diff options
22 files changed, 462 insertions, 316 deletions
diff --git a/locale/circuitpython.pot b/locale/circuitpython.pot index b6de5667e..1eb16a0e8 100644 --- a/locale/circuitpython.pot +++ b/locale/circuitpython.pot @@ -8,7 +8,7 @@ msgid "" msgstr "" "Project-Id-Version: PACKAGE VERSION\n" "Report-Msgid-Bugs-To: \n" -"POT-Creation-Date: 2020-09-29 11:11+0530\n" +"POT-Creation-Date: 2020-09-29 20:14-0500\n" "PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" "Last-Translator: FULL NAME <EMAIL@ADDRESS>\n" "Language-Team: LANGUAGE <LL@li.org>\n" @@ -1530,6 +1530,10 @@ msgstr "" msgid "Refresh too soon" msgstr "" +#: shared-bindings/canio/RemoteTransmissionRequest.c +msgid "RemoteTransmissionRequests limited to 8 bytes" +msgstr "" + #: shared-bindings/aesio/aes.c msgid "Requested AES mode is unsupported" msgstr "" @@ -2412,10 +2416,14 @@ msgstr "" msgid "exceptions must derive from BaseException" msgstr "" -#: shared-bindings/canio/CAN.c shared-bindings/canio/Listener.c +#: shared-bindings/canio/CAN.c msgid "expected '%q' but got '%q'" msgstr "" +#: shared-bindings/canio/CAN.c +msgid "expected '%q' or '%q' but got '%q'" +msgstr "" + #: py/objstr.c msgid "expected ':' after format specifier" msgstr "" @@ -3275,10 +3283,6 @@ msgstr "" msgid "source palette too large" msgstr "" -#: shared-bindings/canio/Message.c -msgid "specify size or data, but not both" -msgstr "" - #: py/objstr.c msgid "start/end indices" msgstr "" diff --git a/ports/atmel-samd/common-hal/canio/CAN.c b/ports/atmel-samd/common-hal/canio/CAN.c index 4f28698fb..76599a9a7 100644 --- a/ports/atmel-samd/common-hal/canio/CAN.c +++ b/ports/atmel-samd/common-hal/canio/CAN.c @@ -275,21 +275,6 @@ int common_hal_canio_can_receive_error_count_get(canio_can_obj_t *self) return self->hw->ECR.bit.REC; } -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) { CAN_PSR_Type psr = self->hw->PSR; if (psr.bit.BO) { @@ -328,16 +313,18 @@ static void maybe_auto_restart(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_send(canio_can_obj_t *self, mp_obj_t message_in) { maybe_auto_restart(self); + canio_message_obj_t *message = message_in;; // We have just one dedicated TX buffer, use it! canio_can_tx_buffer_t *ent = &self->state->tx_buffer[0]; + bool rtr = message->base.type == &canio_remote_transmission_request_type; ent->txb0.bit.ESI = false; ent->txb0.bit.XTD = message->extended; - ent->txb0.bit.RTR = message->rtr; + ent->txb0.bit.RTR = rtr; if (message->extended) { ent->txb0.bit.ID = message->id; } else { @@ -350,7 +337,7 @@ void common_hal_canio_can_send(canio_can_obj_t *self, canio_message_obj_t *messa ent->txb1.bit.BRS = 0; // No bit rate switching ent->txb1.bit.DLC = message->size; - if (!message->rtr) { + if (!rtr) { memcpy(ent->data, message->data, message->size); } @@ -417,17 +404,6 @@ STATIC void can_handler(int i) { Can *hw = can_insts[i]; uint32_t ir = hri_can_read_IR_reg(hw); - /* Count up errors*/ - if (ir & CAN_IE_EWE) { - self->error_warning_state_count += 1; - } - if (ir & CAN_IE_EPE) { - self->error_passive_state_count += 1; - } - if (ir & CAN_IE_BOE) { - self->bus_off_state_count += 1; - } - /* Acknowledge interrupt */ hri_can_write_IR_reg(hw, ir); } diff --git a/ports/atmel-samd/common-hal/canio/Listener.c b/ports/atmel-samd/common-hal/canio/Listener.c index 02cfde9cc..b27c8cd1b 100644 --- a/ports/atmel-samd/common-hal/canio/Listener.c +++ b/ports/atmel-samd/common-hal/canio/Listener.c @@ -32,6 +32,7 @@ #include "common-hal/canio/__init__.h" #include "common-hal/canio/Listener.h" +#include "shared-bindings/canio/Listener.h" #include "shared-bindings/util.h" #include "supervisor/shared/tick.h" #include "component/can.h" @@ -58,8 +59,8 @@ STATIC void static_assertions(void) { MP_STATIC_ASSERT(CAN_XIDFE_0_EFEC_STF0M_Val + 1 == CAN_XIDFE_0_EFEC_STF1M_Val); } -STATIC bool single_address_filter(canio_match_obj_t *match) { - return match->mask == 0 || match->mask == match->address; +STATIC bool single_id_filter(canio_match_obj_t *match) { + return match->mask == 0 || match->mask == match->id; } STATIC bool standard_filter_in_use(CanMramSidfe *filter) { @@ -76,7 +77,7 @@ STATIC size_t num_filters_needed(size_t nmatch, canio_match_obj_t **matches, boo if (extended != matches[i]->extended) { continue; } - if (single_address_filter(matches[i])) { + if (single_id_filter(matches[i])) { num_half_filters_needed += 1; } else { num_half_filters_needed += 2; @@ -191,7 +192,7 @@ STATIC void install_extended_filter(CanMramXidfe *extended, int id1, int id2, in } -#define NO_ADDRESS (-1) +#define NO_ID (-1) void set_filters(canio_listener_obj_t *self, size_t nmatch, canio_match_obj_t **matches) { int fifo = self->fifo_idx; @@ -207,31 +208,31 @@ void set_filters(canio_listener_obj_t *self, size_t nmatch, canio_match_obj_t ** CanMramSidfe *standard = next_standard_filter(self, NULL); CanMramXidfe *extended = next_extended_filter(self, NULL); - int first_address = NO_ADDRESS; + int first_id = NO_ID; - // step 1: single address standard matches + // step 1: single id standard matches // we have to gather up pairs and stuff them in a single filter entry for(size_t i = 0; i<nmatch; i++) { canio_match_obj_t *match = matches[i]; if (match->extended) { continue; } - if (!single_address_filter(match)) { + if (!single_id_filter(match)) { continue; } - if (first_address != NO_ADDRESS) { - install_standard_filter(standard, first_address, match->address, CAN_SIDFE_0_SFEC_STF0M_Val + fifo, CAN_SIDFE_0_SFT_DUAL_Val); - first_address = NO_ADDRESS; + if (first_id != NO_ID) { + install_standard_filter(standard, first_id, match->id, CAN_SIDFE_0_SFEC_STF0M_Val + fifo, CAN_SIDFE_0_SFT_DUAL_Val); + first_id = NO_ID; standard = next_standard_filter(self, standard); } else { - first_address = match->address; + first_id = match->id; } } - // step 1.5. odd single address standard match - if (first_address != NO_ADDRESS) { - install_standard_filter(standard, first_address, first_address, CAN_SIDFE_0_SFEC_STF0M_Val + fifo, CAN_SIDFE_0_SFT_DUAL_Val); + // step 1.5. odd single id standard match + if (first_id != NO_ID) { + install_standard_filter(standard, first_id, first_id, CAN_SIDFE_0_SFEC_STF0M_Val + fifo, CAN_SIDFE_0_SFT_DUAL_Val); standard = next_standard_filter(self, standard); - first_address = NO_ADDRESS; + first_id = NO_ID; } // step 2: standard mask filter @@ -240,36 +241,36 @@ void set_filters(canio_listener_obj_t *self, size_t nmatch, canio_match_obj_t ** if (match->extended) { continue; } - if (single_address_filter(match)) { + if (single_id_filter(match)) { continue; } - install_standard_filter(standard, match->address, match->mask, CAN_SIDFE_0_SFEC_STF0M_Val + fifo, CAN_SIDFE_0_SFT_CLASSIC_Val); + install_standard_filter(standard, match->id, match->mask, CAN_SIDFE_0_SFEC_STF0M_Val + fifo, CAN_SIDFE_0_SFT_CLASSIC_Val); standard = next_standard_filter(self, standard); } - // step 3: single address extended matches + // step 3: single id extended matches // we have to gather up pairs and stuff them in a single filter entry for(size_t i = 0; i<nmatch; i++) { canio_match_obj_t *match = matches[i]; if (!match->extended) { continue; } - if (!single_address_filter(match)) { + if (!single_id_filter(match)) { continue; } - if (first_address != NO_ADDRESS) { - install_extended_filter(extended, first_address, match->address, CAN_XIDFE_0_EFEC_STF0M_Val + fifo, CAN_XIDFE_1_EFT_DUAL_Val); - first_address = NO_ADDRESS; + if (first_id != NO_ID) { + install_extended_filter(extended, first_id, match->id, CAN_XIDFE_0_EFEC_STF0M_Val + fifo, CAN_XIDFE_1_EFT_DUAL_Val); + first_id = NO_ID; extended = next_extended_filter(self, extended); } else { - first_address = match->address; + first_id = match->id; } } - // step 3.5. odd single address standard match - if (first_address != NO_ADDRESS) { - install_extended_filter(extended, first_address, first_address, CAN_XIDFE_0_EFEC_STF0M_Val + fifo, CAN_XIDFE_1_EFT_DUAL_Val); + // step 3.5. odd single id standard match + if (first_id != NO_ID) { + install_extended_filter(extended, first_id, first_id, CAN_XIDFE_0_EFEC_STF0M_Val + fifo, CAN_XIDFE_1_EFT_DUAL_Val); extended = next_extended_filter(self, extended); - first_address = NO_ADDRESS; + first_id = NO_ID; } // step 4: extended mask filters @@ -278,10 +279,10 @@ void set_filters(canio_listener_obj_t *self, size_t nmatch, canio_match_obj_t ** if (!match->extended) { continue; } - if (single_address_filter(match)) { + if (single_id_filter(match)) { continue; } - install_extended_filter(extended, match->address, match->mask, CAN_XIDFE_0_EFEC_STF0M_Val + fifo, CAN_XIDFE_1_EFT_CLASSIC_Val); + install_extended_filter(extended, match->id, match->mask, CAN_XIDFE_0_EFEC_STF0M_Val + fifo, CAN_XIDFE_1_EFT_CLASSIC_Val); extended = next_extended_filter(self, extended); } @@ -348,30 +349,32 @@ 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) { +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 false; + return NULL; } } while (!common_hal_canio_listener_in_waiting(self)); } int index = self->hw->RXFS.bit.F0GI; canio_can_rx_fifo_t *hw_message = &self->fifo[index]; + bool rtr = hw_message->rxf0.bit.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 = hw_message->rxf0.bit.XTD; if (message->extended) { message->id = hw_message->rxf0.bit.ID; } else { - message->id = hw_message->rxf0.bit.ID >> 18; // short addresses are left-justified + message->id = hw_message->rxf0.bit.ID >> 18; // short ids are left-justified } - message->rtr = hw_message->rxf0.bit.RTR; message->size = hw_message->rxf1.bit.DLC; - if (!message->rtr) { + if (!rtr) { memcpy(message->data, hw_message->data, message->size); } self->hw->RXFA.bit.F0AI = index; - return true; + return message; } void common_hal_canio_listener_deinit(canio_listener_obj_t *self) { diff --git a/ports/atmel-samd/common-hal/canio/Listener.h b/ports/atmel-samd/common-hal/canio/Listener.h index 1b81d82aa..237dca870 100644 --- a/ports/atmel-samd/common-hal/canio/Listener.h +++ b/ports/atmel-samd/common-hal/canio/Listener.h @@ -35,7 +35,7 @@ typedef struct { __IO CAN_RXF0A_Type RXFA; /**< \brief (R/W 32) Rx FIFO n Acknowledge */ } canio_rxfifo_reg_t; -typedef struct { +typedef struct canio_listener_obj { mp_obj_base_t base; canio_can_obj_t *can; canio_can_rx_fifo_t *fifo; @@ -43,11 +43,3 @@ typedef struct { 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/py/circuitpy_defns.mk b/py/circuitpy_defns.mk index 98fa7a5f2..76c0a4db6 100644 --- a/py/circuitpy_defns.mk +++ b/py/circuitpy_defns.mk @@ -411,6 +411,7 @@ SRC_SHARED_MODULE_ALL = \ _bleio/ScanResults.c \ canio/Match.c \ canio/Message.c \ + canio/RemoteTransmissionRequest.c \ _eve/__init__.c \ _pixelbuf/PixelBuf.c \ _pixelbuf/__init__.c \ diff --git a/shared-bindings/canio/CAN.c b/shared-bindings/canio/CAN.c index ff27bb204..6dae36943 100644 --- a/shared-bindings/canio/CAN.c +++ b/shared-bindings/canio/CAN.c @@ -171,59 +171,8 @@ STATIC const mp_obj_property_t canio_can_receive_error_count_obj = { (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}, -}; - //| state: State -//| """The current state of the bus.""" +//| """The current state of the bus. (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); @@ -252,7 +201,7 @@ STATIC mp_obj_t canio_can_restart(mp_obj_t self_in) { } STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_can_restart_obj, canio_can_restart); -//| def listen(self, match: Optional[Sequence[Match]]=None, *, timeout: float=10) -> Listener: +//| def listen(self, matches: Optional[Sequence[Match]]=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. @@ -265,16 +214,16 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_can_restart_obj, canio_can_restart); //| //| An empty filter list causes all messages to be accepted. //| -//| Timeout dictates how long readinto, read and next() will block.""" +//| Timeout dictates how long receive() and next() will block.""" //| ... //| 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 }; + enum { ARG_matches, ARG_timeout, NUM_ARGS }; static const mp_arg_t allowed_args[] = { - { MP_QSTR_match, MP_ARG_OBJ, {.u_obj = 0} }, + { MP_QSTR_matches, 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)]; @@ -285,8 +234,8 @@ STATIC mp_obj_t canio_can_listen(size_t n_args, const mp_obj_t *pos_args, mp_map 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); + if (args[ARG_matches].u_obj) { + mp_obj_get_array(args[ARG_matches].u_obj, &nmatch, &match_objects); } canio_match_obj_t *matches[nmatch]; @@ -307,7 +256,8 @@ STATIC mp_obj_t canio_can_listen(size_t n_args, const mp_obj_t *pos_args, mp_map MP_DEFINE_CONST_FUN_OBJ_KW(canio_can_listen_obj, 1, canio_can_listen); //| loopback: bool -//| """True if the device was created in loopback mode, False otherwise""" +//| """True if the device was created in loopback mode, False +//| otherwise (read-only)""" //| STATIC mp_obj_t canio_can_loopback_get(mp_obj_t self_in) { canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); @@ -324,7 +274,7 @@ STATIC const mp_obj_property_t canio_can_loopback_obj = { }; -//| def send(message: Message) -> None: +//| def send(message: Union[RemoteTransmissionRequest, 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. //| """ @@ -334,8 +284,8 @@ 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); + if (message_type != &canio_message_type && message_type != &canio_remote_transmission_request_type) { + mp_raise_TypeError_varg(translate("expected '%q' or '%q' but got '%q'"), MP_QSTR_Message, MP_QSTR_RemoteTransmissionRequest, message_type->name); } canio_message_obj_t *message = message_in; @@ -345,7 +295,8 @@ STATIC mp_obj_t canio_can_send(mp_obj_t self_in, mp_obj_t message_in) { MP_DEFINE_CONST_FUN_OBJ_2(canio_can_send_obj, canio_can_send); //| silent: bool -//| """True if the device was created in silent mode, False otherwise""" +//| """True if the device was created in silent mode, False +//| otherwise (read-only)""" //| STATIC mp_obj_t canio_can_silent_get(mp_obj_t self_in) { canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); @@ -399,10 +350,7 @@ STATIC const mp_rom_map_elem_t canio_can_locals_dict_table[] = { { MP_ROM_QSTR(MP_QSTR___exit__), MP_ROM_PTR(&canio_can_exit_obj) }, { MP_ROM_QSTR(MP_QSTR_auto_restart), MP_ROM_PTR(&canio_can_auto_restart_obj) }, { MP_ROM_QSTR(MP_QSTR_baudrate), MP_ROM_PTR(&canio_can_baudrate_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_loopback), MP_ROM_PTR(&canio_can_loopback_obj) }, { MP_ROM_QSTR(MP_QSTR_receive_error_count), MP_ROM_PTR(&canio_can_receive_error_count_obj) }, diff --git a/shared-bindings/canio/CAN.h b/shared-bindings/canio/CAN.h index 66c972c28..968b71f14 100644 --- a/shared-bindings/canio/CAN.h +++ b/shared-bindings/canio/CAN.h @@ -28,6 +28,7 @@ #include "py/obj.h" #include "shared-bindings/microcontroller/Pin.h" +#include "shared-bindings/canio/__init__.h" #include "shared-bindings/canio/Message.h" extern const mp_obj_type_t canio_can_type; @@ -38,9 +39,6 @@ void common_hal_canio_can_construct(canio_can_obj_t *self, mcu_pin_obj_t *tx, mc bool common_hal_canio_can_auto_restart_get(canio_can_obj_t *self); bool common_hal_canio_can_deinited(canio_can_obj_t *self); int common_hal_canio_can_baudrate_get(canio_can_obj_t *self); -int common_hal_canio_can_bus_off_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_error_warning_state_count_get(canio_can_obj_t *self); bool common_hal_canio_can_loopback_get(canio_can_obj_t *self); int common_hal_canio_can_receive_error_count_get(canio_can_obj_t *self); canio_bus_state_t common_hal_canio_can_state_get(canio_can_obj_t *self); @@ -50,5 +48,5 @@ void common_hal_canio_can_auto_restart_set(canio_can_obj_t *self, bool auto_rest void common_hal_canio_can_check_for_deinit(canio_can_obj_t *self); void common_hal_canio_can_deinit(canio_can_obj_t *self); void common_hal_canio_can_restart(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_send(canio_can_obj_t *self, mp_obj_t message); void common_hal_canio_reset(void); diff --git a/shared-bindings/canio/Listener.c b/shared-bindings/canio/Listener.c index 1f4176f0c..93552af81 100644 --- a/shared-bindings/canio/Listener.c +++ b/shared-bindings/canio/Listener.c @@ -34,51 +34,39 @@ //| class Listener: //| """Listens for CAN message //| -//| canio.Listener is not constructed directly, but instead by calling the -//| Listen method of a canio.CAN object.""" +//| `canio.Listener` is not constructed directly, but instead by calling +//| `canio.CAN.listen`. +//| +//| In addition to using the `receive` method to retrieve a message or +//| the `in_waiting` method to check for an available message, a +//| listener can be used as an iterable, yielding messages until no +//| message arrives within ``self.timeout`` seconds.""" //| -//| def read(self) -> Optional[Message]: -//| """Reads a message, after waiting up to self.timeout seconds +//| def receive(self) -> Optional[Union[RemoteTransmissionRequest,Message]]: +//| """Reads a message, after waiting up to ``self.timeout`` seconds //| -//| If no message is received in time, None is returned. Otherwise, -//| a Message is returned.""" +//| If no message is received in time, `None` is returned. Otherwise, +//| a `Message` or `RemoteTransmissionRequest` is returned.""" //| ... //| -STATIC mp_obj_t canio_listener_read(mp_obj_t self_in) { +STATIC mp_obj_t canio_listener_receive(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); - message->base.type = &canio_message_type; + mp_obj_t message = common_hal_canio_listener_receive(self); + // note: receive fills out the type field of the message - if (common_hal_canio_listener_readinto(self, message)) { + if (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 True (and modifies message) if a message was received -//| before ``timeout`` seconds elapsed, 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); +STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_receive_obj, canio_listener_receive); //| def in_waiting(self) -> int: -//| """Returns the number of messages waiting""" +//| """Returns the number of messages (including remote +//| transmission requests) waiting""" //| ... //| STATIC mp_obj_t canio_listener_in_waiting(mp_obj_t self_in) { @@ -88,19 +76,25 @@ STATIC mp_obj_t canio_listener_in_waiting(mp_obj_t self_in) { } 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""" +//| def __iter__(self) -> Listener: +//| """Returns self +//| +//| This method exists so that `Listener` can be used as an +//| iterable""" //| ... //| -//| def __next__(self): +//| def __next__(self) -> Union[RemoteTransmissionRequest,Message]: //| """Reads a message, after waiting up to self.timeout seconds //| //| If no message is received in time, raises StopIteration. Otherwise, -//| a Message is returned.""" +//| a Message or is returned. +//| +//| This method enables the `Listener` to be used as an +//| iterable, for instance in a for-loop.""" //| ... //| STATIC mp_obj_t canio_iternext(mp_obj_t self_in) { - mp_obj_t result = canio_listener_read(self_in); + mp_obj_t result = canio_listener_receive(self_in); if (result == mp_const_none) { return MP_OBJ_STOP_ITERATION; } @@ -170,8 +164,7 @@ STATIC const mp_rom_map_elem_t canio_listener_locals_dict_table[] = { { MP_ROM_QSTR(MP_QSTR___exit__), MP_ROM_PTR(&canio_listener_exit_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_receive), MP_ROM_PTR(&canio_listener_receive_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); diff --git a/shared-bindings/canio/Listener.h b/shared-bindings/canio/Listener.h index eaa3490df..527ffe4cb 100644 --- a/shared-bindings/canio/Listener.h +++ b/shared-bindings/canio/Listener.h @@ -27,5 +27,17 @@ #pragma once #include "py/obj.h" +#include "shared-bindings/canio/CAN.h" +#include "shared-bindings/canio/Match.h" extern const mp_obj_type_t canio_listener_type; + +typedef struct canio_listener_obj 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); +mp_obj_t common_hal_canio_listener_receive(canio_listener_obj_t *self); +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/shared-bindings/canio/Match.c b/shared-bindings/canio/Match.c index ff5d028fa..3fbc1773e 100644 --- a/shared-bindings/canio/Match.c +++ b/shared-bindings/canio/Match.c @@ -33,20 +33,20 @@ //| """Describe CAN bus messages to match""" //| //| -//| def __init__(self, address: int, *, mask: int = 0, extended: bool = False): +//| def __init__(self, id: int, *, mask: Optional[int] = None, 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.""" +//| If mask is not None, then the filter is for any id which matches all +//| the nonzero bits in mask. Otherwise, it matches exactly the given id. +//| If extended is true then only extended ids are matched, otherwise +//| only standard ids 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 }; + enum { ARG_id, ARG_mask, ARG_extended, NUM_ARGS }; static const mp_arg_t allowed_args[] = { - { MP_QSTR_address, MP_ARG_INT | MP_ARG_REQUIRED }, - { MP_QSTR_mask, MP_ARG_INT, {.u_int = 0} }, + { MP_QSTR_id, MP_ARG_INT | MP_ARG_REQUIRED }, + { MP_QSTR_mask, MP_ARG_OBJ, {.u_obj = mp_const_none } }, { MP_QSTR_extended, MP_ARG_BOOL, {.u_bool = false} }, }; mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; @@ -54,44 +54,44 @@ STATIC mp_obj_t canio_match_make_new(const mp_obj_type_t *type, size_t n_args, c 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; + int id_bits = args[ARG_extended].u_bool ? 0x1fffffff : 0x7ff; + int id = args[ARG_id].u_int; + int mask = args[ARG_mask].u_obj == mp_const_none ? id_bits : mp_obj_get_int(args[ARG_mask].u_obj); - if (address & ~address_bits) { - mp_raise_ValueError_varg(translate("%q out of range"), MP_QSTR_address); + if (id & ~id_bits) { + mp_raise_ValueError_varg(translate("%q out of range"), MP_QSTR_id); } - if (mask & ~address_bits) { + if (mask & ~id_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); + common_hal_canio_match_construct(self, id, mask, args[ARG_extended].u_bool); return self; } -//| address: int -//| """The address to match""" +//| id: int +//| """The id to match""" //| -STATIC mp_obj_t canio_match_address_get(mp_obj_t self_in) { +STATIC mp_obj_t canio_match_id_get(mp_obj_t self_in) { canio_match_obj_t *self = self_in; - return MP_OBJ_NEW_SMALL_INT(common_hal_canio_match_get_address(self)); + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_match_get_id(self)); } -MP_DEFINE_CONST_FUN_OBJ_1(canio_match_address_get_obj, canio_match_address_get); +MP_DEFINE_CONST_FUN_OBJ_1(canio_match_id_get_obj, canio_match_id_get); -const mp_obj_property_t canio_match_address_obj = { +const mp_obj_property_t canio_match_id_obj = { .base.type = &mp_type_property, - .proxy = {(mp_obj_t)&canio_match_address_get_obj, + .proxy = {(mp_obj_t)&canio_match_id_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""" +//| """The optional mask of ids to match""" //| STATIC mp_obj_t canio_match_mask_get(mp_obj_t self_in) { @@ -108,7 +108,7 @@ const mp_obj_property_t canio_match_mask_obj = { }; //| extended: bool -//| """True to match extended addresses, False to match standard addresses""" +//| """True to match extended ids, False to match standard ides""" //| STATIC mp_obj_t canio_match_extended_get(mp_obj_t self_in) { @@ -125,7 +125,7 @@ const mp_obj_property_t canio_match_extended_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_id), MP_ROM_PTR(&canio_match_id_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) }, }; diff --git a/shared-bindings/canio/Match.h b/shared-bindings/canio/Match.h index 88996d730..01a75fd1c 100644 --- a/shared-bindings/canio/Match.h +++ b/shared-bindings/canio/Match.h @@ -31,7 +31,7 @@ extern const mp_obj_type_t canio_match_type; -void common_hal_canio_match_construct(canio_match_obj_t *self, int address, int mask, bool extended); -int common_hal_canio_match_get_address(const canio_match_obj_t *self); +void common_hal_canio_match_construct(canio_match_obj_t *self, int id, int mask, bool extended); +int common_hal_canio_match_get_id(const canio_match_obj_t *self); int common_hal_canio_match_get_mask(const canio_match_obj_t *self); bool common_hal_canio_match_get_extended(const canio_match_obj_t *self); diff --git a/shared-bindings/canio/Message.c b/shared-bindings/canio/Message.c index 23645d2e5..e47e997c7 100644 --- a/shared-bindings/canio/Message.c +++ b/shared-bindings/canio/Message.c @@ -31,28 +31,22 @@ #include "py/runtime.h" //| class Message: -//| def __init__(self, id: int=0, data: Optional[bytes] = None, *, size: Optional[int] = None, rtr: bool = False, extended: bool = False): -//| """Construct a Message to use with a CAN bus. Provide arguments to create a message to send. Otherwise, use Listener.readinto() to read a message. +//| def __init__(self, id: int, data: bytes, *, extended: bool = False): +//| """Construct a Message to send on a CAN bus. //| //| :param int id: The numeric ID of the message //| :param bytes data: The content of the message -//| :param int size: The amount of data requested, for an rtr -//| :param bool rtr: True if the message represents an rtr (Remote Transmission Request) //| :param bool extended: True if the message has an extended identifier, False if it has a standard identifier //| -//| In CAN, messages can have a size from 0 to 8 bytes. -//| -//| For a non-rtr message, specify ``data``. For an rtr-message, specify either ``data`` (a dummy buffer of the requested size) or ``size``. +//| In CAN, messages can have a length from 0 to 8 bytes. //| """ //| ... //| 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, ARG_extended, NUM_ARGS }; + enum { ARG_id, ARG_data, ARG_extended, NUM_ARGS }; static const mp_arg_t allowed_args[] = { - { MP_QSTR_id, MP_ARG_INT, {.u_obj = 0} }, - { MP_QSTR_data, MP_ARG_OBJ, {.u_obj = 0} }, - { MP_QSTR_size, MP_ARG_INT, {.u_int = -1} }, - { MP_QSTR_rtr, MP_ARG_BOOL, {.u_bool = false} }, + { MP_QSTR_id, MP_ARG_INT | MP_ARG_REQUIRED }, + { MP_QSTR_data, MP_ARG_OBJ | MP_ARG_REQUIRED }, { MP_QSTR_extended, MP_ARG_BOOL, {.u_bool = false} }, }; mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; @@ -60,26 +54,8 @@ STATIC mp_obj_t canio_message_make_new(const mp_obj_type_t *type, size_t n_args, mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); - bool rtr = args[ARG_rtr].u_bool; - bool extended = args[ARG_extended].u_bool; - size_t size = (size_t)args[ARG_size].u_int; - bool specified_size = (size != (size_t)-1); - bool specified_data = (args[ARG_data].u_obj != NULL); - - 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; - } + mp_get_buffer_raise(args[ARG_data].u_obj, &data, MP_BUFFER_READ); if (data.len > 8) { mp_raise_ValueError(translate("Messages limited to 8 bytes")); @@ -87,7 +63,7 @@ STATIC mp_obj_t canio_message_make_new(const mp_obj_type_t *type, size_t n_args, canio_message_obj_t *self = m_new_obj(canio_message_obj_t); self->base.type = &canio_message_type; - common_hal_canio_message_construct(self, args[ARG_id].u_int, data.buf, data.len, rtr, extended); + common_hal_canio_message_construct(self, args[ARG_id].u_int, data.buf, data.len, args[ARG_extended].u_bool); return self; } @@ -115,13 +91,11 @@ STATIC const mp_obj_property_t canio_message_id_obj = { }; //| data: bytes -//| """The content of the message, or dummy content in the case of an rtr. -//| -//| Assigning to data also sets the length and clears the rtr flag.""" +//| """The content of the message""" //| 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_get_data(self), common_hal_canio_message_get_size(self)); + return mp_obj_new_bytes((const byte*)common_hal_canio_message_get_data(self), common_hal_canio_message_get_length(self)); } MP_DEFINE_CONST_FUN_OBJ_1(canio_message_data_get_obj, canio_message_data_get); @@ -147,7 +121,7 @@ STATIC const mp_obj_property_t canio_message_data_obj = { //| extended: bool -//| """True if the message represents a remote transmission request (RTR)""" +//| """True if the message's id is an extended id""" //| STATIC mp_obj_t canio_message_extended_get(const mp_obj_t self_in) { canio_message_obj_t *self = self_in; @@ -170,36 +144,9 @@ STATIC const mp_obj_property_t canio_message_extended_obj = { (mp_obj_t)&mp_const_none_obj}, }; - -//| rtr: bool -//| """True if the message represents a remote transmission request (RTR). Setting rtr to true zeros out data""" -//| -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_get_rtr(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_set_rtr(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_rtr), MP_ROM_PTR(&canio_message_rtr_obj) }, { MP_ROM_QSTR(MP_QSTR_extended), MP_ROM_PTR(&canio_message_extended_obj) }, }; STATIC MP_DEFINE_CONST_DICT(canio_message_locals_dict, canio_message_locals_dict_table); diff --git a/shared-bindings/canio/Message.h b/shared-bindings/canio/Message.h index 34b632e84..b76535939 100644 --- a/shared-bindings/canio/Message.h +++ b/shared-bindings/canio/Message.h @@ -30,15 +30,13 @@ #include "shared-module/canio/Message.h" extern const mp_obj_type_t canio_message_type; +extern const mp_obj_type_t canio_remote_transmission_request_type; -void common_hal_canio_message_construct(canio_message_obj_t *self, int id, void *data, size_t size, bool rtr, bool extended); +void common_hal_canio_message_construct(canio_message_obj_t *self, int id, void *data, size_t size, bool extended); const void *common_hal_canio_message_get_data(const canio_message_obj_t *self); void common_hal_canio_message_set_data(canio_message_obj_t *self, const void *data, size_t size); bool common_hal_canio_message_get_extended(const canio_message_obj_t *self); void common_hal_canio_message_set_extended(canio_message_obj_t *self, bool extended); int common_hal_canio_message_get_id(const canio_message_obj_t *self); void common_hal_canio_message_set_id(canio_message_obj_t *self, int id); -bool common_hal_canio_message_get_rtr(const canio_message_obj_t *self); -void common_hal_canio_message_set_rtr(canio_message_obj_t *self, bool rtr); -size_t common_hal_canio_message_get_size(const canio_message_obj_t *self); -void common_hal_canio_message_set_size(canio_message_obj_t *self, size_t size); +size_t common_hal_canio_message_get_length(const canio_message_obj_t *self); diff --git a/shared-bindings/canio/RemoteTransmissionRequest.c b/shared-bindings/canio/RemoteTransmissionRequest.c new file mode 100644 index 000000000..d762787b1 --- /dev/null +++ b/shared-bindings/canio/RemoteTransmissionRequest.c @@ -0,0 +1,156 @@ +/* + * 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/RemoteTransmissionRequest.h" + +#include "py/obj.h" +#include "py/objproperty.h" +#include "py/runtime.h" + +//| class RemoteTransmissionRequest: +//| def __init__(self, id: int, length: int, *, extended: bool = False): +//| """Construct a RemoteTransmissionRequest to send on a CAN bus. +//| +//| :param int id: The numeric ID of the requested message +//| :param int length: The length of the requested message +//| :param bool extended: True if the message has an extended identifier, False if it has a standard identifier +//| +//| In CAN, messages can have a length from 0 to 8 bytes. +//| """ +//| ... +//| +STATIC mp_obj_t canio_remote_transmission_request_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_length, ARG_extended, NUM_ARGS }; + static const mp_arg_t allowed_args[] = { + { MP_QSTR_id, MP_ARG_INT | MP_ARG_REQUIRED }, + { MP_QSTR_length, MP_ARG_INT | MP_ARG_REQUIRED }, + { 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 length = args[ARG_length].u_int; + if (length < 0 || length > 8) { + mp_raise_ValueError(translate("RemoteTransmissionRequests limited to 8 bytes")); + } + + canio_remote_transmission_request_obj_t *self = m_new_obj(canio_remote_transmission_request_obj_t); + self->base.type = &canio_remote_transmission_request_type; + common_hal_canio_remote_transmission_request_construct(self, args[ARG_id].u_int, length, args[ARG_extended].u_bool); + return self; +} + + +//| id: int +//| """The numeric ID of the message""" +//| +STATIC mp_obj_t canio_remote_transmission_request_id_get(const mp_obj_t self_in) { + canio_remote_transmission_request_obj_t *self = self_in; + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_remote_transmission_request_get_id(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_remote_transmission_request_id_get_obj, canio_remote_transmission_request_id_get); + +STATIC mp_obj_t canio_remote_transmission_request_id_set(const mp_obj_t self_in, const mp_obj_t id) { + canio_remote_transmission_request_obj_t *self = self_in; + common_hal_canio_remote_transmission_request_set_id(self, mp_obj_get_int(id)); + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_2(canio_remote_transmission_request_id_set_obj, canio_remote_transmission_request_id_set); + +STATIC const mp_obj_property_t canio_remote_transmission_request_id_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_remote_transmission_request_id_get_obj, + (mp_obj_t)&canio_remote_transmission_request_id_set_obj, + (mp_obj_t)&mp_const_none_obj}, +}; + +//| extended: bool +//| """True if the message's id is an extended id""" +//| +STATIC mp_obj_t canio_remote_transmission_request_extended_get(const mp_obj_t self_in) { + canio_remote_transmission_request_obj_t *self = self_in; + return mp_obj_new_bool(common_hal_canio_remote_transmission_request_get_extended(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_remote_transmission_request_extended_get_obj, canio_remote_transmission_request_extended_get); + +STATIC mp_obj_t canio_remote_transmission_request_extended_set(const mp_obj_t self_in, const mp_obj_t extended) { + canio_remote_transmission_request_obj_t *self = self_in; + common_hal_canio_remote_transmission_request_set_extended(self, mp_obj_is_true(extended)); + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_2(canio_remote_transmission_request_extended_set_obj, canio_remote_transmission_request_extended_set); + + +STATIC const mp_obj_property_t canio_remote_transmission_request_extended_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_remote_transmission_request_extended_get_obj, + (mp_obj_t)&canio_remote_transmission_request_extended_set_obj, + (mp_obj_t)&mp_const_none_obj}, +}; + +//| length: int +//| """The length of the requested message.""" +//| +STATIC mp_obj_t canio_remote_transmission_request_length_get(const mp_obj_t self_in) { + canio_remote_transmission_request_obj_t *self = self_in; + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_remote_transmission_request_get_length(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_remote_transmission_request_length_get_obj, canio_remote_transmission_request_length_get); + +STATIC mp_obj_t canio_remote_transmission_request_length_set(const mp_obj_t self_in, const mp_obj_t length_in) { + canio_remote_transmission_request_obj_t *self = self_in; + int length = mp_obj_get_int(length_in); + if (length < 0 || length > 8) { + mp_raise_ValueError(translate("RemoteTransmissionRequests limited to 8 bytes")); + } + common_hal_canio_remote_transmission_request_set_length(self, length); + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_2(canio_remote_transmission_request_length_set_obj, canio_remote_transmission_request_length_set); + + +STATIC const mp_obj_property_t canio_remote_transmission_request_length_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_remote_transmission_request_length_get_obj, + (mp_obj_t)&canio_remote_transmission_request_length_set_obj, + (mp_obj_t)&mp_const_none_obj}, +}; + +STATIC const mp_rom_map_elem_t canio_remote_transmission_request_locals_dict_table[] = { + { MP_ROM_QSTR(MP_QSTR_id), MP_ROM_PTR(&canio_remote_transmission_request_id_obj) }, + { MP_ROM_QSTR(MP_QSTR_length), MP_ROM_PTR(&canio_remote_transmission_request_length_obj) }, + { MP_ROM_QSTR(MP_QSTR_extended), MP_ROM_PTR(&canio_remote_transmission_request_extended_obj) }, +}; +STATIC MP_DEFINE_CONST_DICT(canio_remote_transmission_request_locals_dict, canio_remote_transmission_request_locals_dict_table); + +const mp_obj_type_t canio_remote_transmission_request_type = { + { &mp_type_type }, + .name = MP_QSTR_RemoteTransmissionRequest, + .make_new = canio_remote_transmission_request_make_new, + .locals_dict = (mp_obj_t)&canio_remote_transmission_request_locals_dict, +}; diff --git a/shared-bindings/canio/RemoteTransmissionRequest.h b/shared-bindings/canio/RemoteTransmissionRequest.h new file mode 100644 index 000000000..8956587b3 --- /dev/null +++ b/shared-bindings/canio/RemoteTransmissionRequest.h @@ -0,0 +1,42 @@ +/* + * 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-module/canio/RemoteTransmissionRequest.h" + +extern const mp_obj_type_t canio_remote_transmission_request_type; + +void common_hal_canio_remote_transmission_request_construct(canio_remote_transmission_request_obj_t *self, int id, size_t size, bool extended); +const void *common_hal_canio_remote_transmission_request_get_data(const canio_remote_transmission_request_obj_t *self); +void common_hal_canio_remote_transmission_request_set_data(canio_remote_transmission_request_obj_t *self, const void *data, size_t size); +bool common_hal_canio_remote_transmission_request_get_extended(const canio_remote_transmission_request_obj_t *self); +void common_hal_canio_remote_transmission_request_set_extended(canio_remote_transmission_request_obj_t *self, bool extended); +int common_hal_canio_remote_transmission_request_get_id(const canio_remote_transmission_request_obj_t *self); +void common_hal_canio_remote_transmission_request_set_id(canio_remote_transmission_request_obj_t *self, int id); +size_t common_hal_canio_remote_transmission_request_get_length(const canio_remote_transmission_request_obj_t *self); +void common_hal_canio_remote_transmission_request_set_length(canio_remote_transmission_request_obj_t *self, size_t length); diff --git a/shared-bindings/canio/__init__.c b/shared-bindings/canio/__init__.c index b0b982c95..f29d3ab8a 100644 --- a/shared-bindings/canio/__init__.c +++ b/shared-bindings/canio/__init__.c @@ -40,8 +40,8 @@ //| from board import * //| //| can = canio.CAN(board.CAN_RX, board.CAN_TX, baudrate=1000000) -//| message = canio.Message(id=0x0408, data="adafruit" -//| can.write(message)) +//| message = canio.Message(id=0x0408, data=b"adafruit") +//| can.send(message) //| can.deinit() //| //| This example will write the data 'adafruit' onto the CAN bus to any @@ -113,6 +113,7 @@ STATIC const mp_rom_map_elem_t canio_module_globals_table[] = { { MP_ROM_QSTR(MP_QSTR_Listener), MP_ROM_PTR(&canio_listener_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) }, + { MP_ROM_QSTR(MP_QSTR_RemoteTransmissionRequest), MP_ROM_PTR(&canio_remote_transmission_request_type) }, { MP_ROM_QSTR(MP_QSTR___name__), MP_ROM_QSTR(MP_QSTR__canio) }, }; diff --git a/shared-module/canio/Match.c b/shared-module/canio/Match.c index 9e33b956f..b4e8616e9 100644 --- a/shared-module/canio/Match.c +++ b/shared-module/canio/Match.c @@ -26,14 +26,14 @@ #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; +void common_hal_canio_match_construct(canio_match_obj_t *self, int id, int mask, bool extended) { + self->id = id; self->mask = mask; self->extended = extended; } -int common_hal_canio_match_get_address(const canio_match_obj_t *self) { - return self->address; +int common_hal_canio_match_get_id(const canio_match_obj_t *self) { + return self->id; } int common_hal_canio_match_get_mask(const canio_match_obj_t *self) { return self->mask; diff --git a/shared-module/canio/Match.h b/shared-module/canio/Match.h index 25f047f37..b52191d7c 100644 --- a/shared-module/canio/Match.h +++ b/shared-module/canio/Match.h @@ -30,7 +30,7 @@ typedef struct { mp_obj_base_t base; - int address; + int id; int mask; bool extended; } canio_match_obj_t; diff --git a/shared-module/canio/Message.c b/shared-module/canio/Message.c index b8ebb7859..a1df4f693 100644 --- a/shared-module/canio/Message.c +++ b/shared-module/canio/Message.c @@ -28,16 +28,13 @@ #include <string.h> -void common_hal_canio_message_construct(canio_message_obj_t *self, int id, void *data, size_t size, bool rtr, bool extended) +void common_hal_canio_message_construct(canio_message_obj_t *self, int id, void *data, size_t size, bool extended) { self->id = id; self->size = size; - self->rtr = rtr; self->extended = extended; if (data) { memcpy(self->data, data, size); - } else { - memset(self->data, 0, size); } } @@ -59,37 +56,16 @@ const void *common_hal_canio_message_get_data(const canio_message_obj_t *self) const void common_hal_canio_message_set_data(canio_message_obj_t *self, const void *data, size_t size) { - self->rtr = false; self->size = size; memcpy(self->data, data, size); } -size_t common_hal_canio_message_get_size(const canio_message_obj_t *self) +size_t common_hal_canio_message_get_length(const canio_message_obj_t *self) { return self->size; } -void common_hal_canio_message_set_size(canio_message_obj_t *self, size_t size) -{ - memset(self->data, 0, size); - self->size = size; -} - - -bool common_hal_canio_message_get_rtr(const canio_message_obj_t *self) -{ - return self->rtr; -} - -void common_hal_canio_message_set_rtr(canio_message_obj_t *self, bool rtr) -{ - self->rtr = rtr; - if (rtr) { - memset(self->data, 0, self->size); - } -} - bool common_hal_canio_message_get_extended(const canio_message_obj_t *self) { return self->extended; diff --git a/shared-module/canio/Message.h b/shared-module/canio/Message.h index b99c5c48e..1ca0d42e2 100644 --- a/shared-module/canio/Message.h +++ b/shared-module/canio/Message.h @@ -33,6 +33,5 @@ typedef struct { int id; uint8_t data[8]; size_t size:4; - bool rtr:1; bool extended:1; } canio_message_obj_t; diff --git a/shared-module/canio/RemoteTransmissionRequest.c b/shared-module/canio/RemoteTransmissionRequest.c new file mode 100644 index 000000000..9b4d5632f --- /dev/null +++ b/shared-module/canio/RemoteTransmissionRequest.c @@ -0,0 +1,67 @@ +/* + * 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/RemoteTransmissionRequest.h" +#include "shared-bindings/canio/RemoteTransmissionRequest.h" + +#include <string.h> + +void common_hal_canio_remote_transmission_request_construct(canio_remote_transmission_request_obj_t *self, int id, size_t size, bool extended) +{ + self->id = id; + self->size = size; + self->extended = extended; +} + +int common_hal_canio_remote_transmission_request_get_id(const canio_remote_transmission_request_obj_t *self) +{ + return self->id; +} + +void common_hal_canio_remote_transmission_request_set_id(canio_remote_transmission_request_obj_t *self, int id) +{ + self->id = id; +} + +size_t common_hal_canio_remote_transmission_request_get_length(const canio_remote_transmission_request_obj_t *self) +{ + return self->size; +} + +void common_hal_canio_remote_transmission_request_set_length(canio_remote_transmission_request_obj_t *self, size_t size) +{ + self->size = size; +} + +bool common_hal_canio_remote_transmission_request_get_extended(const canio_remote_transmission_request_obj_t *self) +{ + return self->extended; +} + +void common_hal_canio_remote_transmission_request_set_extended(canio_remote_transmission_request_obj_t *self, bool extended) +{ + self->extended = extended; +} diff --git a/shared-module/canio/RemoteTransmissionRequest.h b/shared-module/canio/RemoteTransmissionRequest.h new file mode 100644 index 000000000..2f09b19c6 --- /dev/null +++ b/shared-module/canio/RemoteTransmissionRequest.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" + +#include "shared-bindings/canio/Message.h" + +typedef canio_message_obj_t canio_remote_transmission_request_obj_t; |