diff options
| -rw-r--r-- | shared-bindings/_canio/Message.c | 35 | ||||
| -rw-r--r-- | shared-module/_canio/Message.c | 13 | ||||
| -rw-r--r-- | shared-module/_canio/Message.h | 9 |
3 files changed, 50 insertions, 7 deletions
diff --git a/shared-bindings/_canio/Message.c b/shared-bindings/_canio/Message.c index f1cd11d8e..3fa018a83 100644 --- a/shared-bindings/_canio/Message.c +++ b/shared-bindings/_canio/Message.c @@ -32,13 +32,14 @@ #include "py/runtime.h" //| class Message: -//| def __init__(self, id: int=0, data: Optional[bytes] = None, *, size: Optional[int] = None, rtr: bool = False): +//| def __init__(self, id: int=0, data: Optional[bytes] = None, *, size: Optional[int] = None, rtr: bool = False, extended: bool = False): //| """Construct a Message to send on a CAN bus //| //| :param int id: The numeric ID of the message //| :param bytes data: The content of the message //| :param int size: The amount of data requested, for an rtr //| :param bool rtr: True if the message represents an rtr (Remote Transmission Request) +//| :param bool extended: True if the message has an extended identifier, False if it has a standard identifier //| //| In CAN, messages can have a size from 0 to 8 bytes. //| @@ -47,12 +48,13 @@ //| ... //| STATIC mp_obj_t canio_message_make_new(const mp_obj_type_t *type, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { - enum { ARG_id, ARG_data, ARG_size, ARG_rtr, NUM_ARGS }; + enum { ARG_id, ARG_data, ARG_size, ARG_rtr, ARG_extended, NUM_ARGS }; static const mp_arg_t allowed_args[] = { { MP_QSTR_id, MP_ARG_INT, {.u_obj = 0} }, { MP_QSTR_data, MP_ARG_OBJ, {.u_obj = 0} }, { MP_QSTR_size, MP_ARG_INT, {.u_int = -1} }, { MP_QSTR_rtr, MP_ARG_BOOL, {.u_bool = false} }, + { MP_QSTR_extended, MP_ARG_BOOL, {.u_bool = false} }, }; mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; MP_STATIC_ASSERT( MP_ARRAY_SIZE(allowed_args) == NUM_ARGS ); @@ -60,6 +62,7 @@ STATIC mp_obj_t canio_message_make_new(const mp_obj_type_t *type, size_t n_args, mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); bool rtr = args[ARG_rtr].u_bool; + bool extended = args[ARG_extended].u_bool; size_t size = (size_t)args[ARG_size].u_int; bool specified_size = (size != (size_t)-1); bool specified_data = (args[ARG_data].u_obj != NULL); @@ -85,7 +88,7 @@ STATIC mp_obj_t canio_message_make_new(const mp_obj_type_t *type, size_t n_args, canio_message_obj_t *self = m_new_obj(canio_message_obj_t); self->base.type = &canio_message_type; - common_hal_canio_message_construct(self, args[ARG_id].u_int, data.buf, data.len, rtr); + common_hal_canio_message_construct(self, args[ARG_id].u_int, data.buf, data.len, rtr, extended); return self; } @@ -174,6 +177,31 @@ STATIC const mp_obj_property_t canio_message_size_obj = { (mp_obj_t)&mp_const_none_obj}, }; +//| extended: bool +//| """True if the message represents a remote transmission request (RTR)""" +//| +STATIC mp_obj_t canio_message_extended_get(const mp_obj_t self_in) { + canio_message_obj_t *self = self_in; + return mp_obj_new_bool(common_hal_canio_message_extended_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_message_extended_get_obj, canio_message_extended_get); + +STATIC mp_obj_t canio_message_extended_set(const mp_obj_t self_in, const mp_obj_t extended) { + canio_message_obj_t *self = self_in; + common_hal_canio_message_size_set(self, mp_obj_is_true(extended)); + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_2(canio_message_extended_set_obj, canio_message_extended_set); + + +STATIC const mp_obj_property_t canio_message_extended_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_message_extended_get_obj, + (mp_obj_t)&canio_message_extended_set_obj, + (mp_obj_t)&mp_const_none_obj}, +}; + + //| rtr: bool //| """True if the message represents a remote transmission request (RTR)""" //| @@ -204,6 +232,7 @@ STATIC const mp_rom_map_elem_t canio_message_locals_dict_table[] = { { MP_ROM_QSTR(MP_QSTR_data), MP_ROM_PTR(&canio_message_data_obj) }, { MP_ROM_QSTR(MP_QSTR_size), MP_ROM_PTR(&canio_message_size_obj) }, { MP_ROM_QSTR(MP_QSTR_rtr), MP_ROM_PTR(&canio_message_rtr_obj) }, + { MP_ROM_QSTR(MP_QSTR_extended), MP_ROM_PTR(&canio_message_extended_obj) }, }; STATIC MP_DEFINE_CONST_DICT(canio_message_locals_dict, canio_message_locals_dict_table); diff --git a/shared-module/_canio/Message.c b/shared-module/_canio/Message.c index 1ac5b8178..c0403b519 100644 --- a/shared-module/_canio/Message.c +++ b/shared-module/_canio/Message.c @@ -28,11 +28,12 @@ #include <string.h> -void common_hal_canio_message_construct(canio_message_obj_t *self, int id, void *data, size_t size, bool rtr) +void common_hal_canio_message_construct(canio_message_obj_t *self, int id, void *data, size_t size, bool rtr, bool extended) { self->id = id; self->size = size; self->rtr = rtr; + self->extended = extended; if (data) { memcpy(self->data, data, size); } else { @@ -84,3 +85,13 @@ void common_hal_canio_message_rtr_set(canio_message_obj_t *self, bool rtr) { self->rtr = rtr; } + +bool common_hal_canio_message_extended_get(const canio_message_obj_t *self) +{ + return self->extended; +} + +void common_hal_canio_message_extended_set(canio_message_obj_t *self, bool extended) +{ + self->extended = extended; +} diff --git a/shared-module/_canio/Message.h b/shared-module/_canio/Message.h index e846f1095..b9fd8eaf2 100644 --- a/shared-module/_canio/Message.h +++ b/shared-module/_canio/Message.h @@ -31,17 +31,20 @@ typedef struct { mp_obj_base_t base; int id; - size_t size; uint8_t data[8]; - bool rtr; + size_t size:4; + bool rtr:1; + bool extended:1; } canio_message_obj_t; -void common_hal_canio_message_construct(canio_message_obj_t *self, int id, void *data, size_t size, bool rtr); +void common_hal_canio_message_construct(canio_message_obj_t *self, int id, void *data, size_t size, bool rtr, bool extended); bool common_hal_canio_message_rtr_get(const canio_message_obj_t *self); +bool common_hal_canio_message_extended_get(const canio_message_obj_t *self); int common_hal_canio_message_id_get(const canio_message_obj_t *self); const void *common_hal_canio_message_data_get(const canio_message_obj_t *self); size_t common_hal_canio_message_size_get(const canio_message_obj_t *self); void common_hal_canio_message_rtr_set(canio_message_obj_t *self, bool rtr); +void common_hal_canio_message_extended_set(canio_message_obj_t *self, bool extended); void common_hal_canio_message_id_set(canio_message_obj_t *self, int id); void common_hal_canio_message_data_set(canio_message_obj_t *self, const void *data, size_t size); void common_hal_canio_message_size_set(canio_message_obj_t *self, size_t size); |