Merge pull request #650 from tannewt/merge_2x3.0.0-alpha.2

Merge in commits from 2.x branch.

1 files changed, 0 insertions, 223 deletions

diff --git a/docs/library/pyb.CAN.rst b/docs/library/pyb.CAN.rst
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-.. currentmodule:: pyb
-.. _pyb.CAN:
-
-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.
-
-Example usage (works without anything connected)::
-
-    from pyb import CAN
-    can = CAN(1, CAN.LOOPBACK)
-    can.setfilter(0, CAN.LIST16, 0, (123, 124, 125, 126))  # set a filter to receive messages with id=123, 124, 125 and 126
-    can.send('message!', 123)   # send a message with id 123
-    can.recv(0)                 # receive message on FIFO 0
-
-
-Constructors
-------------
-
-.. class:: pyb.CAN(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)``
-
-Class Methods
--------------
-.. classmethod:: CAN.initfilterbanks(nr)
-
-   Reset and disable all filter banks and assign how many banks should be available for CAN(1).
-
-   STM32F405 has 28 filter banks that are shared between the two available CAN bus controllers.
-   This function configures how many filter banks should be assigned to each. ``nr`` is the number of banks
-   that will be assigned to CAN(1), the rest of the 28 are assigned to CAN(2).
-   At boot, 14 banks are assigned to each controller.
-
-Methods
--------
-
-.. method:: CAN.init(mode, extframe=False, prescaler=100, \*, sjw=1, bs1=6, bs2=8)
-
-   Initialise the CAN bus with the given parameters:
-
-     - ``mode`` is one of:  NORMAL, LOOPBACK, SILENT, SILENT_LOOPBACK
-     - if ``extframe`` is True then the bus uses extended identifiers in the frames
-       (29 bits); otherwise it uses standard 11 bit identifiers
-     - ``prescaler`` is used to set the duration of 1 time quanta; the time quanta
-       will be the input clock (PCLK1, see :meth:`pyb.freq()`) divided by the prescaler
-     - ``sjw`` is the resynchronisation jump width in units of the time quanta;
-       it can be 1, 2, 3, 4
-     - ``bs1`` defines the location of the sample point in units of the time quanta;
-       it can be between 1 and 1024 inclusive
-     - ``bs2`` defines the location of the transmit point in units of the time quanta;
-       it can be between 1 and 16 inclusive
-
-   The time quanta tq is the basic unit of time for the CAN bus.  tq is the CAN
-   prescaler value divided by PCLK1 (the frequency of internal peripheral bus 1);
-   see :meth:`pyb.freq()` to determine PCLK1.
-
-   A single bit is made up of the synchronisation segment, which is always 1 tq.
-   Then follows bit segment 1, then bit segment 2.  The sample point is after bit
-   segment 1 finishes.  The transmit point is after bit segment 2 finishes.
-   The baud rate will be 1/bittime, where the bittime is 1 + BS1 + BS2 multiplied
-   by the time quanta tq.
-
-   For example, with PCLK1=42MHz, prescaler=100, sjw=1, bs1=6, bs2=8, the value of
-   tq is 2.38 microseconds.  The bittime is 35.7 microseconds, and the baudrate
-   is 28kHz.
-
-   See page 680 of the STM32F405 datasheet for more details.
-
-.. method:: CAN.deinit()
-
-   Turn off the CAN bus.
-
-.. method:: CAN.setfilter(bank, mode, fifo, params, \*, rtr)
-
-   Configure a filter bank:
-
-   - ``bank`` is the filter bank that is to be configured.
-   - ``mode`` is the mode the filter should operate in.
-   - ``fifo`` is which fifo (0 or 1) a message should be stored in, if it is accepted by this filter.
-   - ``params`` is an array of values the defines the filter. The contents of the array depends on the ``mode`` argument.
-
-   +-----------+---------------------------------------------------------+
-   |``mode``   |contents of parameter array                              |
-   +===========+=========================================================+
-   |CAN.LIST16 |Four 16 bit ids that will be accepted                    |
-   +-----------+---------------------------------------------------------+
-   |CAN.LIST32 |Two 32 bit ids that will be accepted                     |
-   +-----------+---------------------------------------------------------+
-   |CAN.MASK16 |Two 16 bit id/mask pairs. E.g. (1, 3, 4, 4)              |
-   |           | | The first pair, 1 and 3 will accept all ids           |
-   |           | | that have bit 0 = 1 and bit 1 = 0.                    |
-   |           | | The second pair, 4 and 4, will accept all ids         |
-   |           | | that have bit 2 = 1.                                  |
-   +-----------+---------------------------------------------------------+
-   |CAN.MASK32 |As with CAN.MASK16 but with only one 32 bit id/mask pair.|
-   +-----------+---------------------------------------------------------+
-
-   - ``rtr`` is an array of booleans that states if a filter should accept a
-     remote transmission request message.  If this argument is not given
-     then it defaults to False for all entries.  The length of the array
-     depends on the ``mode`` argument.
-
-   +-----------+----------------------+
-   |``mode``   |length of rtr array   |
-   +===========+======================+
-   |CAN.LIST16 |4                     |
-   +-----------+----------------------+
-   |CAN.LIST32 |2                     |
-   +-----------+----------------------+
-   |CAN.MASK16 |2                     |
-   +-----------+----------------------+
-   |CAN.MASK32 |1                     |
-   +-----------+----------------------+
-
-.. method:: CAN.clearfilter(bank)
-
-   Clear and disables a filter bank:
-
-   - ``bank`` is the filter bank that is to be cleared.
-
-.. method:: CAN.any(fifo)
-
-   Return ``True`` if any message waiting on the FIFO, else ``False``.
-
-.. method:: CAN.recv(fifo, \*, timeout=5000)
-
-   Receive data on the bus:
-
-     - ``fifo`` is an integer, which is the FIFO to receive on
-     - ``timeout`` is the timeout in milliseconds to wait for the receive.
-
-   Return value: A tuple containing four values.
-
-     - The id of the message.
-     - A boolean that indicates if the message is an RTR message.
-     - The FMI (Filter Match Index) value.
-     - An array containing the data.
-
-.. method:: CAN.send(data, id, \*, timeout=0, rtr=False)
-
-   Send a message on the bus:
-
-     - ``data`` is the data to send (an integer to send, or a buffer object).
-     - ``id`` is the id of the message to be sent.
-     - ``timeout`` is the timeout in milliseconds to wait for the send.
-     - ``rtr`` is a boolean that specifies if the message shall be sent as
-       a remote transmission request.  If ``rtr`` is True then only the length
-       of ``data`` is used to fill in the DLC slot of the frame; the actual
-       bytes in ``data`` are unused.
-
-     If timeout is 0 the message is placed in a buffer in one of three hardware
-     buffers and the method returns immediately. If all three buffers are in use
-     an exception is thrown. If timeout is not 0, the method waits until the
-     message is transmitted. If the message can't be transmitted within the
-     specified time an exception is thrown.
-
-   Return value: ``None``.
-
-.. method:: CAN.rxcallback(fifo, fun)
-
-   Register a function to be called when a message is accepted into a empty fifo:
-
-   - ``fifo`` is the receiving fifo.
-   - ``fun`` is the function to be called when the fifo becomes non empty.
-
-   The callback function takes two arguments the first is the can object it self the second is
-   a integer that indicates the reason for the callback.
-
-   +--------+------------------------------------------------+
-   | Reason |                                                |
-   +========+================================================+
-   | 0      | A message has been accepted into a empty FIFO. |
-   +--------+------------------------------------------------+
-   | 1      | The FIFO is full                               |
-   +--------+------------------------------------------------+
-   | 2      | A message has been lost due to a full FIFO     |
-   +--------+------------------------------------------------+
-
-   Example use of rxcallback::
-
-     def cb0(bus, reason):
-       print('cb0')
-       if reason == 0:
-           print('pending')
-       if reason == 1:
-           print('full')
-       if reason == 2:
-           print('overflow')
-
-     can = CAN(1, CAN.LOOPBACK)
-     can.rxcallback(0, cb0)
-
-Constants
----------
-
-.. data:: CAN.NORMAL
-.. data:: CAN.LOOPBACK
-.. data:: CAN.SILENT
-.. data:: CAN.SILENT_LOOPBACK
-
-   the mode of the CAN bus
-
-.. data:: CAN.LIST16
-.. data:: CAN.MASK16
-.. data:: CAN.LIST32
-.. data:: CAN.MASK32
-
-   the operation mode of a filter