diff options
| -rw-r--r-- | locale/circuitpython.pot | 32 | ||||
| -rw-r--r-- | ports/esp32s2/boards/espressif_kaluga_1/mpconfigboard.mk | 2 | ||||
| -rw-r--r-- | ports/esp32s2/common-hal/canio/CAN.c | 295 | ||||
| -rw-r--r-- | ports/esp32s2/common-hal/canio/CAN.h | 49 | ||||
| -rw-r--r-- | ports/esp32s2/common-hal/canio/Listener.c | 182 | ||||
| -rw-r--r-- | ports/esp32s2/common-hal/canio/Listener.h | 40 | ||||
| -rw-r--r-- | ports/esp32s2/common-hal/canio/__init__.c | 25 | ||||
| -rw-r--r-- | ports/esp32s2/common-hal/canio/__init__.h | 27 | ||||
| -rw-r--r-- | ports/esp32s2/mpconfigport.mk | 1 | ||||
| -rw-r--r-- | shared-bindings/canio/CAN.c | 19 |
10 files changed, 667 insertions, 5 deletions
diff --git a/locale/circuitpython.pot b/locale/circuitpython.pot index aa0f52c96..16c3dd973 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: 2020-10-16 19:50-0500\n" +"POT-Creation-Date: 2020-10-21 20:13-0500\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" @@ -288,11 +288,16 @@ msgstr "" msgid "Address type out of range" msgstr "" +#: ports/esp32s2/common-hal/canio/CAN.c +msgid "All CAN peripherals are in use" +msgstr "" + #: ports/esp32s2/common-hal/busio/I2C.c ports/nrf/common-hal/busio/I2C.c msgid "All I2C peripherals are in use" msgstr "" #: ports/atmel-samd/common-hal/canio/Listener.c +#: ports/esp32s2/common-hal/canio/Listener.c #: ports/stm/common-hal/canio/Listener.c msgid "All RX FIFOs in use" msgstr "" @@ -407,6 +412,10 @@ msgid "" "disable.\n" msgstr "" +#: ports/esp32s2/common-hal/canio/CAN.c +msgid "Baudrate not supported by peripheral" +msgstr "" + #: shared-module/displayio/Display.c #: shared-module/framebufferio/FramebufferDisplay.c msgid "Below minimum frame rate" @@ -775,7 +784,7 @@ msgstr "" msgid "ECB only operates on 16 bytes at a time" msgstr "" -#: ports/esp32s2/common-hal/busio/SPI.c +#: ports/esp32s2/common-hal/busio/SPI.c ports/esp32s2/common-hal/canio/CAN.c msgid "ESP-IDF memory allocation failed" msgstr "" @@ -901,6 +910,7 @@ msgid "File exists" msgstr "" #: ports/atmel-samd/common-hal/canio/Listener.c +#: ports/esp32s2/common-hal/canio/Listener.c #: ports/stm/common-hal/canio/Listener.c msgid "Filters too complex" msgstr "" @@ -1119,7 +1129,7 @@ msgstr "" #: ports/cxd56/common-hal/busio/I2C.c ports/cxd56/common-hal/busio/SPI.c #: ports/cxd56/common-hal/busio/UART.c ports/cxd56/common-hal/sdioio/SDCard.c #: ports/esp32s2/common-hal/busio/I2C.c ports/esp32s2/common-hal/busio/SPI.c -#: ports/esp32s2/common-hal/busio/UART.c +#: ports/esp32s2/common-hal/busio/UART.c ports/esp32s2/common-hal/canio/CAN.c #: ports/mimxrt10xx/common-hal/busio/I2C.c #: ports/mimxrt10xx/common-hal/busio/SPI.c #: ports/mimxrt10xx/common-hal/busio/UART.c ports/nrf/common-hal/busio/I2C.c @@ -2837,6 +2847,10 @@ msgstr "" msgid "long int not supported in this build" msgstr "" +#: ports/esp32s2/common-hal/canio/CAN.c +msgid "loopback + silent mode not supported by peripheral" +msgstr "" + #: py/parse.c msgid "malformed f-string" msgstr "" @@ -3189,6 +3203,8 @@ msgstr "" #: ports/esp32s2/boards/espressif_saola_1_wrover/mpconfigboard.h #: ports/esp32s2/boards/microdev_micro_s2/mpconfigboard.h #: ports/esp32s2/boards/muselab_nanoesp32_s2/mpconfigboard.h +#: ports/esp32s2/boards/targett_module_clip_wroom/mpconfigboard.h +#: ports/esp32s2/boards/targett_module_clip_wrover/mpconfigboard.h #: ports/esp32s2/boards/unexpectedmaker_feathers2/mpconfigboard.h #: ports/esp32s2/boards/unexpectedmaker_feathers2_prerelease/mpconfigboard.h msgid "pressing boot button at start up.\n" @@ -3444,6 +3460,16 @@ msgstr "" msgid "tuple/list has wrong length" msgstr "" +#: ports/esp32s2/common-hal/canio/CAN.c +#, c-format +msgid "twai_driver_install returned esp-idf error #%d" +msgstr "" + +#: ports/esp32s2/common-hal/canio/CAN.c +#, c-format +msgid "twai_start returned esp-idf error #%d" +msgstr "" + #: ports/atmel-samd/common-hal/busio/UART.c #: ports/esp32s2/common-hal/busio/UART.c ports/nrf/common-hal/busio/UART.c #: shared-bindings/busio/UART.c shared-bindings/canio/CAN.c diff --git a/ports/esp32s2/boards/espressif_kaluga_1/mpconfigboard.mk b/ports/esp32s2/boards/espressif_kaluga_1/mpconfigboard.mk index ba85e46ef..2dce03881 100644 --- a/ports/esp32s2/boards/espressif_kaluga_1/mpconfigboard.mk +++ b/ports/esp32s2/boards/espressif_kaluga_1/mpconfigboard.mk @@ -11,7 +11,7 @@ LONGINT_IMPL = MPZ CFLAGS += -DCFG_TUD_TASK_QUEUE_SZ=32 CIRCUITPY_ESP_FLASH_MODE=dio -CIRCUITPY_ESP_FLASH_FREQ=40m +CIRCUITPY_ESP_FLASH_FREQ=80m CIRCUITPY_ESP_FLASH_SIZE=4MB CIRCUITPY_MODULE=wrover diff --git a/ports/esp32s2/common-hal/canio/CAN.c b/ports/esp32s2/common-hal/canio/CAN.c new file mode 100644 index 000000000..768fde243 --- /dev/null +++ b/ports/esp32s2/common-hal/canio/CAN.c @@ -0,0 +1,295 @@ +/* + * 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 "shared-bindings/microcontroller/Pin.h" +#include "shared-bindings/util.h" +#include "supervisor/port.h" + +#include "hal/twai_types.h" + +STATIC bool reserved_can; + +twai_timing_config_t get_t_config(int baudrate) { + switch(baudrate) { + case 1000000: + { + // TWAI_TIMING_CONFIG_abc expands to a C designated initializer list + // { .brp = 4, ...}. This is only acceptable to the compiler as an + // initializer and 'return TWAI_TIMING_CONFIG_1MBITS()` is not valid. + // Instead, introduce a temporary, named variable and return it. + twai_timing_config_t t_config = TWAI_TIMING_CONFIG_1MBITS(); + return t_config; + } + case 800000: + { + twai_timing_config_t t_config = TWAI_TIMING_CONFIG_800KBITS(); + return t_config; + } + case 500000: + { + twai_timing_config_t t_config = TWAI_TIMING_CONFIG_500KBITS(); + return t_config; + } + case 250000: + { + twai_timing_config_t t_config = TWAI_TIMING_CONFIG_250KBITS(); + return t_config; + } + case 125000: + { + twai_timing_config_t t_config = TWAI_TIMING_CONFIG_125KBITS(); + return t_config; + } + case 100000: + { + twai_timing_config_t t_config = TWAI_TIMING_CONFIG_100KBITS(); + return t_config; + } + case 50000: + { + twai_timing_config_t t_config = TWAI_TIMING_CONFIG_50KBITS(); + return t_config; + } + case 25000: + { + twai_timing_config_t t_config = TWAI_TIMING_CONFIG_25KBITS(); + return t_config; + } + case 20000: + { + twai_timing_config_t t_config = TWAI_TIMING_CONFIG_20KBITS(); + return t_config; + } + case 16000: + { + twai_timing_config_t t_config = TWAI_TIMING_CONFIG_16KBITS(); + return t_config; + } + case 12500: + { + twai_timing_config_t t_config = TWAI_TIMING_CONFIG_12_5KBITS(); + return t_config; + } + case 10000: + { + twai_timing_config_t t_config = TWAI_TIMING_CONFIG_10KBITS(); + return t_config; + } + case 5000: + { + twai_timing_config_t t_config = TWAI_TIMING_CONFIG_5KBITS(); + return t_config; + } + case 1000: + { + twai_timing_config_t t_config = TWAI_TIMING_CONFIG_1KBITS(); + return t_config; + } + default: + mp_raise_ValueError(translate("Baudrate not supported by peripheral")); + } +} + +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)) + if (reserved_can) { + mp_raise_ValueError(translate("All CAN peripherals are in use")); + } + + if (loopback && silent) { + mp_raise_ValueError(translate("loopback + silent mode not supported by peripheral")); + } + + twai_timing_config_t t_config = get_t_config(baudrate); + twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(-1, -1, TWAI_MODE_NORMAL); + g_config.tx_io = tx->number; + g_config.rx_io = rx->number; + if (loopback) { + g_config.mode = TWAI_MODE_NO_ACK; + } + if (silent) { + g_config.mode = TWAI_MODE_LISTEN_ONLY; + } + + twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL(); + + esp_err_t result = twai_driver_install(&g_config, &t_config, &f_config); + if (result == ESP_ERR_NO_MEM) { + mp_raise_msg(&mp_type_MemoryError, translate("ESP-IDF memory allocation failed")); + } else if (result == ESP_ERR_INVALID_ARG) { + mp_raise_ValueError(translate("Invalid pins")); + } else if (result != ESP_OK) { + mp_raise_OSError_msg_varg(translate("twai_driver_install returned esp-idf error #%d"), (int)result); + } + + result = twai_start(); + if (result != ESP_OK) { + mp_raise_OSError_msg_varg(translate("twai_start returned esp-idf error #%d"), (int)result); + } + + self->silent = silent; + self->loopback = loopback; + self->baudrate = baudrate; + self->tx_pin = tx; + self->rx_pin = rx; + + claim_pin(tx); + claim_pin(rx); + + reserved_can = 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) +{ + twai_status_info_t info; + twai_get_status_info(&info); + return info.tx_error_counter; +} + +int common_hal_canio_can_receive_error_count_get(canio_can_obj_t *self) +{ + twai_status_info_t info; + twai_get_status_info(&info); + return info.rx_error_counter; +} + +canio_bus_state_t common_hal_canio_can_state_get(canio_can_obj_t *self) { + twai_status_info_t info; + twai_get_status_info(&info); + if (info.state == TWAI_STATE_BUS_OFF || info.state == TWAI_STATE_RECOVERING) { + return BUS_STATE_OFF; + } + if (info.tx_error_counter > 127 || info.rx_error_counter > 127) { + return BUS_STATE_ERROR_PASSIVE; + } + if (info.tx_error_counter > 96 || info.rx_error_counter > 96) { + return BUS_STATE_ERROR_WARNING; + } + return BUS_STATE_ERROR_ACTIVE; +} + +static void can_restart(void) { + twai_status_info_t info; + twai_get_status_info(&info); + if (info.state != TWAI_STATE_BUS_OFF) { + return; + } + twai_initiate_recovery(); + // wait 100ms (hard coded for now) for bus to recover + uint64_t deadline = port_get_raw_ticks(NULL) + 100; + do { + twai_get_status_info(&info); + } while (port_get_raw_ticks(NULL) < deadline && (info.state == TWAI_STATE_BUS_OFF || info.state == TWAI_STATE_RECOVERING)); +} + +void canio_maybe_auto_restart(canio_can_obj_t *self) { + if (self->auto_restart) can_restart(); +} + +void common_hal_canio_can_restart(canio_can_obj_t *self) { + if (!common_hal_canio_can_auto_restart_get(self)) { + can_restart(); + } +} + +bool common_hal_canio_can_auto_restart_get(canio_can_obj_t *self) { + return self->auto_restart; +} + +void common_hal_canio_can_auto_restart_set(canio_can_obj_t *self, bool value) { + self->auto_restart = value; + canio_maybe_auto_restart(self); +} + +void common_hal_canio_can_send(canio_can_obj_t *self, mp_obj_t message_in) +{ + canio_maybe_auto_restart(self); + canio_message_obj_t *message = message_in; + bool rtr = message->base.type == &canio_remote_transmission_request_type; + twai_message_t message_out = { + .extd = message->extended, + .rtr = rtr, + .self = self->loopback, + .identifier = message->id, + .data_length_code = message->size, + }; + if (!rtr) { + memcpy(message_out.data, message->data, message->size); + } + // Allow transmission to occur in background + twai_transmit(&message_out, 0); +} + +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->tx_pin; +} + +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->tx_pin) { + (void)twai_stop(); + (void)twai_driver_uninstall(); + reset_pin_number(self->tx_pin->number); + reset_pin_number(self->rx_pin->number); + reserved_can = false; + } + self->tx_pin = NULL; + self->rx_pin = NULL; +} + +void common_hal_canio_reset(void) { + (void)twai_stop(); + (void)twai_driver_uninstall(); + reserved_can = false; +} diff --git a/ports/esp32s2/common-hal/canio/CAN.h b/ports/esp32s2/common-hal/canio/CAN.h new file mode 100644 index 000000000..85fb6972b --- /dev/null +++ b/ports/esp32s2/common-hal/canio/CAN.h @@ -0,0 +1,49 @@ +/* + * 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 "driver/twai.h" + +#define FILTER_BANK_COUNT (28) + +typedef struct canio_can_obj { + mp_obj_base_t base; + 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 fifo_in_use:1; +} canio_can_obj_t; diff --git a/ports/esp32s2/common-hal/canio/Listener.c b/ports/esp32s2/common-hal/canio/Listener.c new file mode 100644 index 000000000..fddbfeb58 --- /dev/null +++ b/ports/esp32s2/common-hal/canio/Listener.c @@ -0,0 +1,182 @@ +/* + * 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/canio/Listener.h" +#include "shared-bindings/util.h" +#include "supervisor/shared/tick.h" +#include "supervisor/shared/safe_mode.h" + +#include "hal/twai_ll.h" + +// 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) + +// Work around a problem reported at +// https://github.com/espressif/esp-idf/issues/6020 where +// twai_ll_set_acc_filter does not work under -Os optimization +__attribute__((optimize("O0"))) +__attribute__((noinline)) +static void canio_set_acc_filter(twai_dev_t* hw, uint32_t code, uint32_t mask, bool single_filter) +{ + uint32_t code_swapped = __builtin_bswap32(code); + uint32_t mask_swapped = __builtin_bswap32(mask); + for (int i = 0; i < 4; i++) { + hw->acceptance_filter.acr[i].val = ((code_swapped >> (i * 8)) & 0xFF); + hw->acceptance_filter.amr[i].val = ((mask_swapped >> (i * 8)) & 0xFF); + } + hw->mode_reg.afm = single_filter; +} + +STATIC void install_standard_filter(canio_listener_obj_t *self, canio_match_obj_t *match) { + canio_set_acc_filter(&TWAI, match->id << 21, ~(match->mask << 21), true); + self->extended = false; + self->standard = true; +} + +STATIC void install_extended_filter(canio_listener_obj_t *self, canio_match_obj_t *match) { + canio_set_acc_filter(&TWAI, match->id << 3, ~(match->mask << 3), true); + self->extended = true; + self->standard = false; +} + +STATIC void install_all_match_filter(canio_listener_obj_t *self) { + canio_set_acc_filter(&TWAI, 0u, ~0u, true); + self->extended = true; + self->standard = true; +} + +__attribute__((noinline,optimize("O0"))) +void set_filters(canio_listener_obj_t *self, size_t nmatch, canio_match_obj_t **matches) { + twai_ll_enter_reset_mode(&TWAI); + + if (!nmatch) { + install_all_match_filter(self); + } else { + canio_match_obj_t *match = matches[0]; + if (match->extended) { + install_extended_filter(self, match); + } else { + install_standard_filter(self, match); + } + } + + twai_ll_exit_reset_mode(&TWAI); +} + + +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->fifo_in_use) { + mp_raise_ValueError(translate("All RX FIFOs in use")); + } + if (nmatch > 1) { + mp_raise_ValueError(translate("Filters too complex")); + } + + // Nothing can fail now so it's safe to assign self->can + can->fifo_in_use = 1; + self->can = can; + self->pending = false; + + set_filters(self, nmatch, matches); + self->extended = self->standard = true; + + 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); +} + +// The API has no peek method so we must receive a packet into a holding area +// and then we can say that we have 1 message pending +int common_hal_canio_listener_in_waiting(canio_listener_obj_t *self) { + while (!self->pending && twai_receive(&self->message_in, 0) == ESP_OK) { + if (self->message_in.extd && self->extended) { + self->pending = true; + } + if (!self->message_in.extd && self->standard) { + self->pending = true; + } + } + return self->pending; +} + +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)); + } + + bool rtr = self->message_in.rtr; + + int dlc = self->message_in.data_length_code; + 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 = self->message_in.extd; + message->id = self->message_in.identifier; + message->size = dlc; + + if (!rtr) { + MP_STATIC_ASSERT(sizeof(self->message_in.data) == sizeof(message->data)); + memcpy(message->data, self->message_in.data, sizeof(message->data)); + } + + self->pending = false; + + return message; +} + +void common_hal_canio_listener_deinit(canio_listener_obj_t *self) { + if (self->can) { + self->can->fifo_in_use = false; + } + self->can = NULL; +} diff --git a/ports/esp32s2/common-hal/canio/Listener.h b/ports/esp32s2/common-hal/canio/Listener.h new file mode 100644 index 000000000..d24900e43 --- /dev/null +++ b/ports/esp32s2/common-hal/canio/Listener.h @@ -0,0 +1,40 @@ +/* + * 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; + bool extended:1; + bool standard:1; + bool pending:1; + twai_message_t message_in; + uint32_t timeout_ms; +} canio_listener_obj_t; diff --git a/ports/esp32s2/common-hal/canio/__init__.c b/ports/esp32s2/common-hal/canio/__init__.c new file mode 100644 index 000000000..7932bfc2d --- /dev/null +++ b/ports/esp32s2/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/esp32s2/common-hal/canio/__init__.h b/ports/esp32s2/common-hal/canio/__init__.h new file mode 100644 index 000000000..20b6638cd --- /dev/null +++ b/ports/esp32s2/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/esp32s2/mpconfigport.mk b/ports/esp32s2/mpconfigport.mk index 4e8a7bdef..c9863572a 100644 --- a/ports/esp32s2/mpconfigport.mk +++ b/ports/esp32s2/mpconfigport.mk @@ -16,6 +16,7 @@ LONGINT_IMPL = MPZ CIRCUITPY_FULL_BUILD = 1 CIRCUITPY_AUDIOBUSIO = 0 CIRCUITPY_AUDIOIO = 0 +CIRCUITPY_CANIO = 1 CIRCUITPY_COUNTIO = 0 CIRCUITPY_FREQUENCYIO = 0 CIRCUITPY_I2CPERIPHERAL = 0 diff --git a/shared-bindings/canio/CAN.c b/shared-bindings/canio/CAN.c index 6dae36943..4982a97b9 100644 --- a/shared-bindings/canio/CAN.c +++ b/shared-bindings/canio/CAN.c @@ -214,7 +214,24 @@ 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 receive() and next() will block.""" +//| Timeout dictates how long receive() and next() will block. +//| +//| Platform specific notes: +//| +//| SAM E5x supports two Listeners. Filter blocks are shared between the two +//| listeners. There are 4 standard filter blocks and 4 extended filter blocks. +//| Each block can either match 2 single addresses or a mask of addresses. +//| The number of filter blocks can be increased, up to a hardware maximum, by +//| rebuilding CircuitPython, but this decreases the CircuitPython free +//| memory even if canio is not used. +//| +//| STM32F405 supports two Listeners. Filter blocks are shared between the two listeners. +//| There are 14 filter blocks. Each block can match 2 standard addresses with +//| mask or 1 extended address with mask. +//| +//| ESP32S2 supports one Listener. There is a single filter block, which can either match a +//| standard address with mask or an extended address with mask. +//| """ //| ... //| STATIC mp_obj_t canio_can_listen(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { |