter.FilterMode = CAN_FILTERMODE_IDMASK; |
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filter.FilterScale = CAN_FILTERSCALE_32BIT; |
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filter.FilterActivation = ENABLE; |
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filter.BankNumber = 0; // what's this for?
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HAL_CAN_ConfigFilter(&self->can, &filter); |
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return mp_const_none; |
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} |
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/// \classmethod \constructor(bus, ...)
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///
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/// Construct a CAN object on the given bus. `bus` can be 1-2, or 'YA' or 'YB'.
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/// With no additional parameters, the CAN object is created but not
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/// initialised (it has the settings from the last initialisation of
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/// the bus, if any). If extra arguments are given, the bus is initialised.
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/// See `init` for parameters of initialisation.
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///
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/// The physical pins of the CAN busses are:
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///
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/// - `CAN(1)` is on `YA`: `(RX, TX) = (Y3, Y4) = (PB8, PB9)`
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/// - `CAN(2)` is on `YB`: `(RX, TX) = (Y5, Y6) = (PB12, PB13)`
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STATIC mp_obj_t pyb_can_make_new(mp_obj_t type_in, mp_uint_t n_args, mp_uint_t n_kw, const mp_obj_t *args) { |
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// check arguments
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mp_arg_check_num(n_args, n_kw, 1, MP_OBJ_FUN_ARGS_MAX, true); |
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// create object
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pyb_can_obj_t *o = m_new_obj(pyb_can_obj_t); |
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o->base.type = &pyb_can_type; |
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o->is_enabled = false; |
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// work out port
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o->can_id = 0; |
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if (MP_OBJ_IS_STR(args[0])) { |
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const char *port = mp_obj_str_get_str(args[0]); |
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if (0) { |
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#if defined(PYBV10) |
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} else if (strcmp(port, "YA") == 0) { |
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o->can_id = PYB_CAN_YA; |
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} else if (strcmp(port, "YB") == 0) { |
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o->can_id = PYB_CAN_YB; |
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#endif |
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} else { |
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nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "CAN port %s does not exist", port)); |
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} |
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} else { |
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o->can_id = mp_obj_get_int(args[0]); |
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} |
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if (n_args > 1 || n_kw > 0) { |
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// start the peripheral
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mp_map_t kw_args; |
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mp_map_init_fixed_table(&kw_args, n_kw, args + n_args); |
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pyb_can_init_helper(o, n_args - 1, args + 1, &kw_args); |
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} |
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return o; |
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} |
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STATIC mp_obj_t pyb_can_init(mp_uint_t n_args, const mp_obj_t *args, mp_map_t *kw_args) { |
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return pyb_can_init_helper(args[0], n_args - 1, args + 1, kw_args); |
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} |
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STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_can_init_obj, 1, pyb_can_init); |
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/// \method deinit()
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/// Turn off the CAN bus.
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STATIC mp_obj_t pyb_can_deinit(mp_obj_t self_in) { |
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pyb_can_obj_t *self = self_in; |
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can_deinit(self); |
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return mp_const_none; |
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} |
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STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_can_deinit_obj, pyb_can_deinit); |
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/// \method any(fifo)
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/// Return `True` if any message waiting on the FIFO, else `False`.
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STATIC mp_obj_t pyb_can_any(mp_obj_t self_in, mp_obj_t fifo_in) { |
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pyb_can_obj_t *self = self_in; |
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mp_int_t fifo = mp_obj_get_int(fifo_in); |
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if (fifo == 0) { |
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if (__HAL_CAN_MSG_PENDING(&self->can, CAN_FIFO0) != 0) { |
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return mp_const_true; |
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} |
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} else { |
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if (__HAL_CAN_MSG_PENDING(&self->can, CAN_FIFO1) != 0) { |
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return mp_const_true; |
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} |
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} |
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return mp_const_false; |
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} |
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STATIC MP_DEFINE_CONST_FUN_OBJ_2(pyb_can_any_obj, pyb_can_any); |
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/// \method send(send, addr, *, timeout=5000)
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/// Send a message on the bus:
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///
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/// - `send` is the data to send (an integer to send, or a buffer object).
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/// - `addr` is the address to send to
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/// - `timeout` is the timeout in milliseconds to wait for the send.
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///
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/// Return value: `None`.
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STATIC mp_obj_t pyb_can_send(mp_uint_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { |
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static const mp_arg_t allowed_args[] = { |
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{ MP_QSTR_send, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} }, |
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{ MP_QSTR_addr, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = 0} }, |
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{ MP_QSTR_timeout, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 5000} }, |
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}; |
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// parse args
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pyb_can_obj_t *self = pos_args[0]; |
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; |
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mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); |
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// get the buffer to send from
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mp_buffer_info_t bufinfo; |
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uint8_t data[1]; |
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pyb_buf_get_for_send(args[0].u_obj, &bufinfo, data); |
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// TODO check bufinfo.len <= 8
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// send the data
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CanTxMsgTypeDef tx_msg; |
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tx_msg.StdId = args[1].u_int & 0x7ff; |
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tx_msg.ExtId = 0; // TODO support extended ids
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tx_msg.IDE = CAN_ID_STD; |
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tx_msg.RTR = CAN_RTR_DATA; |
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tx_msg.DLC = bufinfo.len; |
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for (mp_uint_t i = 0; i < bufinfo.len; i++) { |
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tx_msg.Data[i] = ((byte*)bufinfo.buf)[i]; // Data is uint32_t but holds only 1 byte
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} |
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self->can.pTxMsg = &tx_msg; |
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HAL_StatusTypeDef status = HAL_CAN_Transmit(&self->can, args[2].u_int); |
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if (status != HAL_OK) { |
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// TODO really need a HardwareError object, or something
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nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_Exception, "HAL_CAN_Transmit failed with code %d", status)); |
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} |
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return mp_const_none; |
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} |
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STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_can_send_obj, 1, pyb_can_send); |
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/// \method recv(fifo, *, timeout=5000)
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///
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/// Receive data on the bus:
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///
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/// - `fifo` is an integer, which is the FIFO to receive on
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/// - `timeout` is the timeout in milliseconds to wait for the receive.
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///
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/// Return value: buffer of data bytes.
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STATIC mp_obj_t pyb_can_recv(mp_uint_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { |
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static const mp_arg_t allowed_args[] = { |
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{ MP_QSTR_fifo, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = 0} }, |
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{ MP_QSTR_timeout, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 5000} }, |
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}; |
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// parse args
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pyb_can_obj_t *self = pos_args[0]; |
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; |
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mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); |
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// receive the data
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CanRxMsgTypeDef rx_msg; |
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self->can.pRxMsg = &rx_msg; |
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HAL_StatusTypeDef status = HAL_CAN_Receive(&self->can, args[0].u_int, args[1].u_int); |
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if (status != HAL_OK) { |
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// TODO really need a HardwareError object, or something
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nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_Exception, "HAL_CAN_Receive failed with code %d", status)); |
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} |
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// return the received data
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// TODO use a namedtuple (when namedtuple types can be stored in ROM)
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mp_obj_tuple_t *tuple = mp_obj_new_tuple(4, NULL); |
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if (rx_msg.IDE == CAN_ID_STD) { |
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tuple->items[0] = MP_OBJ_NEW_SMALL_INT(rx_msg.StdId); |
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} else { |
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tuple->items[0] = MP_OBJ_NEW_SMALL_INT(rx_msg.ExtId); |
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} |
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tuple->items[1] = MP_OBJ_NEW_SMALL_INT(rx_msg.RTR); |
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tuple->items[2] = MP_OBJ_NEW_SMALL_INT(rx_msg.FMI); |
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byte *data; |
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tuple->items[3] = mp_obj_str_builder_start(&mp_type_bytes, rx_msg.DLC, &data); |
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for (mp_uint_t i = 0; i < rx_msg.DLC; i++) { |
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data[i] = rx_msg.Data[i]; // Data is uint32_t but holds only 1 byte
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} |
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tuple->items[3] = mp_obj_str_builder_end(tuple->items[3]); |
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return tuple; |
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} |
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STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_can_recv_obj, 1, pyb_can_recv); |
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STATIC const mp_map_elem_t pyb_can_locals_dict_table[] = { |
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// instance methods
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{ MP_OBJ_NEW_QSTR(MP_QSTR_init), (mp_obj_t)&pyb_can_init_obj }, |
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{ MP_OBJ_NEW_QSTR(MP_QSTR_deinit), (mp_obj_t)&pyb_can_deinit_obj }, |
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{ MP_OBJ_NEW_QSTR(MP_QSTR_any), (mp_obj_t)&pyb_can_any_obj }, |
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{ MP_OBJ_NEW_QSTR(MP_QSTR_send), (mp_obj_t)&pyb_can_send_obj }, |
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{ MP_OBJ_NEW_QSTR(MP_QSTR_recv), (mp_obj_t)&pyb_can_recv_obj }, |
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// class constants
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/// \constant MASTER - for initialising the bus to master mode
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/// \constant SLAVE - for initialising the bus to slave mode
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/// \constant MSB - set the first bit to MSB
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/// \constant LSB - set the first bit to LSB
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// Note: we use the ST constants >> 4 so they fit in a small-int. The
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// right-shift is undone when the constants are used in the init function.
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{ MP_OBJ_NEW_QSTR(MP_QSTR_NORMAL), MP_OBJ_NEW_SMALL_INT(CAN_MODE_NORMAL >> 4) }, |
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{ MP_OBJ_NEW_QSTR(MP_QSTR_LOOPBACK), MP_OBJ_NEW_SMALL_INT(CAN_MODE_LOOPBACK >> 4) }, |
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{ MP_OBJ_NEW_QSTR(MP_QSTR_SILENT), MP_OBJ_NEW_SMALL_INT(CAN_MODE_SILENT >> 4) }, |
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{ MP_OBJ_NEW_QSTR(MP_QSTR_SILENT_LOOPBACK), MP_OBJ_NEW_SMALL_INT(CAN_MODE_SILENT_LOOPBACK >> 4) }, |
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}; |
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STATIC MP_DEFINE_CONST_DICT(pyb_can_locals_dict, pyb_can_locals_dict_table); |
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mp_uint_t can_ioctl(mp_obj_t self_in, mp_uint_t request, int *errcode, ...) { |
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pyb_can_obj_t *self = self_in; |
|||
va_list vargs; |
|||
va_start(vargs, errcode); |
|||
mp_uint_t ret; |
|||
if (request == MP_IOCTL_POLL) { |
|||
mp_uint_t flags = va_arg(vargs, mp_uint_t); |
|||
ret = 0; |
|||
if ((flags & MP_IOCTL_POLL_RD) |
|||
&& ((__HAL_CAN_MSG_PENDING(&self->can, CAN_FIFO0) != 0) |
|||
|| (__HAL_CAN_MSG_PENDING(&self->can, CAN_FIFO1) != 0))) { |
|||
ret |= MP_IOCTL_POLL_RD; |
|||
} |
|||
if ((flags & MP_IOCTL_POLL_WR) && (self->can.Instance->TSR & CAN_TSR_TME)) { |
|||
ret |= MP_IOCTL_POLL_WR; |
|||
} |
|||
} else { |
|||
*errcode = EINVAL; |
|||
ret = -1; |
|||
} |
|||
va_end(vargs); |
|||
return ret; |
|||
} |
|||
|
|||
STATIC const mp_stream_p_t can_stream_p = { |
|||
//.read = can_read, // is read sensible for CAN?
|
|||
//.write = can_write, // is write sensible for CAN?
|
|||
.ioctl = can_ioctl, |
|||
.is_text = false, |
|||
}; |
|||
|
|||
const mp_obj_type_t pyb_can_type = { |
|||
{ &mp_type_type }, |
|||
.name = MP_QSTR_CAN, |
|||
.print = pyb_can_print, |
|||
.make_new = pyb_can_make_new, |
|||
.stream_p = &can_stream_p, |
|||
.locals_dict = (mp_obj_t)&pyb_can_locals_dict, |
|||
}; |
|||
@ -0,0 +1,36 @@ |
|||
/*
|
|||
* This file is part of the Micro Python project, http://micropython.org/
|
|||
* |
|||
* The MIT License (MIT) |
|||
* |
|||
* Copyright (c) 2014 Damien P. George |
|||
* |
|||
* Permission is hereby granted, free of charge, to any person obtaining a copy |
|||
* of this software and associated documentation files (the "Software"), to deal |
|||
* in the Software without restriction, including without limitation the rights |
|||
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
|||
* copies of the Software, and to permit persons to whom the Software is |
|||
* furnished to do so, subject to the following conditions: |
|||
* |
|||
* The above copyright notice and this permission notice shall be included in |
|||
* all copies or substantial portions of the Software. |
|||
* |
|||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
|||
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
|||
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
|||
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
|||
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
|||
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
|||
* THE SOFTWARE. |
|||
*/ |
|||
|
|||
#define PYB_CAN_1 (1) |
|||
#define PYB_CAN_2 (2) |
|||
|
|||
// aliases for pyboard
|
|||
#if defined(PYBV10) |
|||
#define PYB_CAN_YA PYB_CAN_1 // CAN1 on RX,TX = Y3,Y4 = PB8,PB9
|
|||
#define PYB_CAN_YB PYB_CAN_2 // CAN2 on RX,TX = Y5,Y6 = PB12,PB13
|
|||
#endif |
|||
|
|||
extern const mp_obj_type_t pyb_can_type; |
|||
Loading…
Reference in new issue