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-rwxr-xr-xports/stm/Makefile4
-rw-r--r--ports/stm/boards/feather_stm32f405_express/mpconfigboard.mk2
-rw-r--r--ports/stm/boards/feather_stm32f405_express/pins.c3
-rw-r--r--ports/stm/common-hal/canio/CAN.c279
-rw-r--r--ports/stm/common-hal/canio/CAN.h60
-rw-r--r--ports/stm/common-hal/canio/Listener.c314
-rw-r--r--ports/stm/common-hal/canio/Listener.h47
-rw-r--r--ports/stm/common-hal/canio/__init__.c25
-rw-r--r--ports/stm/common-hal/canio/__init__.h27
-rw-r--r--ports/stm/hal_conf/stm32_hal_conf.h2
-rw-r--r--ports/stm/peripherals/stm32f4/stm32f405xx/periph.c23
-rw-r--r--ports/stm/peripherals/stm32f4/stm32f405xx/periph.h6
12 files changed, 791 insertions, 1 deletions
diff --git a/ports/stm/Makefile b/ports/stm/Makefile
index 9e1d10b99..b9426e07e 100755
--- a/ports/stm/Makefile
+++ b/ports/stm/Makefile
@@ -198,6 +198,10 @@ SRC_STM32 = $(addprefix $(HAL_DIR)/Src/stm32$(MCU_SERIES_LOWER)xx_,\
ll_utils.c \
)
+ifeq ($(CIRCUITPY_CANIO),1)
+SRC_STM32 += $(HAL_DIR)/Src/stm32$(MCU_SERIES_LOWER)xx_hal_can.c
+endif
+
# Need this to avoid UART linker problems. TODO: rewrite to use registered callbacks.
# Does not exist for F4 and lower
ifeq ($(MCU_VARIANT),$(filter $(MCU_VARIANT),STM32F765xx STM32F767xx STM32F769xx STM32H743xx))
diff --git a/ports/stm/boards/feather_stm32f405_express/mpconfigboard.mk b/ports/stm/boards/feather_stm32f405_express/mpconfigboard.mk
index 4d0bd4598..086622384 100644
--- a/ports/stm/boards/feather_stm32f405_express/mpconfigboard.mk
+++ b/ports/stm/boards/feather_stm32f405_express/mpconfigboard.mk
@@ -16,3 +16,5 @@ LD_DEFAULT = boards/STM32F405_default.ld
# UF2 boot option
LD_BOOT = boards/STM32F405_boot.ld
UF2_OFFSET = 0x8010000
+
+CIRCUITPY_CANIO = 1
diff --git a/ports/stm/boards/feather_stm32f405_express/pins.c b/ports/stm/boards/feather_stm32f405_express/pins.c
index 571076c33..e20ad5028 100644
--- a/ports/stm/boards/feather_stm32f405_express/pins.c
+++ b/ports/stm/boards/feather_stm32f405_express/pins.c
@@ -47,5 +47,8 @@ STATIC const mp_rom_map_elem_t board_module_globals_table[] = {
{ MP_ROM_QSTR(MP_QSTR_SDIO_CLOCK), MP_ROM_PTR(&pin_PC12) },
{ MP_ROM_QSTR(MP_QSTR_SDIO_COMMAND), MP_ROM_PTR(&pin_PD02) },
{ MP_ROM_QSTR(MP_QSTR_SDIO_DATA), MP_ROM_PTR(&sdio_data_tuple) },
+
+ { MP_OBJ_NEW_QSTR(MP_QSTR_CAN_RX), MP_ROM_PTR(&pin_PB09) },
+ { MP_OBJ_NEW_QSTR(MP_QSTR_CAN_TX), MP_ROM_PTR(&pin_PB08) },
};
MP_DEFINE_CONST_DICT(board_module_globals, board_module_globals_table);
diff --git a/ports/stm/common-hal/canio/CAN.c b/ports/stm/common-hal/canio/CAN.c
new file mode 100644
index 000000000..0edf1217e
--- /dev/null
+++ b/ports/stm/common-hal/canio/CAN.c
@@ -0,0 +1,279 @@
+/*
+ * 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 "common-hal/canio/CAN.h"
+#include "peripherals/periph.h"
+#include "shared-bindings/microcontroller/Pin.h"
+#include "shared-bindings/util.h"
+#include "supervisor/port.h"
+
+STATIC bool reserved_can[MP_ARRAY_SIZE(mcu_can_banks)];
+
+STATIC const mcu_periph_obj_t *find_pin_function(const mcu_periph_obj_t *table, size_t sz, const mcu_pin_obj_t *pin, int periph_index) {
+ for(size_t i = 0; i<sz; i++, table++) {
+ if (periph_index != -1 && periph_index != table->periph_index) {
+ continue;
+ }
+ if (pin == table->pin) {
+ return table;
+ }
+ }
+ return NULL;
+}
+
+
+__attribute__((optimize("O0")))
+void common_hal_canio_can_construct(canio_can_obj_t *self, mcu_pin_obj_t *tx, mcu_pin_obj_t *rx, int baudrate, bool loopback, bool silent)
+{
+#define DIV_ROUND(a, b) (((a) + (b)/2) / (b))
+#define DIV_ROUND_UP(a, b) (((a) + (b) - 1) / (b))
+
+ const uint8_t can_tx_len = MP_ARRAY_SIZE(mcu_can_tx_list);
+ const uint8_t can_rx_len = MP_ARRAY_SIZE(mcu_can_rx_list);
+
+ const mcu_periph_obj_t *mcu_tx = find_pin_function(mcu_can_tx_list, can_tx_len, tx, -1);
+ if (!mcu_tx) {
+ mp_raise_ValueError_varg(translate("Invalid %q pin selection"), MP_QSTR_tx);
+ }
+ int periph_index = mcu_tx->periph_index;
+
+ const mcu_periph_obj_t *mcu_rx = find_pin_function(mcu_can_rx_list, can_rx_len, rx, periph_index);
+ if (!mcu_rx) {
+ mp_raise_ValueError_varg(translate("Invalid %q pin selection"), MP_QSTR_rx);
+ }
+
+ if (reserved_can[periph_index]) {
+ mp_raise_ValueError(translate("Hardware busy, try alternative pins"));
+ }
+
+ const uint32_t can_frequency = 42000000;
+ 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, 16), DIV_ROUND_UP(clocks_after_sample, 8));
+ const uint32_t sjw = 3;
+
+ uint32_t tq_per_bit = DIV_ROUND(clocks_per_bit, divisor);
+ uint32_t tq_to_sample = DIV_ROUND(clocks_to_sample, divisor);
+ uint32_t tq_after_sample = tq_per_bit - tq_to_sample;
+
+ if (divisor > 1023) {
+ mp_raise_OSError(MP_EINVAL); // baudrate cannot be attained (16kHz or something is lower bound, should never happen)
+ }
+
+ {
+ GPIO_InitTypeDef GPIO_InitStruct = {
+ .Pin = pin_mask(tx->number),
+ .Speed = GPIO_SPEED_FREQ_VERY_HIGH,
+ .Mode = GPIO_MODE_AF_PP,
+ .Pull = GPIO_PULLUP,
+ .Alternate = mcu_tx->altfn_index,
+ };
+ HAL_GPIO_Init(pin_port(tx->port), &GPIO_InitStruct);
+
+ GPIO_InitStruct.Pin = pin_mask(rx->number);
+ GPIO_InitStruct.Alternate = mcu_rx->altfn_index;
+ HAL_GPIO_Init(pin_port(rx->port), &GPIO_InitStruct);
+ }
+
+ CAN_TypeDef *hw = mcu_can_banks[periph_index - 1];
+
+ // CAN2 shares resources with CAN1. So we always enable CAN1, then split
+ // the filter banks equally between them.
+
+ __HAL_RCC_CAN1_CLK_ENABLE();
+
+ if(hw == CAN2) {
+ __HAL_RCC_CAN2_CLK_ENABLE();
+ self->start_filter_bank = 14;
+ self->end_filter_bank = 28;
+ self->filter_hw = CAN1;
+ } else {
+ self->start_filter_bank = 0;
+ self->end_filter_bank = 14;
+ self->filter_hw = hw;
+ }
+
+ CAN_InitTypeDef init = {
+ .AutoRetransmission = ENABLE,
+ .AutoBusOff = ENABLE,
+ .Prescaler = divisor,
+ .Mode = (loopback ? CAN_MODE_LOOPBACK : 0) | (silent ? CAN_MODE_SILENT_LOOPBACK : 0),
+ .SyncJumpWidth = (sjw-1) << CAN_BTR_SJW_Pos,
+ .TimeSeg1 = (tq_to_sample-2) << CAN_BTR_TS1_Pos,
+ .TimeSeg2 = (tq_after_sample-1) << CAN_BTR_TS2_Pos,
+ };
+
+ self->periph_index = periph_index;
+ self->silent = silent;
+ self->loopback = loopback;
+ self->baudrate = baudrate;
+
+ self->handle.Instance = hw;
+ self->handle.Init = init;
+ self->handle.State = HAL_CAN_STATE_RESET;
+
+ HAL_CAN_Init(&self->handle);
+
+ // Set the filter split as 14:14
+ // COULDDO(@jepler): Dynamically allocate filter banks between CAN1/2
+ self->filter_hw->FMR |= CAN_FMR_FINIT;
+ self->filter_hw->FMR = CAN_FMR_FINIT | (14 << CAN_FMR_CAN2SB_Pos);
+
+ // Clear every filter enable bit for this can HW
+ uint32_t fa1r = self->filter_hw->FA1R;
+ for (int i = self->start_filter_bank; i<self->end_filter_bank; i++) {
+ fa1r &= ~(1 << i);
+ }
+ self->filter_hw->FA1R = fa1r;
+ CLEAR_BIT(self->filter_hw->FMR, CAN_FMR_FINIT);
+
+ HAL_CAN_Start(&self->handle);
+
+ reserved_can[periph_index] = true;
+}
+
+bool 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 (self->handle.Instance->ESR & CAN_ESR_TEC) >> CAN_ESR_TEC_Pos;
+}
+
+int common_hal_canio_can_receive_error_count_get(canio_can_obj_t *self)
+{
+ return (self->handle.Instance->ESR & CAN_ESR_REC) >> CAN_ESR_REC_Pos;
+}
+
+int common_hal_canio_can_error_warning_state_count_get(canio_can_obj_t *self)
+{
+ return self->error_warning_state_count;
+}
+
+int common_hal_canio_can_error_passive_state_count_get(canio_can_obj_t *self)
+{
+ return self->error_passive_state_count;
+}
+
+int common_hal_canio_can_bus_off_state_count_get(canio_can_obj_t *self)
+{
+ return self->bus_off_state_count;
+}
+
+canio_bus_state_t common_hal_canio_can_state_get(canio_can_obj_t *self) {
+ uint32_t esr = self->handle.Instance->ESR;
+ if (READ_BIT(esr, CAN_ESR_BOFF)) {
+ return BUS_STATE_OFF;
+ }
+ if (READ_BIT(esr, CAN_ESR_EPVF)) {
+ return BUS_STATE_ERROR_PASSIVE;
+ }
+ if (READ_BIT(esr, CAN_ESR_EWGF)) {
+ return BUS_STATE_ERROR_WARNING;
+ }
+ return BUS_STATE_ERROR_ACTIVE;
+}
+
+void common_hal_canio_can_restart(canio_can_obj_t *self) {
+ if (!common_hal_canio_can_auto_restart_get(self)) {
+ HAL_CAN_Start(&self->handle);
+ }
+}
+
+bool common_hal_canio_can_auto_restart_get(canio_can_obj_t *self) {
+ return READ_BIT(self->handle.Instance->MCR, CAN_MCR_ABOM);
+}
+
+void common_hal_canio_can_auto_restart_set(canio_can_obj_t *self, bool value) {
+ if(value) {
+ SET_BIT(self->handle.Instance->MCR, CAN_MCR_ABOM);
+ } else {
+ CLEAR_BIT(self->handle.Instance->MCR, CAN_MCR_ABOM);
+ }
+}
+
+void common_hal_canio_can_send(canio_can_obj_t *self, mp_obj_t message_in)
+{
+ canio_message_obj_t *message = message_in;
+ uint32_t mailbox;
+ bool rtr = message->base.type == &canio_remote_transmission_request_type;
+ CAN_TxHeaderTypeDef header = {
+ .StdId = message->id,
+ .ExtId = message->id,
+ .IDE = message->extended ? CAN_ID_EXT : CAN_ID_STD,
+ .RTR = rtr ? CAN_RTR_REMOTE : CAN_RTR_DATA,
+ .DLC = message->size,
+ };
+ HAL_StatusTypeDef status = HAL_CAN_AddTxMessage(&self->handle, &header, message->data, &mailbox);
+ if (status != HAL_OK) {
+ mp_raise_OSError(MP_ENOMEM);
+ }
+}
+
+bool common_hal_canio_can_silent_get(canio_can_obj_t *self) {
+ return self->silent;
+}
+
+bool common_hal_canio_can_deinited(canio_can_obj_t *self) {
+ return !self->handle.Instance;
+}
+
+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->handle.Instance) {
+ SET_BIT(self->handle.Instance->MCR, CAN_MCR_RESET);
+ while (READ_BIT(self->handle.Instance->MCR, CAN_MCR_RESET)) {
+ }
+ reserved_can[self->periph_index] = 0;
+ }
+ self->handle.Instance = NULL;
+}
+
+void common_hal_canio_reset(void) {
+ for (size_t i=0; i<MP_ARRAY_SIZE(mcu_can_banks); i++) {
+ SET_BIT(mcu_can_banks[i]->MCR, CAN_MCR_RESET);
+ reserved_can[i] = 0;
+ }
+}
diff --git a/ports/stm/common-hal/canio/CAN.h b/ports/stm/common-hal/canio/CAN.h
new file mode 100644
index 000000000..bffc0f65f
--- /dev/null
+++ b/ports/stm/common-hal/canio/CAN.h
@@ -0,0 +1,60 @@
+/*
+ * 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 "shared-bindings/canio/__init__.h"
+#include "shared-bindings/canio/CAN.h"
+#include "common-hal/microcontroller/Pin.h"
+#include "common-hal/canio/__init__.h"
+#include "shared-module/canio/Message.h"
+
+#include "stm32f4xx_hal.h"
+#include "stm32f4xx_hal_can.h"
+
+#define FILTER_BANK_COUNT (28)
+
+typedef struct canio_can_obj {
+ mp_obj_base_t base;
+ CAN_HandleTypeDef handle;
+ CAN_TypeDef *filter_hw;
+ volatile uint32_t error_warning_state_count;
+ volatile uint32_t error_passive_state_count;
+ volatile uint32_t bus_off_state_count;
+ int baudrate;
+ const mcu_pin_obj_t *rx_pin;
+ const mcu_pin_obj_t *tx_pin;
+ bool loopback:1;
+ bool silent:1;
+ bool auto_restart:1;
+ bool fifo0_in_use:1;
+ bool fifo1_in_use:1;
+ uint8_t periph_index:2;
+ uint8_t start_filter_bank;
+ uint8_t end_filter_bank;
+ long filter_in_use; // bitmask for the 28 filter banks
+} canio_can_obj_t;
diff --git a/ports/stm/common-hal/canio/Listener.c b/ports/stm/common-hal/canio/Listener.c
new file mode 100644
index 000000000..dd968979d
--- /dev/null
+++ b/ports/stm/common-hal/canio/Listener.c
@@ -0,0 +1,314 @@
+/*
+ * 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"
+#include "supervisor/shared/safe_mode.h"
+
+STATIC void allow_filter_change(canio_can_obj_t *can) {
+ can->filter_hw->FMR |= CAN_FMR_FINIT;
+}
+
+STATIC void prevent_filter_change(canio_can_obj_t *can) {
+ can->filter_hw->FMR &= ~CAN_FMR_FINIT;
+}
+
+STATIC bool filter_in_use(canio_can_obj_t *can, int idx) {
+ return can->filter_hw->FA1R & (1<<idx);
+}
+
+// One filter bank can hold:
+// * one extended mask
+// * two extended ids
+// * two standard masks
+// * four extended ids
+// However, stm needs two filters to permit RTR and non-RTR messages
+// so we ONLY use mask-type filter banks
+STATIC size_t num_filters_needed(size_t nmatch, canio_match_obj_t **matches) {
+ if (nmatch == 0) {
+ return 1;
+ }
+ size_t num_extended_mask = 0;
+ size_t num_standard_mask = 1;
+ for(size_t i=0; i<nmatch; i++) {
+ if (matches[i]->extended) {
+ num_extended_mask += 1;
+ } else {
+ num_standard_mask += 1;
+ }
+ }
+ return num_extended_mask + num_standard_mask/2;
+}
+
+STATIC size_t num_filters_available(canio_can_obj_t *can) {
+ size_t available = 0;
+ for(size_t i = can->start_filter_bank; i < can->end_filter_bank; i++) {
+ if (!filter_in_use(can, i)) {
+ available++;
+ }
+ }
+ return available;
+}
+
+STATIC void clear_filters(canio_listener_obj_t *self) {
+ canio_can_obj_t *can = self->can;
+
+ allow_filter_change(can);
+ uint32_t fa1r = can->filter_hw->FA1R;
+ for(size_t i = can->start_filter_bank; i < can->end_filter_bank; i++) {
+ if (((can->filter_hw->FFA1R >> i) & 1) == self->fifo_idx) {
+ fa1r &= ~(1<<i);
+ }
+ }
+ can->filter_hw->FA1R = fa1r;
+ prevent_filter_change(can);
+}
+
+STATIC int next_filter(canio_can_obj_t *can) {
+ uint32_t fa1r = can->filter_hw->FA1R;
+ for(size_t i = can->start_filter_bank; i < can->end_filter_bank; i++) {
+ if (!(fa1r & (1<<i))) {
+ return i;
+ }
+ }
+ reset_into_safe_mode(MICROPY_FATAL_ERROR);
+ return -1;
+}
+
+// IDE = "extended ID" flag of packet header. We always add this bit to the
+// mask because a match is always for just one kind of address length
+#define FILTER16_IDE (1<<3)
+#define FILTER32_IDE (1<<2)
+
+STATIC void install_standard_filter(canio_listener_obj_t *self, canio_match_obj_t *match1, canio_match_obj_t *match2) {
+ int bank = next_filter(self->can);
+
+ // filter is already deactivated, so we skip deactivating it here
+ // CLEAR_BIT(self->can->filter_hw->FA1R, bank);
+
+ self->can->filter_hw->sFilterRegister[bank].FR1 =
+ (((match1->id & 0x7ff) << 5)) |
+ (((match1->mask & 0x7ff) << 5 | FILTER16_IDE)) << 16;
+ self->can->filter_hw->sFilterRegister[bank].FR2 =
+ (((match2->id & 0x7ff) << 5)) |
+ (((match2->mask & 0x7ff) << 5 | FILTER16_IDE)) << 16;
+
+ // filter mode: 0 = mask
+ // (this bit should be clear already, we never set it; but just in case)
+ CLEAR_BIT(self->can->filter_hw->FM1R, 1 << bank);
+ // filter scale: 0 = 16 bits
+ CLEAR_BIT(self->can->filter_hw->FS1R, 1 << bank);
+ // fifo assignment: 1 = FIFO 1
+ if (self->fifo_idx) {
+ SET_BIT(self->can->filter_hw->FFA1R, 1 << bank);
+ } else {
+ CLEAR_BIT(self->can->filter_hw->FFA1R, 1 << bank);
+ }
+
+ // filter activation: 1 = enabled
+ SET_BIT(self->can->filter_hw->FA1R, 1 << bank);
+}
+
+STATIC void install_extended_filter(canio_listener_obj_t *self, canio_match_obj_t *match) {
+ int bank = next_filter(self->can);
+
+ // filter is already deactivated, so we skip deactivating it here
+ // CLEAR_BIT(self->can->filter_hw->FA1R, bank);
+
+ self->can->filter_hw->sFilterRegister[bank].FR1 =
+ ((match->id << 3) | FILTER32_IDE);
+ self->can->filter_hw->sFilterRegister[bank].FR2 =
+ ((match->mask << 3) | FILTER32_IDE);
+
+ // filter mode: 0 = mask
+ // (this bit should be clear already, we never set it; but just in case)
+ CLEAR_BIT(self->can->filter_hw->FM1R, 1 << bank);
+ // filter scale: 1 = 32 bits
+ SET_BIT(self->can->filter_hw->FS1R, 1 << bank);
+ // fifo assignment: 1 = FIFO 1
+ if (self->fifo_idx) {
+ SET_BIT(self->can->filter_hw->FFA1R, 1 << bank);
+ } else {
+ CLEAR_BIT(self->can->filter_hw->FFA1R, 1 << bank);
+ }
+
+ // filter activation: 1 = enabled
+ SET_BIT(self->can->filter_hw->FA1R, 1 << bank);
+}
+
+STATIC void install_all_match_filter(canio_listener_obj_t *self) {
+ int bank = next_filter(self->can);
+
+ // filter is already deactivated, so we skip deactivating it here
+ // CLEAR_BIT(self->can->filter_hw->FA1R, bank);
+
+ self->can->filter_hw->sFilterRegister[bank].FR1 = 0;
+ self->can->filter_hw->sFilterRegister[bank].FR2 = 0;
+
+ // filter mode: 0 = mask
+ // (this bit should be clear already, we never set it; but just in case)
+ CLEAR_BIT(self->can->filter_hw->FM1R, bank);
+ // filter scale: 1 = 32 bits
+ SET_BIT(self->can->filter_hw->FS1R, bank);
+ // fifo assignment: 1 = FIFO 1
+ if (self->fifo_idx) {
+ SET_BIT(self->can->filter_hw->FFA1R, bank);
+ } else {
+ CLEAR_BIT(self->can->filter_hw->FFA1R, bank);
+ }
+
+ // filter activation: 1 = enabled
+ SET_BIT(self->can->filter_hw->FA1R, (1 << bank));
+}
+
+
+#define NO_ADDRESS (-1)
+void set_filters(canio_listener_obj_t *self, size_t nmatch, canio_match_obj_t **matches) {
+ allow_filter_change(self->can);
+ if (!nmatch) {
+ install_all_match_filter(self);
+ } else {
+ canio_match_obj_t *first_match = NULL;
+ for(size_t i = 0; i<nmatch; i++) {
+ if(matches[i]->extended) {
+ install_extended_filter(self, matches[i]);
+ } else {
+ if (first_match) {
+ install_standard_filter(self, first_match, matches[i]);
+ first_match = NULL;
+ } else {
+ first_match = matches[i];
+ }
+ }
+ }
+ if (first_match) {
+ install_standard_filter(self, first_match, first_match);
+ }
+ }
+ prevent_filter_change(self->can);
+}
+
+
+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 (!can->fifo0_in_use) {
+ self->fifo_idx = 0;
+ self->rfr = &can->handle.Instance->RF0R;
+ can->fifo0_in_use = true;
+ } else if (!can->fifo1_in_use) {
+ self->fifo_idx = 1;
+ self->rfr = &can->handle.Instance->RF1R;
+ can->fifo1_in_use = true;
+ } else {
+ mp_raise_ValueError(translate("All RX FIFOs in use"));
+ }
+
+ if (num_filters_needed(nmatch, matches) > num_filters_available(can)) {
+ mp_raise_ValueError(translate("Filters too complex"));
+ }
+
+ // Nothing can fail now so it's safe to assign self->can
+ self->can = can;
+
+ self->mailbox = &can->handle.Instance->sFIFOMailBox[self->fifo_idx];
+ set_filters(self, nmatch, matches);
+ 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->rfr) & CAN_RF0R_FMP0;
+}
+
+mp_obj_t common_hal_canio_listener_receive(canio_listener_obj_t *self) {
+ if (!common_hal_canio_listener_in_waiting(self)) {
+ uint64_t deadline = supervisor_ticks_ms64() + self->timeout_ms;
+ do {
+ if (supervisor_ticks_ms64() > deadline) {
+ return NULL;
+ }
+ } while (!common_hal_canio_listener_in_waiting(self));
+ }
+
+ uint32_t rir = self->mailbox->RIR;
+ uint32_t rdtr = self->mailbox->RDTR;
+
+ bool rtr = rir & CAN_RI0R_RTR;
+ canio_message_obj_t *message = m_new_obj(canio_message_obj_t);
+ message->base.type = rtr ? &canio_remote_transmission_request_type : &canio_message_type;
+ message->extended = rir & CAN_RI0R_IDE;
+ if (message->extended) {
+ message->id = rir >> 3;
+ } else {
+ message->id = rir >> 21;
+ }
+ message->size = rdtr & CAN_RDT0R_DLC;
+ if (!rtr) {
+ uint32_t payload[] = { self->mailbox->RDLR, self->mailbox->RDHR };
+ MP_STATIC_ASSERT(sizeof(payload) == sizeof(message->data));
+ memcpy(message->data, payload, sizeof(payload));
+ }
+ // Release the mailbox
+ SET_BIT(*self->rfr, CAN_RF0R_RFOM0);
+ return message;
+}
+
+void common_hal_canio_listener_deinit(canio_listener_obj_t *self) {
+ if (self->can) {
+ clear_filters(self);
+ 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->can = NULL;
+ self->mailbox = NULL;
+ self->rfr = NULL;
+}
diff --git a/ports/stm/common-hal/canio/Listener.h b/ports/stm/common-hal/canio/Listener.h
new file mode 100644
index 000000000..2e1778888
--- /dev/null
+++ b/ports/stm/common-hal/canio/Listener.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 "common-hal/canio/CAN.h"
+#include "shared-module/canio/Match.h"
+
+typedef struct canio_listener_obj {
+ mp_obj_base_t base;
+ canio_can_obj_t *can;
+ CAN_FIFOMailBox_TypeDef *mailbox;
+ __IO uint32_t *rfr;
+ 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_receiveinto(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/stm/common-hal/canio/__init__.c b/ports/stm/common-hal/canio/__init__.c
new file mode 100644
index 000000000..7932bfc2d
--- /dev/null
+++ b/ports/stm/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/stm/common-hal/canio/__init__.h b/ports/stm/common-hal/canio/__init__.h
new file mode 100644
index 000000000..20b6638cd
--- /dev/null
+++ b/ports/stm/common-hal/canio/__init__.h
@@ -0,0 +1,27 @@
+/*
+ * 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
diff --git a/ports/stm/hal_conf/stm32_hal_conf.h b/ports/stm/hal_conf/stm32_hal_conf.h
index c91be86fd..8000e7e83 100644
--- a/ports/stm/hal_conf/stm32_hal_conf.h
+++ b/ports/stm/hal_conf/stm32_hal_conf.h
@@ -11,7 +11,7 @@
*/
#define HAL_MODULE_ENABLED
#define HAL_ADC_MODULE_ENABLED
-// #define HAL_CAN_MODULE_ENABLED
+#define HAL_CAN_MODULE_ENABLED
// #define HAL_CEC_MODULE_ENABLED
// #define HAL_COMP_MODULE_ENABLED
#define HAL_CORTEX_MODULE_ENABLED
diff --git a/ports/stm/peripherals/stm32f4/stm32f405xx/periph.c b/ports/stm/peripherals/stm32f4/stm32f405xx/periph.c
index c58234671..2f9accbf1 100644
--- a/ports/stm/peripherals/stm32f4/stm32f405xx/periph.c
+++ b/ports/stm/peripherals/stm32f4/stm32f405xx/periph.c
@@ -216,3 +216,26 @@ const mcu_periph_obj_t mcu_sdio_data2_list[1] = {
const mcu_periph_obj_t mcu_sdio_data3_list[1] = {
PERIPH(1, 12, &pin_PC11),
};
+
+//CAN
+CAN_TypeDef * mcu_can_banks[2] = {CAN1, CAN2};
+
+const mcu_periph_obj_t mcu_can_tx_list[6] = {
+ PERIPH(1, 9, &pin_PA11),
+ PERIPH(1, 9, &pin_PB08),
+ PERIPH(1, 9, &pin_PD00),
+ PERIPH(1, 9, &pin_PI09),
+
+ PERIPH(2, 9, &pin_PB12),
+ PERIPH(2, 9, &pin_PB05),
+};
+
+const mcu_periph_obj_t mcu_can_rx_list[6] = {
+ PERIPH(1, 9, &pin_PA12),
+ PERIPH(1, 9, &pin_PB09),
+ PERIPH(1, 9, &pin_PD01),
+ PERIPH(1, 9, &pin_PH13),
+
+ PERIPH(2, 9, &pin_PB13),
+ PERIPH(2, 9, &pin_PB06),
+};
diff --git a/ports/stm/peripherals/stm32f4/stm32f405xx/periph.h b/ports/stm/peripherals/stm32f4/stm32f405xx/periph.h
index 5b64fe10c..03198af55 100644
--- a/ports/stm/peripherals/stm32f4/stm32f405xx/periph.h
+++ b/ports/stm/peripherals/stm32f4/stm32f405xx/periph.h
@@ -71,5 +71,11 @@ extern const mcu_periph_obj_t mcu_sdio_data1_list[1];
extern const mcu_periph_obj_t mcu_sdio_data2_list[1];
extern const mcu_periph_obj_t mcu_sdio_data3_list[1];
+// CAN
+extern CAN_TypeDef * mcu_can_banks[2];
+
+extern const mcu_periph_obj_t mcu_can_tx_list[6];
+extern const mcu_periph_obj_t mcu_can_rx_list[6];
+
#endif // MICROPY_INCLUDED_STM32_PERIPHERALS_STM32F405XX_PERIPH_H
generated by cgit v1.2.3 (git 2.39.1) at 2026-08-08 23:06:52 +0000