diff options
30 files changed, 2190 insertions, 3 deletions
@@ -81,6 +81,10 @@ #include "supervisor/shared/bluetooth.h" #endif +#if CIRCUITPY_CANIO +#include "common-hal/_canio/CAN.h" +#endif + void do_str(const char *src, mp_parse_input_kind_t input_kind) { mp_lexer_t *lex = mp_lexer_new_from_str_len(MP_QSTR__lt_stdin_gt_, src, strlen(src), 0); if (lex == NULL) { @@ -226,6 +230,10 @@ void cleanup_after_vm(supervisor_allocation* heap) { free_memory(heap); supervisor_move_memory(); + #ifdef CIRCUITPY_CANIO + common_hal_canio_reset(); + #endif + reset_port(); #if CIRCUITPY_BOARD reset_board_busses(); diff --git a/ports/atmel-samd/Makefile b/ports/atmel-samd/Makefile index aba630dbb..1ee21679d 100644 --- a/ports/atmel-samd/Makefile +++ b/ports/atmel-samd/Makefile @@ -393,6 +393,10 @@ SRC_QSTR += $(HEADER_BUILD)/sdiodata.h $(HEADER_BUILD)/sdiodata.h: tools/mksdiodata.py | $(HEADER_BUILD) $(Q)$(PYTHON3) $< > $@ +SRC_QSTR += $(HEADER_BUILD)/candata.h +$(HEADER_BUILD)/candata.h: tools/mkcandata.py | $(HEADER_BUILD) + $(Q)$(PYTHON3) $< > $@ + SRC_QSTR += $(SRC_C) $(SRC_SUPERVISOR) $(SRC_COMMON_HAL_EXPANDED) $(SRC_SHARED_MODULE_EXPANDED) # Sources that only hold QSTRs after pre-processing. SRC_QSTR_PREPROCESSOR += peripherals/samd/$(PERIPHERALS_CHIP_FAMILY)/clocks.c diff --git a/ports/atmel-samd/asf4_conf/same54/peripheral_clk_config.h b/ports/atmel-samd/asf4_conf/same54/peripheral_clk_config.h index 59fe8730e..51173f6d3 100644 --- a/ports/atmel-samd/asf4_conf/same54/peripheral_clk_config.h +++ b/ports/atmel-samd/asf4_conf/same54/peripheral_clk_config.h @@ -1165,6 +1165,88 @@ #define CONF_SDHC1_SLOW_FREQUENCY 12000000 #endif +// <h> CAN Clock Settings +// <y> CAN Clock source + +// <GCLK_PCHCTRL_GEN_GCLK0_Val"> Generic clock generator 0 + +// <GCLK_PCHCTRL_GEN_GCLK1_Val"> Generic clock generator 1 + +// <GCLK_PCHCTRL_GEN_GCLK2_Val"> Generic clock generator 2 + +// <GCLK_PCHCTRL_GEN_GCLK3_Val"> Generic clock generator 3 + +// <GCLK_PCHCTRL_GEN_GCLK4_Val"> Generic clock generator 4 + +// <GCLK_PCHCTRL_GEN_GCLK5_Val"> Generic clock generator 5 + +// <GCLK_PCHCTRL_GEN_GCLK6_Val"> Generic clock generator 6 + +// <GCLK_PCHCTRL_GEN_GCLK7_Val"> Generic clock generator 7 + +// <GCLK_PCHCTRL_GEN_GCLK8_Val"> Generic clock generator 8 + +// <GCLK_PCHCTRL_GEN_GCLK9_Val"> Generic clock generator 9 + +// <GCLK_PCHCTRL_GEN_GCLK10_Val"> Generic clock generator 10 + +// <GCLK_PCHCTRL_GEN_GCLK11_Val"> Generic clock generator 11 + +// <i> Select the clock source for CAN. +// <id> sdhc_gclk_selection +#ifndef CONF_GCLK_CAN0_SRC +#define CONF_GCLK_CAN0_SRC GCLK_PCHCTRL_GEN_GCLK0_Val +#endif + +/** + * \def CAN FREQUENCY + * \brief CAN's Clock frequency + */ +#ifndef CONF_CAN0_FREQUENCY +#define CONF_CAN0_FREQUENCY 120000000 +#endif + +// <h> CAN Clock Settings +// <y> CAN Clock source + +// <GCLK_PCHCTRL_GEN_GCLK0_Val"> Generic clock generator 0 + +// <GCLK_PCHCTRL_GEN_GCLK1_Val"> Generic clock generator 1 + +// <GCLK_PCHCTRL_GEN_GCLK2_Val"> Generic clock generator 2 + +// <GCLK_PCHCTRL_GEN_GCLK3_Val"> Generic clock generator 3 + +// <GCLK_PCHCTRL_GEN_GCLK4_Val"> Generic clock generator 4 + +// <GCLK_PCHCTRL_GEN_GCLK5_Val"> Generic clock generator 5 + +// <GCLK_PCHCTRL_GEN_GCLK6_Val"> Generic clock generator 6 + +// <GCLK_PCHCTRL_GEN_GCLK7_Val"> Generic clock generator 7 + +// <GCLK_PCHCTRL_GEN_GCLK8_Val"> Generic clock generator 8 + +// <GCLK_PCHCTRL_GEN_GCLK9_Val"> Generic clock generator 9 + +// <GCLK_PCHCTRL_GEN_GCLK10_Val"> Generic clock generator 10 + +// <GCLK_PCHCTRL_GEN_GCLK11_Val"> Generic clock generator 11 + +// <i> Select the clock source for CAN. +// <id> sdhc_gclk_selection +#ifndef CONF_GCLK_CAN1_SRC +#define CONF_GCLK_CAN1_SRC GCLK_PCHCTRL_GEN_GCLK0_Val +#endif + +/** + * \def CAN FREQUENCY + * \brief CAN's Clock frequency + */ +#ifndef CONF_CAN1_FREQUENCY +#define CONF_CAN1_FREQUENCY 120000000 +#endif + // <<< end of configuration section >>> #endif // PERIPHERAL_CLK_CONFIG_H diff --git a/ports/atmel-samd/boards/common.template.ld b/ports/atmel-samd/boards/common.template.ld index 1054605c8..19e4753f8 100644 --- a/ports/atmel-samd/boards/common.template.ld +++ b/ports/atmel-samd/boards/common.template.ld @@ -51,6 +51,7 @@ SECTIONS { . = ALIGN(4); _srelocate = .; /* create a global symbol at data start; used by startup code in order to initialize the .data section in RAM */ + . = ALIGN(4); *(.ramfunc) *(.ramfunc*) *(.data) /* .data sections */ @@ -61,11 +62,15 @@ SECTIONS } >RAM /* Uninitialized data section */ - .bss : + .bss (NOLOAD) : { . = ALIGN(4); _sbss = .; _szero = .; /* define a global symbol at bss start; used by startup code */ + /* Data accessed by the CAN peripheral must be in the first 64kB RAM */ + _scanram = .; + *(.canram) + _ecanram = .; *(.bss) *(.bss*) *(COMMON) diff --git a/ports/atmel-samd/boards/same54_xplained/mpconfigboard.mk b/ports/atmel-samd/boards/same54_xplained/mpconfigboard.mk index 7ac126514..e4472e05d 100644 --- a/ports/atmel-samd/boards/same54_xplained/mpconfigboard.mk +++ b/ports/atmel-samd/boards/same54_xplained/mpconfigboard.mk @@ -12,3 +12,4 @@ EXTERNAL_FLASH_DEVICES = "N25Q256A" LONGINT_IMPL = MPZ CIRCUITPY_SDIOIO = 1 +CIRCUITPY_CANIO = 1 diff --git a/ports/atmel-samd/boards/same54_xplained/pins.c b/ports/atmel-samd/boards/same54_xplained/pins.c index 8a864ab97..1ed431fba 100644 --- a/ports/atmel-samd/boards/same54_xplained/pins.c +++ b/ports/atmel-samd/boards/same54_xplained/pins.c @@ -48,8 +48,9 @@ STATIC const mp_rom_map_elem_t board_global_dict_table[] = { { MP_OBJ_NEW_QSTR(MP_QSTR_QT), MP_ROM_PTR(&pin_PA16) }, - { MP_OBJ_NEW_QSTR(MP_QSTR_CANRX), MP_ROM_PTR(&pin_PB12) }, - { MP_OBJ_NEW_QSTR(MP_QSTR_CANTX), MP_ROM_PTR(&pin_PB13) }, + { MP_OBJ_NEW_QSTR(MP_QSTR_CAN_RX), MP_ROM_PTR(&pin_PB13) }, + { MP_OBJ_NEW_QSTR(MP_QSTR_CAN_TX), MP_ROM_PTR(&pin_PB12) }, + { MP_OBJ_NEW_QSTR(MP_QSTR_CAN_STANDBY), MP_ROM_PTR(&pin_PC13) }, // EXT1 header { MP_OBJ_NEW_QSTR(MP_QSTR_PB04), MP_ROM_PTR(&pin_PB04) }, diff --git a/ports/atmel-samd/common-hal/_canio/CAN.c b/ports/atmel-samd/common-hal/_canio/CAN.c new file mode 100644 index 000000000..dcd269495 --- /dev/null +++ b/ports/atmel-samd/common-hal/_canio/CAN.c @@ -0,0 +1,384 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * 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 <string.h> + +#include "py/runtime.h" +#include "py/mperrno.h" + +#include "peripheral_clk_config.h" + +#include "common-hal/_canio/CAN.h" +#include "shared-bindings/microcontroller/Pin.h" +#include "shared-bindings/util.h" +#include "supervisor/port.h" + +#include "component/can.h" + +#include "genhdr/candata.h" + +STATIC Can * const can_insts[] = CAN_INSTS; + +STATIC canio_can_obj_t *can_objs[MP_ARRAY_SIZE(can_insts)]; + +// This must be placed in the first 64kB of RAM +STATIC COMPILER_SECTION(".canram") canio_can_state_t can_state[MP_ARRAY_SIZE(can_insts)]; + +__attribute__((optimize("O0"), noinline)) +void common_hal_canio_can_construct(canio_can_obj_t *self, mcu_pin_obj_t *rx, mcu_pin_obj_t *tx, int baudrate, bool loopback, bool silent) +{ + mcu_pin_function_t *tx_function = mcu_find_pin_function(can_tx, tx, -1, MP_QSTR_tx); + int instance = tx_function->instance; + + mcu_pin_function_t *rx_function = mcu_find_pin_function(can_rx, rx, instance, MP_QSTR_rx); + + const uint32_t can_frequency = CONF_CAN0_FREQUENCY; + +#define DIV_ROUND(a, b) (((a) + (b)/2) / (b)) +#define DIV_ROUND_UP(a, b) (((a) + (b) - 1) / (b)) + + uint32_t clocks_per_bit = DIV_ROUND(can_frequency, baudrate); + uint32_t clocks_to_sample = DIV_ROUND(clocks_per_bit * 7, 8); + uint32_t clocks_after_sample = clocks_per_bit - clocks_to_sample; + uint32_t divisor = MAX(DIV_ROUND_UP(clocks_to_sample, 256), DIV_ROUND_UP(clocks_after_sample, 128)); + if (divisor > 32) { + mp_raise_OSError(MP_EINVAL); // baudrate cannot be attained (16kHz or something is lower bound, should never happen) + } + + gpio_set_pin_direction(tx_function->pin, GPIO_DIRECTION_OUT); + gpio_set_pin_function(tx_function->pin, tx_function->function); + common_hal_never_reset_pin(tx_function->obj); + + if (rx_function) { + gpio_set_pin_direction(rx_function->pin, GPIO_DIRECTION_IN); + gpio_set_pin_function(rx_function->pin, rx_function->function); + common_hal_never_reset_pin(rx_function->obj); + } + + self->tx_pin_number = common_hal_mcu_pin_number(tx); + self->rx_pin_number = rx ? common_hal_mcu_pin_number(rx) : COMMON_HAL_MCU_NO_PIN; + self->hw = can_insts[instance]; + self->state = &can_state[instance]; + + self->loopback = loopback; + + // Allow configuration change + hri_can_set_CCCR_INIT_bit(self->hw); + while (hri_can_get_CCCR_INIT_bit(self->hw) == 0) { + } + hri_can_set_CCCR_CCE_bit(self->hw); + + if(instance == 0) { + hri_mclk_set_AHBMASK_CAN0_bit(MCLK); + hri_gclk_write_PCHCTRL_reg(GCLK, CAN0_GCLK_ID, CONF_GCLK_CAN0_SRC | (1 << GCLK_PCHCTRL_CHEN_Pos)); + + NVIC_DisableIRQ(CAN0_IRQn); + NVIC_ClearPendingIRQ(CAN0_IRQn); + NVIC_EnableIRQ(CAN0_IRQn); + hri_can_write_ILE_reg(self->hw, CAN_ILE_EINT0); +#ifdef CAN1_GCLK_ID + } else if(instance == 1) { + hri_mclk_set_AHBMASK_CAN1_bit(MCLK); + hri_gclk_write_PCHCTRL_reg(GCLK, CAN1_GCLK_ID, CONF_GCLK_CAN1_SRC | (1 << GCLK_PCHCTRL_CHEN_Pos)); + + NVIC_DisableIRQ(CAN1_IRQn); + NVIC_ClearPendingIRQ(CAN1_IRQn); + NVIC_EnableIRQ(CAN1_IRQn); + hri_can_write_ILE_reg(self->hw, CAN_ILE_EINT0); +#endif + } + + self->hw->CCCR.bit.FDOE = 0; // neither FD nor Bit Rate Switch enabled + self->hw->CCCR.bit.BRSE = 0; + + hri_can_write_MRCFG_reg(self->hw, CAN_MRCFG_QOS(CAN_MRCFG_QOS_DISABLE_Val)); // QoS disabled (no sensitive operation) + + // A "nominal bit" is a header bit. With dual rate CAN FD, this is a slower rate + { + CAN_NBTP_Type btp = { + // 0 means "1 tq", but 2 is subtracted from NTSEG1 for the + // fixed 1 "SYNC" tq + .bit.NTSEG1 = DIV_ROUND(clocks_to_sample, divisor) - 2, + .bit.NTSEG2 = DIV_ROUND(clocks_after_sample, divisor) - 1, + .bit.NBRP = divisor - 1, + .bit.NSJW = DIV_ROUND(clocks_after_sample, divisor * 4), + }; + hri_can_write_NBTP_reg(self->hw, btp.reg); + } + + // we don't do the high bit rate yet, so do we need to set this register? + // hri_can_write_DBTP_reg(self->hw, ???); + // A "data bit" is a data bit :) with dul rate CAN FD, this is a higher + // rate. However, CAN FD is not implemented in CircuitPython, and this is the same rate as + // the "nominal rate". + { + CAN_DBTP_Type btp = { + .bit.DTSEG1 = DIV_ROUND(clocks_to_sample, divisor) - 1, + .bit.DTSEG2 = DIV_ROUND(clocks_after_sample, divisor) - 1, + .bit.DBRP = divisor - 1, + .bit.DSJW = DIV_ROUND(clocks_after_sample, divisor * 4), + }; + hri_can_write_DBTP_reg(self->hw, btp.reg); + } + + { + CAN_RXF0C_Type rxf = { + .bit.F0SA = (uint32_t)self->state->rx0_fifo, + .bit.F0S = COMMON_HAL_CANIO_RX_FIFO_SIZE, + }; + hri_can_write_RXF0C_reg(self->hw, rxf.reg); + } + + { + CAN_RXF1C_Type rxf = { + .bit.F1SA = (uint32_t)self->state->rx1_fifo, + .bit.F1S = COMMON_HAL_CANIO_RX_FIFO_SIZE, + }; + hri_can_write_RXF1C_reg(self->hw, rxf.reg); + } + + // All RX data has an 8 byte payload (max) + { + CAN_RXESC_Type esc = { + .bit.F0DS = CAN_RXESC_F0DS_DATA8_Val, + .bit.F1DS = CAN_RXESC_F1DS_DATA8_Val, + .bit.RBDS = CAN_RXESC_RBDS_DATA8_Val, + }; + hri_can_write_RXESC_reg(self->hw, esc.reg); + } + + // All TX data has an 8 byte payload (max) + { + CAN_TXESC_Type esc = { + .bit.TBDS = CAN_TXESC_TBDS_DATA8_Val, + }; + hri_can_write_TXESC_reg(self->hw, esc.reg); + } + + { + CAN_TXBC_Type bc = { + .bit.TBSA = (uint32_t)self->state->tx_fifo, + .bit.NDTB = COMMON_HAL_CANIO_TX_FIFO_SIZE, + .bit.TFQM = 0, // Messages are transmitted in the order submitted + }; + hri_can_write_TXBC_reg(self->hw, bc.reg); + } + + { + CAN_TXEFC_Type efc = { + .bit.EFS = 0, + }; + hri_can_write_TXEFC_reg(self->hw, efc.reg); + } + + { + CAN_GFC_Type gfc = { + .bit.RRFE = 1, + .bit.ANFS = CAN_GFC_ANFS_RXF0_Val, + .bit.ANFE = CAN_GFC_ANFE_REJECT_Val, + }; + hri_can_write_GFC_reg(self->hw, gfc.reg); + } + + { + CAN_SIDFC_Type dfc = { + .bit.LSS = COMMON_HAL_CANIO_RX_FILTER_SIZE, + .bit.FLSSA = (uint32_t)self->state->rx_filter + }; + hri_can_write_SIDFC_reg(self->hw, dfc.reg); + } + + { + CAN_XIDFC_Type dfc = { + .bit.LSE = 0, + }; + hri_can_write_XIDFC_reg(self->hw, dfc.reg); + } + + hri_can_write_XIDAM_reg(self->hw, CAN_XIDAM_RESETVALUE); + +// silent: The CAN is set in Bus Monitoring Mode by programming CCCR.MON to '1'. (tx pin unused) +// external loopback: The CAN can be set in External Loop Back Mode by programming TEST.LBCK and CCCR.MON to '1'. (rx pin unused) +// internal loopback (silent loopback): Internal Loop Back Mode is entered by programming bits TEST.LBCK and CCCR.MON to '1'. (tx, rx unused) + self->hw->CCCR.bit.MON = silent; + self->hw->CCCR.bit.TEST = loopback; + self->hw->TEST.bit.LBCK = loopback; + + if(instance == 0) { + NVIC_DisableIRQ(CAN0_IRQn); + NVIC_ClearPendingIRQ(CAN0_IRQn); + NVIC_EnableIRQ(CAN0_IRQn); +#ifdef CAN1_GCLK_ID + } else if(instance == 1) { + NVIC_DisableIRQ(CAN1_IRQn); + NVIC_ClearPendingIRQ(CAN1_IRQn); + NVIC_EnableIRQ(CAN1_IRQn); +#endif + } + + hri_can_write_ILE_reg(self->hw, CAN_ILE_EINT0); + // Prevent configuration change + hri_can_clear_CCCR_CCE_bit(self->hw); + hri_can_clear_CCCR_INIT_bit(self->hw); + while (hri_can_get_CCCR_INIT_bit(self->hw)) { + } + + can_objs[instance] = self; +} + +int common_hal_canio_can_loopback_get(canio_can_obj_t *self) +{ + return self->loopback; +} + +int common_hal_canio_can_baudrate_get(canio_can_obj_t *self) +{ + return self->baudrate; +} + +int common_hal_canio_can_transmit_error_count_get(canio_can_obj_t *self) +{ + return -1; +} + +int common_hal_canio_can_receive_error_count_get(canio_can_obj_t *self) +{ + return -1; +} + +int common_hal_canio_can_error_warning_state_count_get(canio_can_obj_t *self) +{ + return -1; +} + +int common_hal_canio_can_error_passive_state_count_get(canio_can_obj_t *self) +{ + return -1; +} + +int common_hal_canio_can_bus_off_state_count_get(canio_can_obj_t *self) +{ + return -1; +} + +int common_hal_canio_can_state_get(canio_can_obj_t *self) { + return -1; +} + +void common_hal_canio_can_send(canio_can_obj_t *self, canio_message_obj_t *message) +{ + // We have just one dedicated TX buffer, use it! + canio_can_fifo_t *ent = &self->state->tx_fifo[0]; + ent->txb0.bit.ESI = false; + ent->txb0.bit.XTD = false; + ent->txb0.bit.RTR = message->rtr; + ent->txb0.bit.ID = message->id << 18; // short addresses are left-justified + + ent->txb1.bit.MM = 0; // "message marker" + ent->txb1.bit.EFC = 0; // don't store fifo events to event queue + ent->txb1.bit.FDF = 0; // Classic CAN format + ent->txb1.bit.BRS = 0; // No bit rate switching + ent->txb1.bit.DLC = message->size; + + if (!message->rtr) { + memcpy(ent->data, message->data, message->size); + } + + // TX buffer add request + self->hw->TXBAR.reg = 1; + + // wait 8ms (hard coded for now) for TX to occur + uint64_t deadline = port_get_raw_ticks(NULL) + 8; + while (port_get_raw_ticks(NULL) < deadline && !(self->hw->TXBTO.reg & 1)) { + RUN_BACKGROUND_TASKS; + } +} + +bool common_hal_canio_can_deinited(canio_can_obj_t *self) { + return !self->hw; +} + +void common_hal_canio_can_check_for_deinit(canio_can_obj_t *self) { + if(common_hal_canio_can_deinited(self)) { + raise_deinited_error(); + } +} + +void common_hal_canio_can_deinit(canio_can_obj_t *self) +{ + if (self->hw) { + hri_can_set_CCCR_INIT_bit(self->hw); + self->hw = 0; + } + if (self->rx_pin_number != COMMON_HAL_MCU_NO_PIN) { + reset_pin_number(self->rx_pin_number); + self->rx_pin_number = COMMON_HAL_MCU_NO_PIN; + } + if (self->tx_pin_number != COMMON_HAL_MCU_NO_PIN) { + reset_pin_number(self->tx_pin_number); + self->tx_pin_number = COMMON_HAL_MCU_NO_PIN; + } +} + +void common_hal_canio_reset(void) { + memset(can_state, 0, sizeof(can_state)); + + for (size_t i=0; i<MP_ARRAY_SIZE(can_insts); i++) { + hri_can_set_CCCR_INIT_bit(can_insts[i]); + } + + for (size_t i=0; i<MP_ARRAY_SIZE(can_objs); i++) { + if (can_objs[i]) { + common_hal_canio_can_deinit(can_objs[i]); + can_objs[i] = NULL; + } + } +} + + +STATIC void can_handler(int i) { + canio_can_obj_t *self = can_objs[i]; + (void) self; + + Can *hw = can_insts[i]; + uint32_t ir = hri_can_read_IR_reg(hw); + /* Handle various interrupts */ + + /* Acknowledge interrupt */ + hri_can_write_IR_reg(hw, ir); +} + +__attribute__((used)) +void CAN0_Handler(void) { + can_handler(0); +} + +#ifdef CAN1_GCLK_ID +__attribute__((used)) +void CAN1_Handler(void) { + can_handler(1); +} +#endif diff --git a/ports/atmel-samd/common-hal/_canio/CAN.h b/ports/atmel-samd/common-hal/_canio/CAN.h new file mode 100644 index 000000000..0e637fc40 --- /dev/null +++ b/ports/atmel-samd/common-hal/_canio/CAN.h @@ -0,0 +1,62 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * 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. + */ + +#pragma once + +#include "py/obj.h" +#include "component/can.h" +#include "common-hal/microcontroller/Pin.h" +#include "common-hal/_canio/__init__.h" +#include "shared-module/_canio/Message.h" + +#define COMMON_HAL_CAN_RX_FIFO_LEN (2) +#define COMMON_HAL_CAN_TX_FIFO_LEN (2) + +typedef struct { + mp_obj_base_t base; + Can *hw; + int baudrate; + uint8_t rx_pin_number, tx_pin_number; + bool loopback; + bool silent; + canio_can_state_t *state; + bool fifo0_in_use:1; + bool fifo1_in_use:1; +} canio_can_obj_t; + +void common_hal_canio_can_construct(canio_can_obj_t *self, mcu_pin_obj_t *rx, mcu_pin_obj_t *tx, int baudrate, bool loopback, bool silent); +int common_hal_canio_can_state_get(canio_can_obj_t *self); +int common_hal_canio_can_baudrate_get(canio_can_obj_t *self); +int common_hal_canio_can_transmit_error_count_get(canio_can_obj_t *self); +int common_hal_canio_can_receive_error_count_get(canio_can_obj_t *self); +int common_hal_canio_can_error_warning_state_count_get(canio_can_obj_t *self); +int common_hal_canio_can_error_passive_state_count_get(canio_can_obj_t *self); +int common_hal_canio_can_bus_off_state_count_get(canio_can_obj_t *self); +void common_hal_canio_can_send(canio_can_obj_t *self, canio_message_obj_t *message); +void common_hal_canio_can_deinit(canio_can_obj_t *self); +void common_hal_canio_can_check_for_deinit(canio_can_obj_t *self); +bool common_hal_canio_can_deinited(canio_can_obj_t *self); +void common_hal_canio_reset(void); diff --git a/ports/atmel-samd/common-hal/_canio/Listener.c b/ports/atmel-samd/common-hal/_canio/Listener.c new file mode 100644 index 000000000..ddae61de9 --- /dev/null +++ b/ports/atmel-samd/common-hal/_canio/Listener.c @@ -0,0 +1,117 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * 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 <math.h> +#include <string.h> + +#include "py/obj.h" +#include "py/runtime.h" + +#include "common-hal/_canio/__init__.h" +#include "common-hal/_canio/Listener.h" +#include "shared-bindings/util.h" +#include "supervisor/shared/tick.h" + +void common_hal_canio_listener_construct(canio_listener_obj_t *self, canio_can_obj_t *can, size_t nmatch, canio_match_obj_t **matches, float timeout) { + if (nmatch) { + mp_raise_NotImplementedError(NULL); + } + + if (!can->fifo0_in_use) { + self->fifo_idx = 0; + self->fifo = can->state->rx0_fifo; + self->hw = (canio_rxfifo_reg_t*)&can->hw->RXF0C; + can->hw->IR.reg = CAN_IR_RF0N | CAN_IR_RF0W | CAN_IR_RF0F | CAN_IR_RF0L; + can->fifo0_in_use = true; + } else if (!can->fifo1_in_use) { + self->fifo_idx = 1; + self->fifo = can->state->rx1_fifo; + self->hw = (canio_rxfifo_reg_t*)&can->hw->RXF1C; + can->fifo1_in_use = true; + can->hw->IR.reg = CAN_IR_RF1N | CAN_IR_RF1W | CAN_IR_RF1F | CAN_IR_RF1L; + } else { + mp_raise_ValueError(translate("All RX FIFOs in use")); + } + + self->can = can; + common_hal_canio_listener_set_timeout(self, timeout); +} + +void common_hal_canio_listener_set_timeout(canio_listener_obj_t *self, float timeout) { + self->timeout_ms = (int)MICROPY_FLOAT_C_FUN(ceil)(timeout * 1000); +} + +float common_hal_canio_listener_get_timeout(canio_listener_obj_t *self) { + return self->timeout_ms / 1000.0f; +} + +void common_hal_canio_listener_check_for_deinit(canio_listener_obj_t *self) { + if(!self->can) { + raise_deinited_error(); + } + common_hal_canio_can_check_for_deinit(self->can); +} + +int common_hal_canio_listener_in_waiting(canio_listener_obj_t *self) { + return self->hw->RXFS.bit.F0FL; +} + +bool common_hal_canio_listener_readinto(canio_listener_obj_t *self, canio_message_obj_t *message) { + if (!common_hal_canio_listener_in_waiting(self)) { + uint64_t deadline = supervisor_ticks_ms64() + self->timeout_ms; + do { + if(supervisor_ticks_ms64() > deadline) { + return false; + } + } while (!common_hal_canio_listener_in_waiting(self)); + } + int index = self->hw->RXFS.bit.F0GI; + canio_can_fifo_t *hw_message = &self->fifo[index]; + message->id = hw_message->rxb0.bit.ID >> 18; // short addresses are left-justified + message->rtr = hw_message->rxb0.bit.RTR; + message->size = hw_message->rxb1.bit.DLC; + if(!message->rtr) { + memcpy(message->data, hw_message->data, message->size); + } + self->hw->RXFA.bit.F0AI = index; + return true; +} + +void common_hal_canio_listener_deinit(canio_listener_obj_t *self) { + // free our FIFO, clear our matches, SOMETHING + if(self->can) { + if(self->fifo_idx == 0) { + self->can->fifo0_in_use = false; + } + if(self->fifo_idx == 1) { + self->can->fifo1_in_use = false; + } + } + self->fifo_idx = -1; + self->fifo = NULL; + self->can = NULL; + self->hw = NULL; +} diff --git a/ports/atmel-samd/common-hal/_canio/Listener.h b/ports/atmel-samd/common-hal/_canio/Listener.h new file mode 100644 index 000000000..cc6770e6e --- /dev/null +++ b/ports/atmel-samd/common-hal/_canio/Listener.h @@ -0,0 +1,53 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * 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. + */ + +#pragma once + +#include "common-hal/_canio/CAN.h" +#include "shared-module/_canio/Match.h" + +typedef struct { + __IO CAN_RXF0C_Type RXFC; /**< \brief (R/W 32) Rx FIFO n Configuration */ + __I CAN_RXF0S_Type RXFS; /**< \brief (R/ 32) Rx FIFO n Status */ + __IO CAN_RXF0A_Type RXFA; /**< \brief (R/W 32) Rx FIFO n Acknowledge */ +} canio_rxfifo_reg_t; + +typedef struct { + mp_obj_base_t base; + canio_can_obj_t *can; + canio_can_fifo_t *fifo; + canio_rxfifo_reg_t *hw; + uint32_t timeout_ms; + uint8_t fifo_idx; +} canio_listener_obj_t; + +void common_hal_canio_listener_construct(canio_listener_obj_t *self, canio_can_obj_t *can, size_t nmatch, canio_match_obj_t **matches, float timeout); +void common_hal_canio_listener_check_for_deinit(canio_listener_obj_t *self); +void common_hal_canio_listener_deinit(canio_listener_obj_t *self); +bool common_hal_canio_listener_readinto(canio_listener_obj_t *self, canio_message_obj_t *message); +int common_hal_canio_listener_in_waiting(canio_listener_obj_t *self); +float common_hal_canio_listener_get_timeout(canio_listener_obj_t *self); +void common_hal_canio_listener_set_timeout(canio_listener_obj_t *self, float timeout); diff --git a/ports/atmel-samd/common-hal/_canio/__init__.c b/ports/atmel-samd/common-hal/_canio/__init__.c new file mode 100644 index 000000000..7932bfc2d --- /dev/null +++ b/ports/atmel-samd/common-hal/_canio/__init__.c @@ -0,0 +1,25 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * 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. + */ diff --git a/ports/atmel-samd/common-hal/_canio/__init__.h b/ports/atmel-samd/common-hal/_canio/__init__.h new file mode 100644 index 000000000..429369e18 --- /dev/null +++ b/ports/atmel-samd/common-hal/_canio/__init__.h @@ -0,0 +1,62 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * 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. + */ + +#pragma once + +#include "hal/utils/include/utils.h" +#include "component/can.h" + +#define COMMON_HAL_CANIO_MAX_MESSAGE_LENGTH (8) +#define COMMON_HAL_CANIO_RX_FIFO_SIZE (3) +#define COMMON_HAL_CANIO_RX_FILTER_SIZE (4) +#define COMMON_HAL_CANIO_TX_FIFO_SIZE (1) + +typedef struct canio_listener canio_listener_t; +typedef struct canio_can canio_can_t; + +typedef struct { + union { + CAN_RXBE_0_Type rxb0; + CAN_TXBE_0_Type txb0; + CAN_RXF0E_0_Type rxf0; + }; + union { + CAN_RXBE_1_Type rxb1; + CAN_TXBE_1_Type txb1; + CAN_RXF0E_1_Type rxf1; + }; + COMPILER_ALIGNED(4) + uint8_t data[COMMON_HAL_CANIO_MAX_MESSAGE_LENGTH]; +} canio_can_fifo_t; + +typedef uint32_t canio_can_filter_t; + +typedef struct { + canio_can_fifo_t tx_fifo[COMMON_HAL_CANIO_TX_FIFO_SIZE]; + canio_can_fifo_t rx0_fifo[COMMON_HAL_CANIO_RX_FIFO_SIZE]; + canio_can_fifo_t rx1_fifo[COMMON_HAL_CANIO_RX_FIFO_SIZE]; + canio_can_filter_t rx_filter[COMMON_HAL_CANIO_RX_FILTER_SIZE]; +} canio_can_state_t; diff --git a/ports/atmel-samd/tools/mkcandata.py b/ports/atmel-samd/tools/mkcandata.py new file mode 100755 index 000000000..9668d2208 --- /dev/null +++ b/ports/atmel-samd/tools/mkcandata.py @@ -0,0 +1,31 @@ +#!/usr/bin/python3 + +def defines(name, suffix): + print(f'mcu_pin_function_t {name} [] = {{') + for instance in (0, 1): + for function in 'HI': + for port in 'ABCD': + for idx in range(32): + pin = f'P{port}{idx:02d}' + pinmux = f'PINMUX_{pin}{function}_CAN{instance}_{suffix}' + print(f'''\ +#if defined({pinmux}) && ! defined(IGNORE_PIN_{pin}) + {{&pin_{pin}, {instance}, PIN_{pin}, {pinmux} & 0xffff}}, +#endif''') + print(f'{{NULL, 0, 0}}') + print(f'}};') + print() + +print('''\ +#include <stdint.h> +#include "py/obj.h" +#include "sam.h" +#include "samd/pins.h" +#include "mpconfigport.h" +#include "atmel_start_pins.h" +#include "hal/include/hal_gpio.h" +#include "common-hal/microcontroller/Pin.h" +''') + +defines('can_rx', 'RX') +defines('can_tx', 'TX') diff --git a/py/circuitpy_defns.mk b/py/circuitpy_defns.mk index 6e98af868..2614dc011 100644 --- a/py/circuitpy_defns.mk +++ b/py/circuitpy_defns.mk @@ -142,6 +142,9 @@ endif ifeq ($(CIRCUITPY_CAMERA),1) SRC_PATTERNS += camera/% endif +ifeq ($(CIRCUITPY_CANIO),1) +SRC_PATTERNS += _canio/% +endif ifeq ($(CIRCUITPY_COUNTIO),1) SRC_PATTERNS += countio/% endif @@ -315,6 +318,9 @@ SRC_COMMON_HAL_ALL = \ busio/__init__.c \ camera/__init__.c \ camera/Camera.c \ + _canio/CAN.c \ + _canio/Listener.c \ + _canio/__init__.c \ countio/Counter.c \ countio/__init__.c \ digitalio/DigitalInOut.c \ @@ -384,6 +390,7 @@ $(filter $(SRC_PATTERNS), \ _bleio/Address.c \ _bleio/Attribute.c \ _bleio/ScanEntry.c \ + _canio/Match.c \ _eve/__init__.c \ camera/ImageFormat.c \ digitalio/Direction.c \ @@ -402,6 +409,8 @@ SRC_SHARED_MODULE_ALL = \ _bleio/Attribute.c \ _bleio/ScanEntry.c \ _bleio/ScanResults.c \ + _canio/Match.c \ + _canio/Message.c \ _eve/__init__.c \ _pixelbuf/PixelBuf.c \ _pixelbuf/__init__.c \ diff --git a/py/circuitpy_mpconfig.h b/py/circuitpy_mpconfig.h index 4272de2ec..d1b12f354 100644 --- a/py/circuitpy_mpconfig.h +++ b/py/circuitpy_mpconfig.h @@ -336,6 +336,13 @@ extern const struct _mp_obj_module_t camera_module; #define CAMERA_MODULE #endif +#if CIRCUITPY_CANIO +extern const struct _mp_obj_module_t canio_module; +#define CANIO_MODULE { MP_OBJ_NEW_QSTR(MP_QSTR__canio), (mp_obj_t)&canio_module }, +#else +#define CANIO_MODULE +#endif + #if CIRCUITPY_COUNTIO extern const struct _mp_obj_module_t countio_module; #define COUNTIO_MODULE { MP_OBJ_NEW_QSTR(MP_QSTR_countio), (mp_obj_t)&countio_module }, @@ -766,6 +773,7 @@ extern const struct _mp_obj_module_t wifi_module; BOARD_MODULE \ BUSIO_MODULE \ CAMERA_MODULE \ + CANIO_MODULE \ COUNTIO_MODULE \ DIGITALIO_MODULE \ DISPLAYIO_MODULE \ diff --git a/py/circuitpy_mpconfig.mk b/py/circuitpy_mpconfig.mk index 54bdefc6d..9b9bd83b4 100644 --- a/py/circuitpy_mpconfig.mk +++ b/py/circuitpy_mpconfig.mk @@ -93,6 +93,9 @@ CFLAGS += -DCIRCUITPY_BUSIO=$(CIRCUITPY_BUSIO) CIRCUITPY_CAMERA ?= 0 CFLAGS += -DCIRCUITPY_CAMERA=$(CIRCUITPY_CAMERA) +CIRCUITPY_CANIO ?= 0 +CFLAGS += -DCIRCUITPY_CANIO=$(CIRCUITPY_CANIO) + CIRCUITPY_DIGITALIO ?= 1 CFLAGS += -DCIRCUITPY_DIGITALIO=$(CIRCUITPY_DIGITALIO) diff --git a/shared-bindings/_canio/CAN.c b/shared-bindings/_canio/CAN.c new file mode 100644 index 000000000..4c7ae3650 --- /dev/null +++ b/shared-bindings/_canio/CAN.c @@ -0,0 +1,338 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * 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 "common-hal/_canio/CAN.h" +#include "common-hal/_canio/Listener.h" +#include "shared-bindings/_canio/CAN.h" +#include "shared-bindings/_canio/Listener.h" +#include "shared-bindings/_canio/Match.h" +#include "shared-bindings/_canio/Message.h" +#include "shared-bindings/microcontroller/Pin.h" + +#include "py/objproperty.h" +#include "py/runtime.h" + +//| +//| class CAN: +//| """CAN bus protocol""" +//| +//| def __init__(self, +//| rx: microcontroller.Pin, +//| tx: Optional[microcontroller.Pin]=None, +//| *, +//| baudrate: int = 250000, +//| loopback: bool = False, +//| ): +//| """A common shared-bus protocol. The rx and tx pins are generally +//| connected to a transceiver which controls the H and L pins on a shared +//| bus. +//| +//| :param ~microcontrller.Pin rx: the pin to receive with. +//| :param ~microcontrller.Pin tx: the pin to transmit with, or None if the peripheral should operate in "silent" mode. +//| :param int baudrate: The bit rate of the bus in Hz. All devices on the bus must agree on this value. +//| :param bool loopback: True if the peripheral will be operated in loopback mode. +//| """ +//| ... +//| +//## auto_restart: bool = False, # Whether to restart communications after entering bus-off state +//## sample_point: float = .875, # When to sample within bit time (0.0-1.0) +STATIC mp_obj_t canio_can_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_rx, ARG_tx, ARG_baudrate, ARG_loopback, ARG_silent, NUM_ARGS }; + static const mp_arg_t allowed_args[] = { + { MP_QSTR_rx, MP_ARG_OBJ | MP_ARG_REQUIRED, {.u_obj = 0} }, + { MP_QSTR_tx, MP_ARG_OBJ, {.u_obj = 0} }, + { MP_QSTR_baudrate, MP_ARG_INT, {.u_int = 250000} }, + { MP_QSTR_loopback, MP_ARG_BOOL, {.u_bool = false} }, + { MP_QSTR_silent, 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 ); + + mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); + +mp_printf(&mp_plat_print, "ARG_rx=%d args[ARG_rx].u_obj=%p\n", ARG_rx, args[ARG_rx].u_obj); +mp_printf(&mp_plat_print, "ARG_tx=%d args[ARG_tx].u_obj=%p\n", ARG_tx, args[ARG_tx].u_obj); + + mcu_pin_obj_t *rx_pin = validate_obj_is_free_pin(args[ARG_rx].u_obj); +mp_printf(&mp_plat_print, "rx_pin=%p\n", rx_pin); + mcu_pin_obj_t *tx_pin = validate_obj_is_free_pin_or_none(args[ARG_tx].u_obj); +mp_printf(&mp_plat_print, "tx_pin=%p\n", tx_pin); + + canio_can_obj_t *self = m_new_obj(canio_can_obj_t); + self->base.type = &canio_can_type; + common_hal_canio_can_construct(self, rx_pin, tx_pin, args[ARG_baudrate].u_int, args[ARG_loopback].u_bool, args[ARG_silent].u_bool); + + return MP_OBJ_FROM_PTR(self); +} + + +//| baudrate: int +//| """The baud rate(read-only)""" +//| +STATIC mp_obj_t canio_can_baudrate_get(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_baudrate_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_can_baudrate_get_obj, canio_can_baudrate_get); + +STATIC const mp_obj_property_t canio_can_baudrate_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_can_baudrate_get_obj, + (mp_obj_t)mp_const_none, + (mp_obj_t)mp_const_none}, +}; + +//| state: State +//| """The status of the hardware (read-only)""" +//| +STATIC mp_obj_t canio_can_state_get(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_state_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_can_state_get_obj, canio_can_state_get); + +STATIC const mp_obj_property_t canio_can_state_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_can_state_get_obj, + (mp_obj_t)mp_const_none, + (mp_obj_t)mp_const_none}, +}; + +//| transmit_error_count: int +//| """The number of transmit errors (read-only). Increased for a detected transmission error, decreased for successful transmission. Limited to the range from 0 to 255 inclusive. Also called TEC.""" +//| +STATIC mp_obj_t canio_can_transmit_error_count_get(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_transmit_error_count_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_can_transmit_error_count_get_obj, canio_can_transmit_error_count_get); + +STATIC const mp_obj_property_t canio_can_transmit_error_count_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_can_transmit_error_count_get_obj, + (mp_obj_t)mp_const_none, + (mp_obj_t)mp_const_none}, +}; + +//| receive_error_count: int +//| """The number of receive errors (read-only). Increased for a detected reception error, decreased for successful reception. Limited to the range from 0 to 255 inclusive. Also called REC.""" +//| +STATIC mp_obj_t canio_can_receive_error_count_get(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_receive_error_count_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_can_receive_error_count_get_obj, canio_can_receive_error_count_get); + +STATIC const mp_obj_property_t canio_can_receive_error_count_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_can_receive_error_count_get_obj, + (mp_obj_t)mp_const_none, + (mp_obj_t)mp_const_none}, +}; + +//| error_warning_state_count: int +//| """The number of times the controller enterted the Error Warning state (read-only). This number wraps around to 0 after an implementation-defined number of errors.""" +//| +STATIC mp_obj_t canio_can_error_warning_state_count_get(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_error_warning_state_count_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_can_error_warning_state_count_get_obj, canio_can_error_warning_state_count_get); + +STATIC const mp_obj_property_t canio_can_error_warning_state_count_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_can_error_warning_state_count_get_obj, + (mp_obj_t)mp_const_none, + (mp_obj_t)mp_const_none}, +}; + +//| error_passive_state_count: int +//| """The number of times the controller enterted the Error Passive state (read-only). This number wraps around to 0 after an implementation-defined number of errors.""" +//| +STATIC mp_obj_t canio_can_error_passive_state_count_get(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_error_passive_state_count_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_can_error_passive_state_count_get_obj, canio_can_error_passive_state_count_get); + +STATIC const mp_obj_property_t canio_can_error_passive_state_count_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_can_error_passive_state_count_get_obj, + (mp_obj_t)mp_const_none, + (mp_obj_t)mp_const_none}, +}; + +//| bus_off_state_count: int +//| """The number of times the controller enterted the Bus Off state (read-only). This number wraps around to 0 after an implementation-defined number of errors.""" +//| +STATIC mp_obj_t canio_can_bus_off_state_count_get(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_bus_off_state_count_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_can_bus_off_state_count_get_obj, canio_can_bus_off_state_count_get); + +STATIC const mp_obj_property_t canio_can_bus_off_state_count_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_can_bus_off_state_count_get_obj, + (mp_obj_t)mp_const_none, + (mp_obj_t)mp_const_none}, +}; + +#if 0 +//| # pending_tx_count: int +//| # """The number of messages waiting to be transmitted. (read-only)""" +#endif + +//| def listen(filters: Optional[Sequence[Filter]]=None, *, timeout: float=10) -> Listener: +//| """Start receiving messages that match any one of the filters. +//| Creating a listener is an expensive operation and can interfere with reception of messages by other listeners. +//| There is an implementation-defined maximum number of listeners and limit to the complexity of the filters. +//| If the hardware cannot support all the requested filters, a ValueError is raised. Note that generally there are some number of hardware filters shared among all fifos. +//| A message can be received by at most one Listener. +//| An empty filter list causes all messages to be accepted. +//| Timeout dictates how long readinto, read and next() will block. +//| Readinto will return false(), read will return None, and next() will raise StopIteration.""" +//| ... +//| +STATIC mp_obj_t canio_can_listen(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(pos_args[0]); + common_hal_canio_can_check_for_deinit(self); + + enum { ARG_match, ARG_timeout, NUM_ARGS }; + static const mp_arg_t allowed_args[] = { + { MP_QSTR_match, MP_ARG_OBJ, {.u_obj = 0} }, + { MP_QSTR_timeout, MP_ARG_OBJ, {.u_obj = 0} }, + }; + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + MP_STATIC_ASSERT( MP_ARRAY_SIZE(allowed_args) == NUM_ARGS ); + + mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); + + size_t nmatch = 0; + mp_obj_t *match_objects = NULL; + + if (args[ARG_match].u_obj) { + mp_obj_get_array(args[ARG_match].u_obj, &nmatch, &match_objects); + } + + canio_match_obj_t *matches[nmatch]; + for (size_t i=0; i<nmatch; i++) { + mp_obj_type_t *type = mp_obj_get_type(match_objects[i]); + if(type != &canio_match_type) { + mp_raise_TypeError_varg(translate("expected '%q' but got '%q'"), MP_QSTR_Match, type->name); + } + matches[i] = MP_OBJ_TO_PTR(match_objects[i]); + } + + float timeout = args[ARG_timeout].u_obj ? mp_obj_get_float(args[ARG_timeout].u_obj) : 10.0f; + canio_listener_obj_t *listener = m_new_obj(canio_listener_obj_t); + listener->base.type = &canio_listener_type; + common_hal_canio_listener_construct(listener, self, nmatch, matches, timeout); + return listener; +} +MP_DEFINE_CONST_FUN_OBJ_KW(canio_can_listen_obj, 1, canio_can_listen); + +//| def send(message: Message) -> None: +//| """Send a message on the bus with the given data and id. +//| If the message could not be sent due to a full fifo or a bus error condition, RuntimeError is raised. +//| """ +//| ... +//| +STATIC mp_obj_t canio_can_send(mp_obj_t self_in, mp_obj_t message_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + mp_obj_type_t *message_type = mp_obj_get_type(message_in); + if (message_type != &canio_message_type) { + mp_raise_TypeError_varg(translate("expected '%q' but got '%q'"), MP_QSTR_Message, message_type->name); + } + + canio_message_obj_t *message = message_in; + common_hal_canio_can_send(self, message); + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_2(canio_can_send_obj, canio_can_send); + +//| def deinit(self) -> None: +//| """Deinitialize this object, freeing its hardware resources""" +//| ... +//| +STATIC mp_obj_t canio_can_deinit(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_deinit(self); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_can_deinit_obj, canio_can_deinit); + +//| def __enter__(self) -> CAN: +//| """Returns self, to allow the object to be used in a `with` statement for resource control""" +//| ... +//| +STATIC mp_obj_t canio_can_enter(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_can_enter_obj, canio_can_enter); + +//| def __exit__(self, unused1, unused2, unused3) -> None: +//| """Calls deinit()""" +//| ... +STATIC mp_obj_t canio_can_exit(size_t num_args, const mp_obj_t args[]) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(args[0]); + common_hal_canio_can_deinit(self); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(canio_can_exit_obj, 4, 4, canio_can_exit); + +STATIC const mp_rom_map_elem_t canio_can_locals_dict_table[] = { + { MP_ROM_QSTR(MP_QSTR___enter__), MP_ROM_PTR(&canio_can_enter_obj) }, + { MP_ROM_QSTR(MP_QSTR___exit__), MP_ROM_PTR(&canio_can_exit_obj) }, + { MP_ROM_QSTR(MP_QSTR_bus_off_state_count), MP_ROM_PTR(&canio_can_bus_off_state_count_obj) }, + { MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&canio_can_deinit_obj) }, + { MP_ROM_QSTR(MP_QSTR_error_passive_state_count), MP_ROM_PTR(&canio_can_error_passive_state_count_obj) }, + { MP_ROM_QSTR(MP_QSTR_error_warning_state_count), MP_ROM_PTR(&canio_can_error_warning_state_count_obj) }, + { MP_ROM_QSTR(MP_QSTR_listen), MP_ROM_PTR(&canio_can_listen_obj) }, + { MP_ROM_QSTR(MP_QSTR_receive_error_count), MP_ROM_PTR(&canio_can_receive_error_count_obj) }, + { MP_ROM_QSTR(MP_QSTR_send), MP_ROM_PTR(&canio_can_send_obj) }, + { MP_ROM_QSTR(MP_QSTR_state), MP_ROM_PTR(&canio_can_state_obj) }, + { MP_ROM_QSTR(MP_QSTR_baudrate), MP_ROM_PTR(&canio_can_baudrate_obj) }, + { MP_ROM_QSTR(MP_QSTR_transmit_error_count), MP_ROM_PTR(&canio_can_transmit_error_count_obj) }, +}; +STATIC MP_DEFINE_CONST_DICT(canio_can_locals_dict, canio_can_locals_dict_table); + +const mp_obj_type_t canio_can_type = { + { &mp_type_type }, + .name = MP_QSTR_CAN, + .make_new = canio_can_make_new, + .locals_dict = (mp_obj_t)&canio_can_locals_dict, +}; diff --git a/shared-bindings/_canio/CAN.h b/shared-bindings/_canio/CAN.h new file mode 100644 index 000000000..81040cf23 --- /dev/null +++ b/shared-bindings/_canio/CAN.h @@ -0,0 +1,31 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * 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. + */ + +#pragma once + +#include "py/obj.h" + +extern const mp_obj_type_t canio_can_type; diff --git a/shared-bindings/_canio/Listener.c b/shared-bindings/_canio/Listener.c new file mode 100644 index 000000000..7f83c735f --- /dev/null +++ b/shared-bindings/_canio/Listener.c @@ -0,0 +1,197 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * 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 "shared-bindings/_canio/Listener.h" +#include "shared-bindings/_canio/Message.h" +#include "common-hal/_canio/Listener.h" + +#include "py/runtime.h" +#include "py/objproperty.h" + +//| class Listener: +//| """Listens for CAN message +//| +//| _canio.Listener is not constructed directly, but instead by calling the +//| Listen method of a _canio.CAN object.""" +//| + +//| def read(self) -> Optional[Message]: +//| """Returns a message, after waiting up to self.timeout seconds +//| +//| If no message is received in time, None is returned. Otherwise, +//| a Message is returned.""" +//| ... +//| +STATIC mp_obj_t canio_listener_read(mp_obj_t self_in) { + canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_listener_check_for_deinit(self); + + canio_message_obj_t *message = m_new_obj(canio_message_obj_t); + self->base.type = &canio_message_type; + + if (common_hal_canio_listener_readinto(self, message)) { + return message; + } else { + m_free(message); // message did not escape into vm + } + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_read_obj, canio_listener_read); + +//| def readinto(self, message: Message) -> bool: +//| """Returns a message, after waiting up to self.timeout seconds +//| +//| Returns True (and modifies message) if a message was received, +//| False otherwise.""" +//| ... +//| +STATIC mp_obj_t canio_listener_readinto(mp_obj_t self_in, mp_obj_t message) { + canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); + mp_obj_type_t *type = mp_obj_get_type(message); + if (type != &canio_message_type) { + mp_raise_TypeError_varg(translate("expected '%q' but got '%q'"), MP_QSTR_Message, type->name); + } + common_hal_canio_listener_check_for_deinit(self); + return mp_obj_new_bool(common_hal_canio_listener_readinto(self, message)); +} +STATIC MP_DEFINE_CONST_FUN_OBJ_2(canio_listener_readinto_obj, canio_listener_readinto); + +//| def in_waiting(self) -> int: +//| """Returns the number of messages waiting""" +//| ... +//| +STATIC mp_obj_t canio_listener_in_waiting(mp_obj_t self_in) { + canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_listener_check_for_deinit(self); + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_listener_in_waiting(self)); +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_in_waiting_obj, canio_listener_in_waiting); + +//| def __iter__(self): +//| """Returns self, unless the object is deinitialized""" +//| ... +//| +STATIC mp_obj_t canio_listener_iter(mp_obj_t self_in) { + canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_listener_check_for_deinit(self); + return self; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_iter_obj, canio_listener_iter); + +//| def __next__(self): +//| """Returns the next waiting message, if one is available +//| +//| If the object is deinitialized, raises ValueError. +//| +//| If no message is waiting raises StopIteration""" +//| ... +//| +STATIC mp_obj_t canio_listener_next(mp_obj_t self_in) { + canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_listener_check_for_deinit(self); + if(common_hal_canio_listener_in_waiting(self)) { + return canio_listener_read(self_in); + } + return self; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_next_obj, canio_listener_next); + +//| def deinit(self) -> None: +//| """Deinitialize this object, freeing its hardware resources""" +//| ... +//| +STATIC mp_obj_t canio_listener_deinit(mp_obj_t self_in) { + canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_listener_deinit(self); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_deinit_obj, canio_listener_deinit); + +//| def __enter__(self) -> CAN: +//| """Returns self, to allow the object to be used in a `with` statement for resource control""" +//| ... +//| +STATIC mp_obj_t canio_listener_enter(mp_obj_t self_in) { + canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_listener_check_for_deinit(self); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_enter_obj, canio_listener_enter); + +//| def __exit__(self, unused1, unused2, unused3) -> None: +//| """Calls deinit()""" +//| ... +STATIC mp_obj_t canio_listener_exit(size_t num_args, const mp_obj_t args[]) { + canio_listener_obj_t *self = MP_OBJ_TO_PTR(args[0]); + common_hal_canio_listener_deinit(self); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(canio_listener_exit_obj, 4, 4, canio_listener_exit); + + +//| timeout : float +STATIC mp_obj_t canio_listener_timeout_get(mp_obj_t self_in) { + canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_listener_check_for_deinit(self); + return mp_obj_new_float(common_hal_canio_listener_get_timeout(self)); +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_timeout_get_obj, canio_listener_timeout_get); + +STATIC mp_obj_t canio_listener_timeout_set(mp_obj_t self_in, mp_obj_t timeout_in) { + canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_listener_check_for_deinit(self); + common_hal_canio_listener_set_timeout(self, mp_obj_get_float(timeout_in)); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_2(canio_listener_timeout_set_obj, canio_listener_timeout_set); + +STATIC const mp_obj_property_t canio_listener_timeout_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_listener_timeout_get_obj, + (mp_obj_t)&canio_listener_timeout_set_obj, + (mp_obj_t)mp_const_none}, +}; + + + +STATIC const mp_rom_map_elem_t canio_listener_locals_dict_table[] = { + { MP_ROM_QSTR(MP_QSTR___enter__), MP_ROM_PTR(&canio_listener_enter_obj) }, + { MP_ROM_QSTR(MP_QSTR___exit__), MP_ROM_PTR(&canio_listener_exit_obj) }, + { MP_ROM_QSTR(MP_QSTR___iter__), MP_ROM_PTR(&canio_listener_iter_obj) }, + { MP_ROM_QSTR(MP_QSTR___next__), MP_ROM_PTR(&canio_listener_next_obj) }, + { MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&canio_listener_deinit_obj) }, + { MP_ROM_QSTR(MP_QSTR_in_waiting), MP_ROM_PTR(&canio_listener_in_waiting_obj) }, + { MP_ROM_QSTR(MP_QSTR_read), MP_ROM_PTR(&canio_listener_read_obj) }, + { MP_ROM_QSTR(MP_QSTR_readinto), MP_ROM_PTR(&canio_listener_readinto_obj) }, + { MP_ROM_QSTR(MP_QSTR_timeout), MP_ROM_PTR(&canio_listener_timeout_obj) }, +}; +STATIC MP_DEFINE_CONST_DICT(canio_listener_locals_dict, canio_listener_locals_dict_table); + +const mp_obj_type_t canio_listener_type = { + { &mp_type_type }, + .name = MP_QSTR_Listener, + .locals_dict = (mp_obj_dict_t*)&canio_listener_locals_dict, +}; diff --git a/shared-bindings/_canio/Listener.h b/shared-bindings/_canio/Listener.h new file mode 100644 index 000000000..eaa3490df --- /dev/null +++ b/shared-bindings/_canio/Listener.h @@ -0,0 +1,31 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * 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. + */ + +#pragma once + +#include "py/obj.h" + +extern const mp_obj_type_t canio_listener_type; diff --git a/shared-bindings/_canio/Match.c b/shared-bindings/_canio/Match.c new file mode 100644 index 000000000..6c32aa539 --- /dev/null +++ b/shared-bindings/_canio/Match.c @@ -0,0 +1,140 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * 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 "shared-bindings/_canio/Match.h" +#include "shared-module/_canio/Match.h" + +#include "py/objproperty.h" +#include "py/runtime.h" + +//| class Match: +//| """Describe CAN bus messages to match""" +//| +//| +//| def __init__(self, address: int, *, mask: int = 0, extended: bool = False): +//| """Construct a Match with the given properties. +//| +//| If mask is nonzero, then the filter is for any sender which matches all +//| the nonzero bits in mask. Otherwise, it matches exactly the given address. +//| If extended is true then only extended addresses are matched, otherwise +//| only standard addresses are matched.""" +//| + +STATIC mp_obj_t canio_match_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_address, ARG_mask, ARG_extended, NUM_ARGS }; + static const mp_arg_t allowed_args[] = { + { MP_QSTR_address, MP_ARG_INT | MP_ARG_REQUIRED, {.u_int = 0} }, + { MP_QSTR_mask, MP_ARG_INT, {.u_int = 0} }, + { 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 ); + + mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); + + int address_bits = args[ARG_extended].u_bool ? 0x1fffffff : 0x7ff; + int address = args[ARG_address].u_int; + int mask = args[ARG_mask].u_int; + + if(address & ~address_bits) { + mp_raise_ValueError_varg(translate("%q out of range"), MP_QSTR_address); + } + + if(mask & ~address_bits) { + mp_raise_ValueError_varg(translate("%q out of range"), MP_QSTR_mask); + } + + canio_match_obj_t *self = m_new_obj(canio_match_obj_t); + self->base.type = &canio_match_type; + common_hal_canio_match_construct(self, args[ARG_address].u_int, args[ARG_mask].u_int, args[ARG_extended].u_bool); + return self; +} + +//| address: int +//| """The address to match""" +//| + +STATIC mp_obj_t canio_match_address_get(mp_obj_t self_in) { + canio_match_obj_t *self = self_in; + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_match_address_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_match_address_get_obj, canio_match_address_get); + +const mp_obj_property_t canio_match_address_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_match_address_get_obj, + (mp_obj_t)&mp_const_none_obj, + (mp_obj_t)&mp_const_none_obj}, +}; + +//| +//| mask: int +//| """The optional mask of addresses to match""" +//| + +STATIC mp_obj_t canio_match_mask_get(mp_obj_t self_in) { + canio_match_obj_t *self = self_in; + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_match_mask_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_match_mask_get_obj, canio_match_mask_get); + +const mp_obj_property_t canio_match_mask_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_match_mask_get_obj, + (mp_obj_t)&mp_const_none_obj, + (mp_obj_t)&mp_const_none_obj}, +}; + +//| extended: bool +//| """True to match extended addresses, False to match standard addresses""" +//| + +STATIC mp_obj_t canio_match_extended_get(mp_obj_t self_in) { + canio_match_obj_t *self = self_in; + return mp_obj_new_bool(common_hal_canio_match_extended_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_match_extended_get_obj, canio_match_extended_get); + +const mp_obj_property_t canio_match_extended_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_match_extended_get_obj, + (mp_obj_t)&mp_const_none_obj, + (mp_obj_t)&mp_const_none_obj}, +}; + +STATIC const mp_rom_map_elem_t canio_match_locals_dict_table[] = { + { MP_ROM_QSTR(MP_QSTR_address), MP_ROM_PTR(&canio_match_address_obj) }, + { MP_ROM_QSTR(MP_QSTR_mask), MP_ROM_PTR(&canio_match_mask_obj) }, + { MP_ROM_QSTR(MP_QSTR_extended), MP_ROM_PTR(&canio_match_extended_obj) }, +}; +STATIC MP_DEFINE_CONST_DICT(canio_match_locals_dict, canio_match_locals_dict_table); + +const mp_obj_type_t canio_match_type = { + { &mp_type_type }, + .name = MP_QSTR_Match, + .make_new = canio_match_make_new, + .locals_dict = (mp_obj_dict_t*)&canio_match_locals_dict, +}; diff --git a/shared-bindings/_canio/Match.h b/shared-bindings/_canio/Match.h new file mode 100644 index 000000000..adf98eb86 --- /dev/null +++ b/shared-bindings/_canio/Match.h @@ -0,0 +1,33 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * 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. + */ + +#pragma once + +#include "py/obj.h" + +extern const mp_obj_type_t canio_match_type; + +// Nothing now. diff --git a/shared-bindings/_canio/Message.c b/shared-bindings/_canio/Message.c new file mode 100644 index 000000000..a8e588354 --- /dev/null +++ b/shared-bindings/_canio/Message.c @@ -0,0 +1,213 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * 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 "shared-bindings/_canio/Message.h" +#include "shared-module/_canio/Message.h" + +#include "py/obj.h" +#include "py/objproperty.h" +#include "py/runtime.h" + +//| class Message: +//| def __init__(self, id: int=0, data: Optional[bytes] = None, *, size: Optional[int] = None, rtr: 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) +//| +//| In CAN, messages can have a size from 0 to 8 bytes. +//| +//| For a non-rtr message, specify `data`. For an rtr-message, specify either `data` (a dummy buffer of the requested size) or `size`. +//| """ +//| ... +//| +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 }; + 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_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + MP_STATIC_ASSERT( MP_ARRAY_SIZE(allowed_args) == NUM_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; + 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); + + if(specified_size && specified_data) { + mp_raise_TypeError(translate("specify size or data, but not both")); + } + + mp_buffer_info_t data; + if (specified_data) { + mp_get_buffer_raise(args[ARG_data].u_obj, &data, MP_BUFFER_READ); + } else if (specified_size) { + data.buf = 0; + data.len = size; + } else { + data.buf = 0; + data.len = 0; + } + + if(data.len > 8) { + mp_raise_ValueError(translate("Messages limited to 8 bytes")); + } + + 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); + return self; +} + +//| id: int +//| """The numeric ID of the message""" +//| +STATIC mp_obj_t canio_message_id_get(const mp_obj_t self_in) { + canio_message_obj_t *self = self_in; + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_message_id_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_message_id_get_obj, canio_message_id_get); + +STATIC mp_obj_t canio_message_id_set(const mp_obj_t self_in, const mp_obj_t id) { + canio_message_obj_t *self = self_in; + common_hal_canio_message_id_set(self, mp_obj_get_int(id)); + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_2(canio_message_id_set_obj, canio_message_id_set); + +STATIC const mp_obj_property_t canio_message_id_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_message_id_get_obj, + (mp_obj_t)&canio_message_id_set_obj, + (mp_obj_t)&mp_const_none_obj}, +}; + +//| data: bytes +//| """The content of the message, or dummy content in the case of an rtr. +//| +//| Assigning to data sets the bytes to zero""" +//| +STATIC mp_obj_t canio_message_data_get(const mp_obj_t self_in) { + canio_message_obj_t *self = self_in; + return mp_obj_new_bytes((const byte*)common_hal_canio_message_data_get(self), common_hal_canio_message_size_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_message_data_get_obj, canio_message_data_get); + +STATIC mp_obj_t canio_message_data_set(const mp_obj_t self_in, const mp_obj_t data_in) { + canio_message_obj_t *self = self_in; + mp_buffer_info_t data; + mp_get_buffer_raise(data_in, &data, MP_BUFFER_READ); + if(data.len > 8) { + mp_raise_ValueError(translate("Messages limited to 8 bytes")); + } + common_hal_canio_message_data_set(self, data.buf, data.len); + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_2(canio_message_data_set_obj, canio_message_data_set); + + +STATIC const mp_obj_property_t canio_message_data_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_message_data_get_obj, + (mp_obj_t)&canio_message_data_set_obj, + (mp_obj_t)&mp_const_none_obj}, +}; + + +//| size: int +//| """The length of the message, or the length of the requested data in the case of an rtr""" +//| +STATIC mp_obj_t canio_message_size_get(const mp_obj_t self_in) { + canio_message_obj_t *self = self_in; + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_message_size_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_message_size_get_obj, canio_message_size_get); + +STATIC mp_obj_t canio_message_size_set(const mp_obj_t self_in, const mp_obj_t size_in) { + canio_message_obj_t *self = self_in; + int size = mp_obj_get_int(size_in); + if(size > 8) { + mp_raise_ValueError(translate("Messages limited to 8 bytes")); + } + common_hal_canio_message_size_set(self, size); + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_2(canio_message_size_set_obj, canio_message_size_set); + + +STATIC const mp_obj_property_t canio_message_size_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_message_size_get_obj, + (mp_obj_t)&canio_message_size_set_obj, + (mp_obj_t)&mp_const_none_obj}, +}; + +//| rtr: bool +//| """True if the message represents a remote transmission request (RTR)""" +//| +STATIC mp_obj_t canio_message_rtr_get(const mp_obj_t self_in) { + canio_message_obj_t *self = self_in; + return mp_obj_new_bool(common_hal_canio_message_rtr_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_message_rtr_get_obj, canio_message_rtr_get); + +STATIC mp_obj_t canio_message_rtr_set(const mp_obj_t self_in, const mp_obj_t rtr) { + canio_message_obj_t *self = self_in; + common_hal_canio_message_size_set(self, mp_obj_is_true(rtr)); + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_2(canio_message_rtr_set_obj, canio_message_rtr_set); + + +STATIC const mp_obj_property_t canio_message_rtr_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_message_rtr_get_obj, + (mp_obj_t)&canio_message_rtr_set_obj, + (mp_obj_t)&mp_const_none_obj}, +}; + + +STATIC const mp_rom_map_elem_t canio_message_locals_dict_table[] = { + { MP_ROM_QSTR(MP_QSTR_id), MP_ROM_PTR(&canio_message_id_obj) }, + { 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) }, +}; +STATIC MP_DEFINE_CONST_DICT(canio_message_locals_dict, canio_message_locals_dict_table); + +const mp_obj_type_t canio_message_type = { + { &mp_type_type }, + .name = MP_QSTR_Message, + .make_new = canio_message_make_new, + .locals_dict = (mp_obj_t)&canio_message_locals_dict, +}; diff --git a/shared-bindings/_canio/Message.h b/shared-bindings/_canio/Message.h new file mode 100644 index 000000000..32d6801bc --- /dev/null +++ b/shared-bindings/_canio/Message.h @@ -0,0 +1,31 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * 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. + */ + +#pragma once + +#include "py/obj.h" + +extern const mp_obj_type_t canio_message_type; diff --git a/shared-bindings/_canio/__init__.c b/shared-bindings/_canio/__init__.c new file mode 100644 index 000000000..4da008ff2 --- /dev/null +++ b/shared-bindings/_canio/__init__.c @@ -0,0 +1,73 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * 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. + */ + +//| """CAN bus access +//| +//| The `_canio` module contains low level classes to support the CAN bus +//| protocol. +//| +//| All classes change hardware state and should be deinitialized when they +//| are no longer needed if the program continues after use. To do so, either +//| call :py:meth:`!deinit` or use a context manager. See +//| :ref:`lifetime-and-contextmanagers` for more info. +//| +//| For example:: +//| +//| import _canio +//| from board import * +//| +//| can = _canio.BUS(board.CANRX, board.CANTX) +//| can.write(408, b"adafruit") +//| can.deinit() +//| +//| This example will write the data 'adafruit' onto the CAN bus to any +//| device listening for message id 408.""" +//| + +#include "py/obj.h" + +#include "shared-bindings/_canio/__init__.h" +#include "shared-bindings/_canio/CAN.h" +#include "shared-bindings/_canio/Match.h" +#include "shared-bindings/_canio/Message.h" + +STATIC const mp_rom_map_elem_t canio_module_globals_table[] = { + { MP_ROM_QSTR(MP_QSTR___name__), MP_ROM_QSTR(MP_QSTR__canio) }, + { MP_ROM_QSTR(MP_QSTR_CAN), MP_ROM_PTR(&canio_can_type) }, + { MP_ROM_QSTR(MP_QSTR_Match), MP_ROM_PTR(&canio_match_type) }, + { MP_ROM_QSTR(MP_QSTR_Message), MP_ROM_PTR(&canio_message_type) }, +#if 0 + { MP_ROM_QSTR(MP_QSTR_Listener), MP_ROM_PTR(&canio_listener_type) }, +#endif +}; + + +STATIC MP_DEFINE_CONST_DICT(canio_module_globals, canio_module_globals_table); + +const mp_obj_module_t canio_module = { + .base = { &mp_type_module }, + .globals = (mp_obj_dict_t*)&canio_module_globals, +}; diff --git a/shared-bindings/_canio/__init__.h b/shared-bindings/_canio/__init__.h new file mode 100644 index 000000000..45e76369c --- /dev/null +++ b/shared-bindings/_canio/__init__.h @@ -0,0 +1,29 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * 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. + */ + +#pragma once + +// Nothing now. diff --git a/shared-module/_canio/Match.c b/shared-module/_canio/Match.c new file mode 100644 index 000000000..2b696addb --- /dev/null +++ b/shared-module/_canio/Match.c @@ -0,0 +1,43 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * 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 "shared-module/_canio/Match.h" + +void common_hal_canio_match_construct(canio_match_obj_t *self, int address, int mask, bool extended) { + self->address = address; + self->mask = mask; + self->extended = extended; +} + +int common_hal_canio_match_address_get(const canio_match_obj_t *self) { + return self->address; +} +int common_hal_canio_match_mask_get(const canio_match_obj_t *self) { + return self->mask; +} +bool common_hal_canio_match_extended_get(const canio_match_obj_t *self) { + return self->extended; +} diff --git a/shared-module/_canio/Match.h b/shared-module/_canio/Match.h new file mode 100644 index 000000000..099df976d --- /dev/null +++ b/shared-module/_canio/Match.h @@ -0,0 +1,41 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * 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. + */ + +#pragma once + +#include "py/obj.h" + +typedef struct { + mp_obj_base_t base; + int address; + int mask; + bool extended; +} canio_match_obj_t; + +void common_hal_canio_match_construct(canio_match_obj_t *self, int address, int mask, bool extended); +int common_hal_canio_match_address_get(const canio_match_obj_t *self); +int common_hal_canio_match_mask_get(const canio_match_obj_t *self); +bool common_hal_canio_match_extended_get(const canio_match_obj_t *self); diff --git a/shared-module/_canio/Message.c b/shared-module/_canio/Message.c new file mode 100644 index 000000000..df6a40a0a --- /dev/null +++ b/shared-module/_canio/Message.c @@ -0,0 +1,85 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * 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 "shared-module/_canio/Message.h" + +#include <string.h> + +void common_hal_canio_message_construct(canio_message_obj_t *self, int id, void *data, size_t size, bool rtr) +{ + self->id = id; + self->size = size; + self->rtr = rtr; + if (data) { + memcpy(self->data, data, size); + } else { + memset(self->data, 0, size); + } +} + +int common_hal_canio_message_id_get(const canio_message_obj_t *self) +{ + return self->id; +} + +void common_hal_canio_message_id_set(canio_message_obj_t *self, int id) +{ + self->id = id; +} + + +const void *common_hal_canio_message_data_get(const canio_message_obj_t *self) +{ + return self->data; +} + +const void common_hal_canio_message_data_set(canio_message_obj_t *self, const void *data, size_t size) +{ + memcpy(self->data, data, size); +} + + +size_t common_hal_canio_message_size_get(const canio_message_obj_t *self) +{ + return self->size; +} + +void common_hal_canio_message_size_set(canio_message_obj_t *self, size_t size) +{ + memset(self->data, 0, size); + self->size = size; +} + + +bool common_hal_canio_message_rtr_get(const canio_message_obj_t *self) +{ + return self->rtr; +} + +void common_hal_canio_message_rtr_set(canio_message_obj_t *self, bool rtr) +{ + self->rtr = rtr; +} diff --git a/shared-module/_canio/Message.h b/shared-module/_canio/Message.h new file mode 100644 index 000000000..e846f1095 --- /dev/null +++ b/shared-module/_canio/Message.h @@ -0,0 +1,47 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * 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. + */ + +#pragma once + +#include "py/obj.h" + +typedef struct { + mp_obj_base_t base; + int id; + size_t size; + uint8_t data[8]; + bool rtr; +} canio_message_obj_t; + +void common_hal_canio_message_construct(canio_message_obj_t *self, int id, void *data, size_t size, bool rtr); +bool common_hal_canio_message_rtr_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_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); |