From 40ab5c6b21ff93ad11ca51dc66d3613dcd77e5ef Mon Sep 17 00:00:00 2001 From: Jeff Epler Date: Sat, 12 Sep 2020 10:10:18 -0500 Subject: compression: Implement ciscorn's dictionary approach MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Massive savings. Thanks so much @ciscorn for providing the initial code for choosing the dictionary. This adds a bit of time to the build, both to find the dictionary but also because (for reasons I don't fully understand), the binary search in the compress() function no longer worked and had to be replaced with a linear search. I think this is because the intended invariant is that for codebook entries that encode to the same number of bits, the entries are ordered in ascending value. However, I mis-placed the transition from "words" to "byte/char values" so the codebook entries for words are in word-order rather than their code order. Because this price is only paid at build time, I didn't care to determine exactly where the correct fix was. I also commented out a line to produce the "estimated total memory size" -- at least on the unix build with TRANSLATION=ja, this led to a build time KeyError trying to compute the codebook size for all the strings. I think this occurs because some single unicode code point ('ァ') is no longer present as itself in the compressed strings, due to always being replaced by a word. As promised, this seems to save hundreds of bytes in the German translation on the trinket m0. Testing performed: - built trinket_m0 in several languages - built and ran unix port in several languages (en, de_DE, ja) and ran simple error-producing codes like ./micropython -c '1/0' --- py/makeqstrdata.py | 201 ++++++++++++++++++++++++++++++++++++----------------- 1 file changed, 139 insertions(+), 62 deletions(-) (limited to 'py') diff --git a/py/makeqstrdata.py b/py/makeqstrdata.py index 721fa8320..57635807d 100644 --- a/py/makeqstrdata.py +++ b/py/makeqstrdata.py @@ -100,77 +100,153 @@ def translate(translation_file, i18ns): translations.append((original, translation)) return translations -def frequent_ngrams(corpus, sz, n): - return collections.Counter(corpus[i:i+sz] for i in range(len(corpus)-sz)).most_common(n) +class TextSplitter: + def __init__(self, words): + words.sort(key=lambda x: len(x), reverse=True) + self.words = set(words) + self.pat = re.compile("|".join(re.escape(w) for w in words) + "|.", flags=re.DOTALL) + + def iter_words(self, text): + s = [] + for m in self.pat.finditer(text): + t = m.group(0) + if t in self.words: + if s: + yield (False, "".join(s)) + s = [] + yield (True, t) + else: + s.append(t) + if s: + yield (False, "".join(s)) + + def iter(self, text): + s = [] + for m in self.pat.finditer(text): + yield m.group(0) + +def iter_substrings(s, minlen, maxlen): + maxlen = min(len(s), maxlen) + for n in range(minlen, maxlen + 1): + for begin in range(0, len(s) - n + 1): + yield s[begin : begin + n] + +def compute_huffman_coding(translations, compression_filename): + texts = [t[1] for t in translations] + all_strings_concat = "".join(texts) + words = [] + max_ord = 0 + begin_unused = 128 + end_unused = 256 + for text in texts: + for c in text: + ord_c = ord(c) + max_ord = max(max_ord, ord_c) + if 128 <= ord_c < 256: + end_unused = min(ord_c, end_unused) + max_words = end_unused - begin_unused + char_size = 1 if max_ord < 256 else 2 + + sum_word_len = 0 + while True: + extractor = TextSplitter(words) + counter = collections.Counter() + for t in texts: + for (found, word) in extractor.iter_words(t): + if not found: + for substr in iter_substrings(word, minlen=2, maxlen=9): + counter[substr] += 1 + + scores = sorted( + ( + # I don't know why this works good. This could be better. + (s, (len(s) - 1) ** ((max(occ - 2, 1) + 0.5) ** 0.8), occ) + for (s, occ) in counter.items() + ), + key=lambda x: x[1], + reverse=True, + ) + + w = None + for (s, score, occ) in scores: + if score < 0: + break + if len(s) > 1: + w = s + break + + if not w: + break + if len(w) + sum_word_len > 256: + break + if len(words) == max_words: + break + words.append(w) + sum_word_len += len(w) + + extractor = TextSplitter(words) + counter = collections.Counter() + for t in texts: + for atom in extractor.iter(t): + counter[atom] += 1 + cb = huffman.codebook(counter.items()) + + word_start = begin_unused + word_end = word_start + len(words) - 1 + print("// # words", len(words)) + print("// words", words) -def encode_ngrams(translation, ngrams): - if len(ngrams) > 32: - start = 0xe000 - else: - start = 0x80 - for i, g in enumerate(ngrams): - translation = translation.replace(g, chr(start + i)) - return translation - -def decode_ngrams(compressed, ngrams): - if len(ngrams) > 32: - start, end = 0xe000, 0xf8ff - else: - start, end = 0x80, 0x9f - return "".join(ngrams[ord(c) - start] if (start <= ord(c) <= end) else c for c in compressed) - -def compute_huffman_coding(translations, qstrs, compression_filename): - all_strings = [x[1] for x in translations] - all_strings_concat = "".join(all_strings) - ngrams = [i[0] for i in frequent_ngrams(all_strings_concat, 2, 32)] - all_strings_concat = encode_ngrams(all_strings_concat, ngrams) - counts = collections.Counter(all_strings_concat) - cb = huffman.codebook(counts.items()) values = [] length_count = {} renumbered = 0 last_l = None canonical = {} - for ch, code in sorted(cb.items(), key=lambda x: (len(x[1]), x[0])): - values.append(ch) + for atom, code in sorted(cb.items(), key=lambda x: (len(x[1]), x[0])): + values.append(atom) l = len(code) if l not in length_count: length_count[l] = 0 length_count[l] += 1 if last_l: renumbered <<= (l - last_l) - canonical[ch] = '{0:0{width}b}'.format(renumbered, width=l) - s = C_ESCAPES.get(ch, ch) - print("//", ord(ch), s, counts[ch], canonical[ch], renumbered) + canonical[atom] = '{0:0{width}b}'.format(renumbered, width=l) + #print(f"atom={repr(atom)} code={code}", file=sys.stderr) + if len(atom) > 1: + o = words.index(atom) + 0x80 + s = "".join(C_ESCAPES.get(ch1, ch1) for ch1 in atom) + else: + s = C_ESCAPES.get(atom, atom) + o = ord(atom) + print("//", o, s, counter[atom], canonical[atom], renumbered) renumbered += 1 last_l = l lengths = bytearray() print("// length count", length_count) - print("// bigrams", ngrams) + for i in range(1, max(length_count) + 2): lengths.append(length_count.get(i, 0)) print("// values", values, "lengths", len(lengths), lengths) - ngramdata = [ord(ni) for i in ngrams for ni in i] - print("// estimated total memory size", len(lengths) + 2*len(values) + 2 * len(ngramdata) + sum((len(cb[u]) + 7)//8 for u in all_strings_concat)) + maxord = max(ord(u) for u in values if len(u) == 1) + values_type = "uint16_t" if maxord > 255 else "uint8_t" + ch_size = 1 if maxord > 255 else 2 + print("//", values, lengths) + values = [(atom if len(atom) == 1 else chr(0x80 + words.index(atom))) for atom in values] print("//", values, lengths) - values_type = "uint16_t" if max(ord(u) for u in values) > 255 else "uint8_t" max_translation_encoded_length = max(len(translation.encode("utf-8")) for original,translation in translations) with open(compression_filename, "w") as f: f.write("const uint8_t lengths[] = {{ {} }};\n".format(", ".join(map(str, lengths)))) f.write("const {} values[] = {{ {} }};\n".format(values_type, ", ".join(str(ord(u)) for u in values))) f.write("#define compress_max_length_bits ({})\n".format(max_translation_encoded_length.bit_length())) - f.write("const {} bigrams[] = {{ {} }};\n".format(values_type, ", ".join(str(u) for u in ngramdata))) - if len(ngrams) > 32: - bigram_start = 0xe000 - else: - bigram_start = 0x80 - bigram_end = bigram_start + len(ngrams) - 1 # End is inclusive - f.write("#define bigram_start {}\n".format(bigram_start)) - f.write("#define bigram_end {}\n".format(bigram_end)) - return values, lengths, ngrams + f.write("const {} words[] = {{ {} }};\n".format(values_type, ", ".join(str(ord(c)) for w in words for c in w))) + f.write("const uint8_t wlen[] = {{ {} }};\n".format(", ".join(str(len(w)) for w in words))) + f.write("#define word_start {}\n".format(word_start)) + f.write("#define word_end {}\n".format(word_end)) + + extractor = TextSplitter(words) + return values, lengths, words, extractor def decompress(encoding_table, encoded, encoded_length_bits): - values, lengths, ngrams = encoding_table + values, lengths, words, extractor = encoding_table dec = [] this_byte = 0 this_bit = 7 @@ -218,7 +294,8 @@ def decompress(encoding_table, encoded, encoded_length_bits): searched_length += lengths[bit_length] v = values[searched_length + bits - max_code] - v = decode_ngrams(v, ngrams) + if v >= chr(0x80) and v < chr(0x80 + len(words)): + v = words[ord(v) - 0x80] i += len(v.encode('utf-8')) dec.append(v) return ''.join(dec) @@ -226,8 +303,8 @@ def decompress(encoding_table, encoded, encoded_length_bits): def compress(encoding_table, decompressed, encoded_length_bits, len_translation_encoded): if not isinstance(decompressed, str): raise TypeError() - values, lengths, ngrams = encoding_table - decompressed = encode_ngrams(decompressed, ngrams) + values, lengths, words, extractor = encoding_table + enc = bytearray(len(decompressed) * 3) #print(decompressed) #print(lengths) @@ -246,9 +323,15 @@ def compress(encoding_table, decompressed, encoded_length_bits, len_translation_ else: current_bit -= 1 - for c in decompressed: - #print() - #print("char", c, values.index(c)) + #print("values = ", values, file=sys.stderr) + for atom in extractor.iter(decompressed): + #print("", file=sys.stderr) + if len(atom) > 1: + c = chr(0x80 + words.index(atom)) + else: + c = atom + assert c in values + start = 0 end = lengths[0] bits = 1 @@ -258,18 +341,12 @@ def compress(encoding_table, decompressed, encoded_length_bits, len_translation_ s = start e = end #print("{0:0{width}b}".format(code, width=bits)) - # Binary search! - while e > s: - midpoint = (s + e) // 2 - #print(s, e, midpoint) - if values[midpoint] == c: - compressed = code + (midpoint - start) - #print("found {0:0{width}b}".format(compressed, width=bits)) + # Linear search! + for i in range(s, e): + if values[i] == c: + compressed = code + (i - start) + #print("found {0:0{width}b}".format(compressed, width=bits), file=sys.stderr) break - elif c < values[midpoint]: - e = midpoint - else: - s = midpoint + 1 code += end - start code <<= 1 start = end @@ -452,7 +529,7 @@ if __name__ == "__main__": if args.translation: i18ns = sorted(i18ns) translations = translate(args.translation, i18ns) - encoding_table = compute_huffman_coding(translations, qstrs, args.compression_filename) + encoding_table = compute_huffman_coding(translations, args.compression_filename) print_qstr_data(encoding_table, qcfgs, qstrs, translations) else: print_qstr_enums(qstrs) -- cgit v1.2.3 From 54d97251fe2dd4939652a186bf703885e654b4d1 Mon Sep 17 00:00:00 2001 From: Jeff Epler Date: Sat, 12 Sep 2020 13:57:31 -0500 Subject: modstruct: Improve compliance with python3 While checking whether we can enable -Wimplicit-fallthrough, I encountered a diagnostic in mp_binary_set_val_array_from_int which led to discovering the following bug: ``` >>> struct.pack("xb", 3) b'\x03\x03' ``` That is, the next value (3) was used as the value of a padding byte, while standard Python always fills "x" bytes with zeros. I initially thought this had to do with the unintentional fallthrough, but it doesn't. Instead, this code would relate to an array.array with a typecode of padding ('x'), which is ALSO not desktop Python compliant: ``` >>> array.array('x', (1, 2, 3)) array('x', [1, 0, 0]) ``` Possibly this is dead code that used to be shared between struct-setting and array-setting, but it no longer is. I also discovered that the argument list length for struct.pack and struct.pack_into were not checked, and that the length of binary data passed to array.array was not checked to be a multiple of the element size. I have corrected all of these to conform more closely to standard Python and revised some tests where necessary. Some tests for micropython-specific behavior that does not conform to standard Python and is not present in CircuitPython was deleted outright. --- py/binary.c | 9 ++++---- py/modstruct.c | 17 ++++++++------ py/objarray.c | 7 +++++- tests/basics/struct1.py | 25 +++++++++++++++++++++ tests/basics/struct_micropython.py | 41 ---------------------------------- tests/basics/struct_micropython.py.exp | 2 -- tests/misc/non_compliant.py | 6 ----- tests/misc/non_compliant.py.exp | 2 -- 8 files changed, 46 insertions(+), 63 deletions(-) delete mode 100644 tests/basics/struct_micropython.py delete mode 100644 tests/basics/struct_micropython.py.exp (limited to 'py') diff --git a/py/binary.c b/py/binary.c index cd0f1aa4d..b85edba62 100644 --- a/py/binary.c +++ b/py/binary.c @@ -126,7 +126,6 @@ mp_obj_t mp_binary_get_val_array(char typecode, void *p, mp_uint_t index) { break; case BYTEARRAY_TYPECODE: case 'B': - case 'x': // value will be discarded val = ((unsigned char*)p)[index]; break; case 'h': @@ -330,7 +329,11 @@ void mp_binary_set_val(char struct_type, char val_type, mp_obj_t val_in, byte ** } } - mp_binary_set_int(MIN((size_t)size, sizeof(val)), struct_type == '>', p, val); + if (val_type == 'x') { + memset(p, 0, 1); + } else { + mp_binary_set_int(MIN((size_t)size, sizeof(val)), struct_type == '>', p, val); + } } void mp_binary_set_val_array(char typecode, void *p, mp_uint_t index, mp_obj_t val_in) { @@ -379,8 +382,6 @@ void mp_binary_set_val_array_from_int(char typecode, void *p, mp_uint_t index, m case 'B': ((unsigned char*)p)[index] = val; break; - case 'x': - ((unsigned char*)p)[index] = 0; case 'h': ((short*)p)[index] = val; break; diff --git a/py/modstruct.c b/py/modstruct.c index fe766a4de..7675de275 100644 --- a/py/modstruct.c +++ b/py/modstruct.c @@ -183,16 +183,21 @@ MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(struct_unpack_from_obj, 2, 3, struct_unpack_ // This function assumes there is enough room in p to store all the values STATIC void struct_pack_into_internal(mp_obj_t fmt_in, byte *p, size_t n_args, const mp_obj_t *args) { + size_t size; + size_t count = calc_size_items(mp_obj_str_get_str(fmt_in), &size); + if (count != n_args) { +#if MICROPY_ERROR_REPORTING == MICROPY_ERROR_REPORTING_TERSE + mp_raise_ValueError(NULL); +#else + mp_raise_ValueError_varg(translate("pack expected %d items for packing (got %d)"), count, n_args); +#endif + } const char *fmt = mp_obj_str_get_str(fmt_in); char fmt_type = get_fmt_type(&fmt); size_t i; for (i = 0; i < n_args;) { mp_uint_t cnt = 1; - if (*fmt == '\0') { - // more arguments given than used by format string; CPython raises struct.error here - break; - } if (unichar_isdigit(*fmt)) { cnt = get_fmt_num(&fmt); } @@ -208,8 +213,7 @@ STATIC void struct_pack_into_internal(mp_obj_t fmt_in, byte *p, size_t n_args, c memset(p + to_copy, 0, cnt - to_copy); p += cnt; } else { - // If we run out of args then we just finish; CPython would raise struct.error - while (cnt-- && i < n_args) { + while (cnt--) { mp_binary_set_val(fmt_type, *fmt, args[i], &p); // Pad bytes don't have a corresponding argument. if (*fmt != 'x') { @@ -222,7 +226,6 @@ STATIC void struct_pack_into_internal(mp_obj_t fmt_in, byte *p, size_t n_args, c } STATIC mp_obj_t struct_pack(size_t n_args, const mp_obj_t *args) { - // TODO: "The arguments must match the values required by the format exactly." mp_int_t size = MP_OBJ_SMALL_INT_VALUE(struct_calcsize(args[0])); vstr_t vstr; vstr_init_len(&vstr, size); diff --git a/py/objarray.c b/py/objarray.c index 5d83f0697..e0b4cbd55 100644 --- a/py/objarray.c +++ b/py/objarray.c @@ -97,6 +97,9 @@ STATIC void array_print(const mp_print_t *print, mp_obj_t o_in, mp_print_kind_t #if MICROPY_PY_BUILTINS_BYTEARRAY || MICROPY_PY_ARRAY STATIC mp_obj_array_t *array_new(char typecode, size_t n) { + if (typecode == 'x') { + mp_raise_ValueError(translate("bad typecode")); + } int typecode_size = mp_binary_get_size('@', typecode, NULL); mp_obj_array_t *o = m_new_obj(mp_obj_array_t); #if MICROPY_PY_BUILTINS_BYTEARRAY && MICROPY_PY_ARRAY @@ -126,8 +129,10 @@ STATIC mp_obj_t array_construct(char typecode, mp_obj_t initializer) { || (MICROPY_PY_BUILTINS_BYTEARRAY && MP_OBJ_IS_TYPE(initializer, &mp_type_bytearray))))) && mp_get_buffer(initializer, &bufinfo, MP_BUFFER_READ)) { // construct array from raw bytes - // we round-down the len to make it a multiple of sz (CPython raises error) size_t sz = mp_binary_get_size('@', typecode, NULL); + if (bufinfo.len % sz) { + mp_raise_ValueError(translate("bytes length not a multiple of item size")); + } size_t len = bufinfo.len / sz; mp_obj_array_t *o = array_new(typecode, len); memcpy(o->items, bufinfo.buf, len * sz); diff --git a/tests/basics/struct1.py b/tests/basics/struct1.py index db34342a1..107006cc3 100644 --- a/tests/basics/struct1.py +++ b/tests/basics/struct1.py @@ -39,6 +39,28 @@ print(v == (10, 100, 200, 300)) # network byte order print(struct.pack('!i', 123)) +# too short / too long arguments +buf = bytearray(b'>>>123<<<') +try: + struct.pack_into('bb', buf, 0, 3) +except: + print('struct.error') + +try: + struct.pack_into('bb', buf, 0, 3, 1, 4) +except: + print('struct.error') + +try: + struct.pack('bb', 3) +except: + print('struct.error') + +try: + struct.pack('bb', 3, 1, 4) +except: + print('struct.error') + # check that we get an error if the buffer is too small try: struct.unpack('I', b'\x00\x00\x00') @@ -96,3 +118,6 @@ try: print(struct.unpack_from(' Date: Sat, 12 Sep 2020 14:14:30 -0500 Subject: Add FALLTHROUGH comments as needed I investigated these cases and confirmed that the fallthrough behavior was intentional. --- extmod/re1.5/recursiveloop.c | 1 + py/objset.c | 1 + 2 files changed, 2 insertions(+) (limited to 'py') diff --git a/extmod/re1.5/recursiveloop.c b/extmod/re1.5/recursiveloop.c index bb337decf..5c1f37a5a 100644 --- a/extmod/re1.5/recursiveloop.c +++ b/extmod/re1.5/recursiveloop.c @@ -22,6 +22,7 @@ recursiveloop(char *pc, const char *sp, Subject *input, const char **subp, int n case Char: if(*sp != *pc++) return 0; + /* FALLTHROUGH */ case Any: sp++; continue; diff --git a/py/objset.c b/py/objset.c index b8f0f07ed..45b5c1260 100644 --- a/py/objset.c +++ b/py/objset.c @@ -450,6 +450,7 @@ STATIC mp_obj_t set_unary_op(mp_unary_op_t op, mp_obj_t self_in) { return MP_OBJ_NEW_SMALL_INT(hash); } #endif + /* FALLTHROUGH */ default: return MP_OBJ_NULL; // op not supported } } -- cgit v1.2.3 From 15964a4750d9eb1a34317c166d9bde5f40c9878d Mon Sep 17 00:00:00 2001 From: Jeff Epler Date: Sat, 12 Sep 2020 19:39:35 -0500 Subject: makeqstrdata: Avoid encoding problems Most users and the CI system are running in configurations where Python configures stdout and stderr in UTF-8 mode. However, Windows is different, setting values like CP1252. This led to a build failure on Windows, because makeqstrdata printed Unicode strings to its stdout, expecting them to be encoded as UTF-8. This script is writing (stdout) to a compiler input file and potentially printing messages (stderr) to a log or console. Explicitly configure stdout to use utf-8 to get consistent behavior on all platforms, and configure stderr so that if any log/diagnostic messages are printed that cannot be displayed correctly, they are still displayed instead of creating an error while trying to print the diagnostic information. I considered setting the encodings both to ascii, but this would just be occasionally inconvenient to developers like me who want to show diagnostic info on stderr and in comments while working with the compression code. Closes: #3408 --- py/makeqstrdata.py | 3 +++ 1 file changed, 3 insertions(+) (limited to 'py') diff --git a/py/makeqstrdata.py b/py/makeqstrdata.py index 57635807d..e30f120e6 100644 --- a/py/makeqstrdata.py +++ b/py/makeqstrdata.py @@ -16,6 +16,9 @@ import collections import gettext import os.path +sys.stdout.reconfigure(encoding='utf-8') +sys.stderr.reconfigure(errors='backslashreplace') + py = os.path.dirname(sys.argv[0]) top = os.path.dirname(py) -- cgit v1.2.3 From d18d79ac4709364c2371e2eaefd8f96bb20802e7 Mon Sep 17 00:00:00 2001 From: Taku Fukada Date: Mon, 14 Sep 2020 01:25:13 +0900 Subject: Small improvements to the dictionary compression --- py/makeqstrdata.py | 135 +++++++++++++++++------------------------- supervisor/shared/translate.c | 12 ++-- 2 files changed, 60 insertions(+), 87 deletions(-) (limited to 'py') diff --git a/py/makeqstrdata.py b/py/makeqstrdata.py index e30f120e6..006021791 100644 --- a/py/makeqstrdata.py +++ b/py/makeqstrdata.py @@ -12,6 +12,7 @@ from __future__ import print_function import re import sys +from math import log import collections import gettext import os.path @@ -111,9 +112,10 @@ class TextSplitter: def iter_words(self, text): s = [] + words = self.words for m in self.pat.finditer(text): t = m.group(0) - if t in self.words: + if t in words: if s: yield (False, "".join(s)) s = [] @@ -124,33 +126,35 @@ class TextSplitter: yield (False, "".join(s)) def iter(self, text): - s = [] for m in self.pat.finditer(text): yield m.group(0) def iter_substrings(s, minlen, maxlen): - maxlen = min(len(s), maxlen) + len_s = len(s) + maxlen = min(len_s, maxlen) for n in range(minlen, maxlen + 1): - for begin in range(0, len(s) - n + 1): + for begin in range(0, len_s - n + 1): yield s[begin : begin + n] def compute_huffman_coding(translations, compression_filename): texts = [t[1] for t in translations] - all_strings_concat = "".join(texts) words = [] + + start_unused = 0x80 + end_unused = 0xff max_ord = 0 - begin_unused = 128 - end_unused = 256 for text in texts: for c in text: ord_c = ord(c) - max_ord = max(max_ord, ord_c) - if 128 <= ord_c < 256: + max_ord = max(ord_c, max_ord) + if 0x80 <= ord_c < 0xff: end_unused = min(ord_c, end_unused) - max_words = end_unused - begin_unused - char_size = 1 if max_ord < 256 else 2 + max_words = end_unused - 0x80 + + values_type = "uint16_t" if max_ord > 255 else "uint8_t" + max_words_len = 160 if max_ord > 255 else 255 - sum_word_len = 0 + sum_len = 0 while True: extractor = TextSplitter(words) counter = collections.Counter() @@ -162,30 +166,30 @@ def compute_huffman_coding(translations, compression_filename): scores = sorted( ( - # I don't know why this works good. This could be better. - (s, (len(s) - 1) ** ((max(occ - 2, 1) + 0.5) ** 0.8), occ) + (s, (len(s) - 1) ** log(max(occ - 2, 1)), occ) for (s, occ) in counter.items() ), key=lambda x: x[1], reverse=True, ) - w = None + word = None for (s, score, occ) in scores: - if score < 0: - break - if len(s) > 1: - w = s + if occ < 5: + continue + if score < 5: break + word = s + break - if not w: + if not word: break - if len(w) + sum_word_len > 256: + if sum_len + len(word) - 2 > max_words_len: break if len(words) == max_words: break - words.append(w) - sum_word_len += len(w) + words.append(word) + sum_len += len(word) - 2 extractor = TextSplitter(words) counter = collections.Counter() @@ -194,7 +198,7 @@ def compute_huffman_coding(translations, compression_filename): counter[atom] += 1 cb = huffman.codebook(counter.items()) - word_start = begin_unused + word_start = start_unused word_end = word_start + len(words) - 1 print("// # words", len(words)) print("// words", words) @@ -202,18 +206,18 @@ def compute_huffman_coding(translations, compression_filename): values = [] length_count = {} renumbered = 0 - last_l = None + last_length = None canonical = {} for atom, code in sorted(cb.items(), key=lambda x: (len(x[1]), x[0])): values.append(atom) - l = len(code) - if l not in length_count: - length_count[l] = 0 - length_count[l] += 1 - if last_l: - renumbered <<= (l - last_l) - canonical[atom] = '{0:0{width}b}'.format(renumbered, width=l) - #print(f"atom={repr(atom)} code={code}", file=sys.stderr) + length = len(code) + if length not in length_count: + length_count[length] = 0 + length_count[length] += 1 + if last_length: + renumbered <<= (length - last_length) + canonical[atom] = '{0:0{width}b}'.format(renumbered, width=length) + # print(f"atom={repr(atom)} code={code}", file=sys.stderr) if len(atom) > 1: o = words.index(atom) + 0x80 s = "".join(C_ESCAPES.get(ch1, ch1) for ch1 in atom) @@ -222,34 +226,37 @@ def compute_huffman_coding(translations, compression_filename): o = ord(atom) print("//", o, s, counter[atom], canonical[atom], renumbered) renumbered += 1 - last_l = l + last_length = length lengths = bytearray() print("// length count", length_count) for i in range(1, max(length_count) + 2): lengths.append(length_count.get(i, 0)) print("// values", values, "lengths", len(lengths), lengths) - maxord = max(ord(u) for u in values if len(u) == 1) - values_type = "uint16_t" if maxord > 255 else "uint8_t" - ch_size = 1 if maxord > 255 else 2 + print("//", values, lengths) values = [(atom if len(atom) == 1 else chr(0x80 + words.index(atom))) for atom in values] print("//", values, lengths) - max_translation_encoded_length = max(len(translation.encode("utf-8")) for original,translation in translations) + max_translation_encoded_length = max( + len(translation.encode("utf-8")) for (original, translation) in translations) + + wends = list(len(w) - 2 for w in words) + for i in range(1, len(wends)): + wends[i] += wends[i - 1] + with open(compression_filename, "w") as f: f.write("const uint8_t lengths[] = {{ {} }};\n".format(", ".join(map(str, lengths)))) f.write("const {} values[] = {{ {} }};\n".format(values_type, ", ".join(str(ord(u)) for u in values))) f.write("#define compress_max_length_bits ({})\n".format(max_translation_encoded_length.bit_length())) f.write("const {} words[] = {{ {} }};\n".format(values_type, ", ".join(str(ord(c)) for w in words for c in w))) - f.write("const uint8_t wlen[] = {{ {} }};\n".format(", ".join(str(len(w)) for w in words))) + f.write("const uint8_t wends[] = {{ {} }};\n".format(", ".join(str(p) for p in wends))) f.write("#define word_start {}\n".format(word_start)) f.write("#define word_end {}\n".format(word_end)) - extractor = TextSplitter(words) - return values, lengths, words, extractor + return (values, lengths, words, canonical, extractor) def decompress(encoding_table, encoded, encoded_length_bits): - values, lengths, words, extractor = encoding_table + (values, lengths, words, _, _) = encoding_table dec = [] this_byte = 0 this_bit = 7 @@ -306,66 +313,32 @@ def decompress(encoding_table, encoded, encoded_length_bits): def compress(encoding_table, decompressed, encoded_length_bits, len_translation_encoded): if not isinstance(decompressed, str): raise TypeError() - values, lengths, words, extractor = encoding_table + (_, _, _, canonical, extractor) = encoding_table enc = bytearray(len(decompressed) * 3) - #print(decompressed) - #print(lengths) current_bit = 7 current_byte = 0 - code = len_translation_encoded - bits = encoded_length_bits+1 + bits = encoded_length_bits + 1 for i in range(bits - 1, 0, -1): if len_translation_encoded & (1 << (i - 1)): enc[current_byte] |= 1 << current_bit if current_bit == 0: current_bit = 7 - #print("packed {0:0{width}b}".format(enc[current_byte], width=8)) current_byte += 1 else: current_bit -= 1 - #print("values = ", values, file=sys.stderr) for atom in extractor.iter(decompressed): - #print("", file=sys.stderr) - if len(atom) > 1: - c = chr(0x80 + words.index(atom)) - else: - c = atom - assert c in values - - start = 0 - end = lengths[0] - bits = 1 - compressed = None - code = 0 - while compressed is None: - s = start - e = end - #print("{0:0{width}b}".format(code, width=bits)) - # Linear search! - for i in range(s, e): - if values[i] == c: - compressed = code + (i - start) - #print("found {0:0{width}b}".format(compressed, width=bits), file=sys.stderr) - break - code += end - start - code <<= 1 - start = end - end += lengths[bits] - bits += 1 - #print("next bit", bits) - - for i in range(bits - 1, 0, -1): - if compressed & (1 << (i - 1)): + for b in canonical[atom]: + if b == "1": enc[current_byte] |= 1 << current_bit if current_bit == 0: current_bit = 7 - #print("packed {0:0{width}b}".format(enc[current_byte], width=8)) current_byte += 1 else: current_bit -= 1 + if current_bit != 7: current_byte += 1 return enc[:current_byte] diff --git a/supervisor/shared/translate.c b/supervisor/shared/translate.c index cc0de7f61..44544c98d 100644 --- a/supervisor/shared/translate.c +++ b/supervisor/shared/translate.c @@ -48,17 +48,17 @@ STATIC int put_utf8(char *buf, int u) { *buf = u; return 1; } else if(word_start <= u && u <= word_end) { - int n = (u - 0x80); - size_t off = 0; - for(int i=0; i 0) { + pos = wends[n - 1] + (n * 2); } int ret = 0; // note that at present, entries in the words table are // guaranteed not to represent words themselves, so this adds // at most 1 level of recursive call - for(int i=0; i Date: Sun, 13 Sep 2020 13:12:35 -0500 Subject: move implicit-fallthrough warning enable to defns.mk --- ports/atmel-samd/Makefile | 2 +- py/circuitpy_defns.mk | 1 + 2 files changed, 2 insertions(+), 1 deletion(-) (limited to 'py') diff --git a/ports/atmel-samd/Makefile b/ports/atmel-samd/Makefile index 20c79de8f..72c7d9688 100644 --- a/ports/atmel-samd/Makefile +++ b/ports/atmel-samd/Makefile @@ -148,7 +148,7 @@ else endif endif -CFLAGS += $(INC) -Wall -Werror -std=gnu11 -nostdlib -fshort-enums $(BASE_CFLAGS) $(CFLAGS_MOD) $(COPT) -Wimplicit-fallthrough=2 +CFLAGS += $(INC) -Wall -Werror -std=gnu11 -nostdlib -fshort-enums $(BASE_CFLAGS) $(CFLAGS_MOD) $(COPT) ifeq ($(CHIP_FAMILY), samd21) CFLAGS += \ diff --git a/py/circuitpy_defns.mk b/py/circuitpy_defns.mk index 04e38d81e..0e87287c1 100644 --- a/py/circuitpy_defns.mk +++ b/py/circuitpy_defns.mk @@ -31,6 +31,7 @@ BASE_CFLAGS = \ -fsingle-precision-constant \ -fno-strict-aliasing \ -Wdouble-promotion \ + -Wimplicit-fallthrough=2 \ -Wno-endif-labels \ -Wstrict-prototypes \ -Werror-implicit-function-declaration \ -- cgit v1.2.3 From 064c597b60d7394216d9c36080b7ee8ff089cb53 Mon Sep 17 00:00:00 2001 From: Kamil Tomaszewski Date: Wed, 2 Sep 2020 15:42:57 +0200 Subject: camera: Implement new library for camera --- py/circuitpy_defns.mk | 6 ++ py/circuitpy_mpconfig.h | 8 ++ py/circuitpy_mpconfig.mk | 3 + shared-bindings/camera/Camera.c | 178 +++++++++++++++++++++++++++++++++++++ shared-bindings/camera/Camera.h | 45 ++++++++++ shared-bindings/camera/ImageSize.c | 163 +++++++++++++++++++++++++++++++++ shared-bindings/camera/ImageSize.h | 59 ++++++++++++ shared-bindings/camera/__init__.c | 50 +++++++++++ 8 files changed, 512 insertions(+) create mode 100644 shared-bindings/camera/Camera.c create mode 100644 shared-bindings/camera/Camera.h create mode 100644 shared-bindings/camera/ImageSize.c create mode 100644 shared-bindings/camera/ImageSize.h create mode 100644 shared-bindings/camera/__init__.c (limited to 'py') diff --git a/py/circuitpy_defns.mk b/py/circuitpy_defns.mk index 0e87287c1..f72c821e5 100644 --- a/py/circuitpy_defns.mk +++ b/py/circuitpy_defns.mk @@ -139,6 +139,9 @@ endif ifeq ($(CIRCUITPY_BUSIO),1) SRC_PATTERNS += busio/% bitbangio/OneWire.% endif +ifeq ($(CIRCUITPY_CAMERA),1) +SRC_PATTERNS += camera/% +endif ifeq ($(CIRCUITPY_COUNTIO),1) SRC_PATTERNS += countio/% endif @@ -310,6 +313,9 @@ SRC_COMMON_HAL_ALL = \ busio/SPI.c \ busio/UART.c \ busio/__init__.c \ + camera/__init__.c \ + camera/Camera.c \ + camera/ImageSize.c \ countio/Counter.c \ countio/__init__.c \ digitalio/DigitalInOut.c \ diff --git a/py/circuitpy_mpconfig.h b/py/circuitpy_mpconfig.h index 0fafbe876..4272de2ec 100644 --- a/py/circuitpy_mpconfig.h +++ b/py/circuitpy_mpconfig.h @@ -329,6 +329,13 @@ extern const struct _mp_obj_module_t busio_module; #define BUSIO_MODULE #endif +#if CIRCUITPY_CAMERA +extern const struct _mp_obj_module_t camera_module; +#define CAMERA_MODULE { MP_OBJ_NEW_QSTR(MP_QSTR_camera), (mp_obj_t)&camera_module }, +#else +#define CAMERA_MODULE +#endif + #if CIRCUITPY_COUNTIO extern const struct _mp_obj_module_t countio_module; #define COUNTIO_MODULE { MP_OBJ_NEW_QSTR(MP_QSTR_countio), (mp_obj_t)&countio_module }, @@ -758,6 +765,7 @@ extern const struct _mp_obj_module_t wifi_module; BLEIO_MODULE \ BOARD_MODULE \ BUSIO_MODULE \ + CAMERA_MODULE \ COUNTIO_MODULE \ DIGITALIO_MODULE \ DISPLAYIO_MODULE \ diff --git a/py/circuitpy_mpconfig.mk b/py/circuitpy_mpconfig.mk index a2da9c42f..54bdefc6d 100644 --- a/py/circuitpy_mpconfig.mk +++ b/py/circuitpy_mpconfig.mk @@ -90,6 +90,9 @@ CFLAGS += -DCIRCUITPY_BOARD=$(CIRCUITPY_BOARD) CIRCUITPY_BUSIO ?= 1 CFLAGS += -DCIRCUITPY_BUSIO=$(CIRCUITPY_BUSIO) +CIRCUITPY_CAMERA ?= 0 +CFLAGS += -DCIRCUITPY_CAMERA=$(CIRCUITPY_CAMERA) + CIRCUITPY_DIGITALIO ?= 1 CFLAGS += -DCIRCUITPY_DIGITALIO=$(CIRCUITPY_DIGITALIO) diff --git a/shared-bindings/camera/Camera.c b/shared-bindings/camera/Camera.c new file mode 100644 index 000000000..3855fed3c --- /dev/null +++ b/shared-bindings/camera/Camera.c @@ -0,0 +1,178 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright 2020 Sony Semiconductor Solutions Corporation + * + * 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 "py/objproperty.h" +#include "py/runtime.h" + +#include "shared-bindings/camera/Camera.h" +#include "shared-bindings/util.h" + +//| class Camera: +//| """The class to control camera. +//| +//| Usage:: +//| +//| import board +//| import sdioio +//| import storage +//| import camera +//| +//| sd = sdioio.SDCard( +//| clock=board.SDIO_CLOCK, +//| command=board.SDIO_COMMAND, +//| data=board.SDIO_DATA, +//| frequency=25000000) +//| vfs = storage.VfsFat(sd) +//| storage.mount(vfs, '/sd') +//| +//| cam = camera.Camera(camera.ImageSize.IMAGE_SIZE_1920x1080) +//| +//| file = open("/sd/image.jpg","wb") +//| cam.take_picture() +//| file.write(cam.picture) +//| file.close()""" +//| + +//| def __init__(self, ): +//| """Initialize camera. +//| +//| :param camera.ImageSize size: image size""" +//| ... +//| +STATIC mp_obj_t camera_make_new(const mp_obj_type_t *type, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { + camera_obj_t *self = m_new_obj(camera_obj_t); + self->base.type = &camera_type; + enum { ARG_size }; + static const mp_arg_t allowed_args[] = { + { MP_QSTR_size, MP_ARG_REQUIRED | MP_ARG_OBJ }, + }; + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); + + camera_imagesize_t size = camera_imagesize_obj_to_type(args[ARG_size].u_obj); + + common_hal_camera_construct(self, size); + return MP_OBJ_FROM_PTR(self); +} + +//| def deinit(self, ) -> Any: +//| """De-initialize camera.""" +//| ... +//| +STATIC mp_obj_t camera_obj_deinit(mp_obj_t self_in) { + camera_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_camera_deinit(self); + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_1(camera_deinit_obj, camera_obj_deinit); + +STATIC void check_for_deinit(camera_obj_t *self) { + if (common_hal_camera_deinited(self)) { + raise_deinited_error(); + } +} + +//| def take_picture(self, ) -> Any: +//| """Take picture.""" +//| ... +//| +STATIC mp_obj_t camera_obj_take_picture(mp_obj_t self_in) { + camera_obj_t *self = MP_OBJ_TO_PTR(self_in); + check_for_deinit(self); + + common_hal_camera_take_picture(self); + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_1(camera_take_picture_obj, camera_obj_take_picture); + +//| picture: Any = ... +//| """Image buffer.""" +//| +STATIC mp_obj_t camera_obj_get_picture(mp_obj_t self_in) { + camera_obj_t *self = MP_OBJ_TO_PTR(self_in); + check_for_deinit(self); + + uint8_t *buffer = common_hal_camera_get_picture_buffer(self); + size_t size = common_hal_camera_get_picture_size(self); + + return mp_obj_new_bytearray_by_ref(size, buffer); +} +MP_DEFINE_CONST_FUN_OBJ_1(camera_get_picture_obj, camera_obj_get_picture); + +const mp_obj_property_t camera_picture_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&camera_get_picture_obj, + (mp_obj_t)&mp_const_none_obj, + (mp_obj_t)&mp_const_none_obj}, +}; + +//| size: Any = ... +//| """Image size.""" +//| +STATIC mp_obj_t camera_obj_get_size(mp_obj_t self_in) { + camera_obj_t *self = MP_OBJ_TO_PTR(self_in); + check_for_deinit(self); + return camera_imagesize_type_to_obj(common_hal_camera_get_size(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(camera_get_size_obj, camera_obj_get_size); + +STATIC mp_obj_t camera_obj_set_size(mp_obj_t self_in, mp_obj_t value) { + camera_obj_t *self = MP_OBJ_TO_PTR(self_in); + check_for_deinit(self); + + camera_imagesize_t size = camera_imagesize_obj_to_type(value); + if (size == IMAGESIZE_NONE) { + mp_raise_ValueError(translate("Invalid image size.")); + } + + common_hal_camera_set_size(self, size); + + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_2(camera_set_size_obj, camera_obj_set_size); + +const mp_obj_property_t camera_size_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&camera_get_size_obj, + (mp_obj_t)&camera_set_size_obj, + (mp_obj_t)&mp_const_none_obj}, +}; + +STATIC const mp_rom_map_elem_t camera_locals_dict_table[] = { + { MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&camera_deinit_obj) }, + { MP_ROM_QSTR(MP_QSTR_take_picture), MP_ROM_PTR(&camera_take_picture_obj) }, + + { MP_ROM_QSTR(MP_QSTR_picture), MP_ROM_PTR(&camera_picture_obj) }, + { MP_ROM_QSTR(MP_QSTR_size), MP_ROM_PTR(&camera_size_obj) }, +}; +STATIC MP_DEFINE_CONST_DICT(camera_locals_dict, camera_locals_dict_table); + +const mp_obj_type_t camera_type = { + { &mp_type_type }, + .name = MP_QSTR_GNSS, + .make_new = camera_make_new, + .locals_dict = (mp_obj_dict_t*)&camera_locals_dict, +}; diff --git a/shared-bindings/camera/Camera.h b/shared-bindings/camera/Camera.h new file mode 100644 index 000000000..e70d2493e --- /dev/null +++ b/shared-bindings/camera/Camera.h @@ -0,0 +1,45 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright 2020 Sony Semiconductor Solutions Corporation + * + * 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. + */ + +#ifndef MICROPY_INCLUDED_SHARED_BINDINGS_CAMERA_CAMERA_H +#define MICROPY_INCLUDED_SHARED_BINDINGS_CAMERA_CAMERA_H + +#include "common-hal/camera/Camera.h" +#include "shared-bindings/camera/ImageSize.h" + +extern const mp_obj_type_t camera_type; + +void common_hal_camera_construct(camera_obj_t *self, camera_imagesize_t size); +void common_hal_camera_deinit(camera_obj_t *self); +bool common_hal_camera_deinited(camera_obj_t *self); +void common_hal_camera_take_picture(camera_obj_t *self); + +uint8_t* common_hal_camera_get_picture_buffer(camera_obj_t *self); +size_t common_hal_camera_get_picture_size(camera_obj_t *self); +camera_imagesize_t common_hal_camera_get_size(camera_obj_t *self); +void common_hal_camera_set_size(camera_obj_t *self, camera_imagesize_t size); + +#endif // MICROPY_INCLUDED_SHARED_BINDINGS_CAMERA_CAMERA_H diff --git a/shared-bindings/camera/ImageSize.c b/shared-bindings/camera/ImageSize.c new file mode 100644 index 000000000..bfa01814d --- /dev/null +++ b/shared-bindings/camera/ImageSize.c @@ -0,0 +1,163 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright 2020 Sony Semiconductor Solutions Corporation + * + * 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/camera/ImageSize.h" + +//| class ImageSize: +//| """Image size""" +//| +//| def __init__(self) -> None: +//| """Enum-like class to define the image size.""" +//| +//| IMAGE_SIZE_320x240: ImageSize +//| """Image size 320x240.""" +//| +//| IMAGE_SIZE_640x480: ImageSize +//| """Image size 640x480.""" +//| +//| IMAGE_SIZE_1280x720: ImageSize +//| """Image size 1280x720.""" +//| +//| IMAGE_SIZE_1280x960: ImageSize +//| """Image size 1280x960.""" +//| +//| IMAGE_SIZE_1920x1080: ImageSize +//| """Image size 1920x1080.""" +//| +//| IMAGE_SIZE_2048x1536: ImageSize +//| """Image size 2048x1536.""" +//| +//| IMAGE_SIZE_2560x1920: ImageSize +//| """Image size 2560x1920.""" +//| +const mp_obj_type_t camera_imagesize_type; + +const camera_imagesize_obj_t camera_imagesize_320x240_obj = { + { &camera_imagesize_type }, +}; + +const camera_imagesize_obj_t camera_imagesize_640x320_obj = { + { &camera_imagesize_type }, +}; + +const camera_imagesize_obj_t camera_imagesize_1280x720_obj = { + { &camera_imagesize_type }, +}; + +const camera_imagesize_obj_t camera_imagesize_1280x960_obj = { + { &camera_imagesize_type }, +}; + +const camera_imagesize_obj_t camera_imagesize_1920x1080_obj = { + { &camera_imagesize_type }, +}; + +const camera_imagesize_obj_t camera_imagesize_2048x1536_obj = { + { &camera_imagesize_type }, +}; + +const camera_imagesize_obj_t camera_imagesize_2560x1920_obj = { + { &camera_imagesize_type }, +}; + +camera_imagesize_t camera_imagesize_obj_to_type(mp_obj_t obj) { + if (obj == MP_ROM_PTR(&camera_imagesize_320x240_obj)) { + return IMAGESIZE_320x240; + } else if (obj == MP_ROM_PTR(&camera_imagesize_640x320_obj)) { + return IMAGESIZE_640x320; + } else if (obj == MP_ROM_PTR(&camera_imagesize_1280x720_obj)) { + return IMAGESIZE_1280x720; + } else if (obj == MP_ROM_PTR(&camera_imagesize_1280x960_obj)) { + return IMAGESIZE_1280x960; + } else if (obj == MP_ROM_PTR(&camera_imagesize_1920x1080_obj)) { + return IMAGESIZE_1920x1080; + } else if (obj == MP_ROM_PTR(&camera_imagesize_2048x1536_obj)) { + return IMAGESIZE_2048x1536; + } else if (obj == MP_ROM_PTR(&camera_imagesize_2560x1920_obj)) { + return IMAGESIZE_2560x1920; + } + return IMAGESIZE_NONE; +} + +mp_obj_t camera_imagesize_type_to_obj(camera_imagesize_t size) { + switch (size) { + case IMAGESIZE_320x240: + return (mp_obj_t)MP_ROM_PTR(&camera_imagesize_320x240_obj); + case IMAGESIZE_640x320: + return (mp_obj_t)MP_ROM_PTR(&camera_imagesize_640x320_obj); + case IMAGESIZE_1280x720: + return (mp_obj_t)MP_ROM_PTR(&camera_imagesize_1280x720_obj); + case IMAGESIZE_1280x960: + return (mp_obj_t)MP_ROM_PTR(&camera_imagesize_1280x960_obj); + case IMAGESIZE_1920x1080: + return (mp_obj_t)MP_ROM_PTR(&camera_imagesize_1920x1080_obj); + case IMAGESIZE_2048x1536: + return (mp_obj_t)MP_ROM_PTR(&camera_imagesize_2048x1536_obj); + case IMAGESIZE_2560x1920: + return (mp_obj_t)MP_ROM_PTR(&camera_imagesize_2560x1920_obj); + case IMAGESIZE_NONE: + default: + return (mp_obj_t)MP_ROM_PTR(&mp_const_none_obj); + } +} + +STATIC const mp_rom_map_elem_t camera_imagesize_locals_dict_table[] = { + {MP_ROM_QSTR(MP_QSTR_IMAGE_SIZE_320x240), MP_ROM_PTR(&camera_imagesize_320x240_obj)}, + {MP_ROM_QSTR(MP_QSTR_IMAGE_SIZE_640x320), MP_ROM_PTR(&camera_imagesize_640x320_obj)}, + {MP_ROM_QSTR(MP_QSTR_IMAGE_SIZE_1280x720), MP_ROM_PTR(&camera_imagesize_1280x720_obj)}, + {MP_ROM_QSTR(MP_QSTR_IMAGE_SIZE_1280x960), MP_ROM_PTR(&camera_imagesize_1280x960_obj)}, + {MP_ROM_QSTR(MP_QSTR_IMAGE_SIZE_1920x1080), MP_ROM_PTR(&camera_imagesize_1920x1080_obj)}, + {MP_ROM_QSTR(MP_QSTR_IMAGE_SIZE_2048x1536), MP_ROM_PTR(&camera_imagesize_2048x1536_obj)}, + {MP_ROM_QSTR(MP_QSTR_IMAGE_SIZE_2560x1920), MP_ROM_PTR(&camera_imagesize_2560x1920_obj)}, +}; +STATIC MP_DEFINE_CONST_DICT(camera_imagesize_locals_dict, camera_imagesize_locals_dict_table); + +STATIC void camera_imagesize_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) { + qstr size = MP_QSTR_None; + if (MP_OBJ_TO_PTR(self_in) == MP_ROM_PTR(&camera_imagesize_320x240_obj)) { + size = MP_QSTR_IMAGE_SIZE_320x240; + } else if (MP_OBJ_TO_PTR(self_in) == MP_ROM_PTR(&camera_imagesize_640x320_obj)) { + size = MP_QSTR_IMAGE_SIZE_640x320; + } else if (MP_OBJ_TO_PTR(self_in) == MP_ROM_PTR(&camera_imagesize_1280x720_obj)) { + size = MP_QSTR_IMAGE_SIZE_1280x720; + } else if (MP_OBJ_TO_PTR(self_in) == MP_ROM_PTR(&camera_imagesize_1280x960_obj)) { + size = MP_QSTR_IMAGE_SIZE_1280x960; + } else if (MP_OBJ_TO_PTR(self_in) == MP_ROM_PTR(&camera_imagesize_1920x1080_obj)) { + size = MP_QSTR_IMAGE_SIZE_1920x1080; + } else if (MP_OBJ_TO_PTR(self_in) == MP_ROM_PTR(&camera_imagesize_2048x1536_obj)) { + size = MP_QSTR_IMAGE_SIZE_2048x1536; + } else if (MP_OBJ_TO_PTR(self_in) == MP_ROM_PTR(&camera_imagesize_2560x1920_obj)) { + size = MP_QSTR_IMAGE_SIZE_2560x1920; + } + mp_printf(print, "%q.%q.%q", MP_QSTR_camera, MP_QSTR_ImageSize, size); +} + +const mp_obj_type_t camera_imagesize_type = { + { &mp_type_type }, + .name = MP_QSTR_ImageSize, + .print = camera_imagesize_print, + .locals_dict = (mp_obj_t)&camera_imagesize_locals_dict, +}; diff --git a/shared-bindings/camera/ImageSize.h b/shared-bindings/camera/ImageSize.h new file mode 100644 index 000000000..3fe624e06 --- /dev/null +++ b/shared-bindings/camera/ImageSize.h @@ -0,0 +1,59 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright 2020 Sony Semiconductor Solutions Corporation + * + * 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. + */ + +#ifndef MICROPY_INCLUDED_SHARED_BINDINGS_CAMERA_IMAGESIZE_H +#define MICROPY_INCLUDED_SHARED_BINDINGS_CAMERA_IMAGESIZE_H + +#include "py/obj.h" + +typedef enum { + IMAGESIZE_NONE, + IMAGESIZE_320x240, + IMAGESIZE_640x320, + IMAGESIZE_1280x720, + IMAGESIZE_1280x960, + IMAGESIZE_1920x1080, + IMAGESIZE_2048x1536, + IMAGESIZE_2560x1920, +} camera_imagesize_t; + +const mp_obj_type_t camera_imagesize_type; + +camera_imagesize_t camera_imagesize_obj_to_type(mp_obj_t obj); +mp_obj_t camera_imagesize_type_to_obj(camera_imagesize_t mode); + +typedef struct { + mp_obj_base_t base; +} camera_imagesize_obj_t; +extern const camera_imagesize_obj_t camera_imagesize_320x240_obj; +extern const camera_imagesize_obj_t camera_imagesize_640x320_obj; +extern const camera_imagesize_obj_t camera_imagesize_1280x720_obj; +extern const camera_imagesize_obj_t camera_imagesize_1280x960_obj; +extern const camera_imagesize_obj_t camera_imagesize_1920x1080_obj; +extern const camera_imagesize_obj_t camera_imagesize_2048x1536_obj; +extern const camera_imagesize_obj_t camera_imagesize_2560x1920_obj; + +#endif // MICROPY_INCLUDED_SHARED_BINDINGS_CAMERA_IMAGESIZE_H diff --git a/shared-bindings/camera/__init__.c b/shared-bindings/camera/__init__.c new file mode 100644 index 000000000..3398d1ade --- /dev/null +++ b/shared-bindings/camera/__init__.c @@ -0,0 +1,50 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright 2020 Sony Semiconductor Solutions Corporation + * + * 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 "py/obj.h" +#include "py/runtime.h" +#include "py/mphal.h" +#include "shared-bindings/camera/Camera.h" +#include "shared-bindings/util.h" + +//| """Support for camera input +//| +//| The `camera` module contains classes to control the camera and take pictures.""" +//| +STATIC const mp_rom_map_elem_t camera_module_globals_table[] = { + { MP_ROM_QSTR(MP_QSTR___name__), MP_ROM_QSTR(MP_QSTR_camera) }, + { MP_ROM_QSTR(MP_QSTR_Camera), MP_ROM_PTR(&camera_type) }, + + // Enum-like Classes. + { MP_ROM_QSTR(MP_QSTR_ImageSize), MP_ROM_PTR(&camera_imagesize_type) }, +}; + +STATIC MP_DEFINE_CONST_DICT(camera_module_globals, camera_module_globals_table); + +const mp_obj_module_t camera_module = { + .base = { &mp_type_module }, + .globals = (mp_obj_dict_t*)&camera_module_globals, +}; -- cgit v1.2.3 From c2fc592c2ca7ec42374a50f9e33ac551bf846596 Mon Sep 17 00:00:00 2001 From: Kamil Tomaszewski Date: Fri, 11 Sep 2020 13:27:11 +0200 Subject: camera: Change API --- ports/cxd56/common-hal/camera/Camera.c | 144 ++++++++++++-------------- ports/cxd56/common-hal/camera/Camera.h | 9 +- ports/cxd56/common-hal/camera/ImageSize.c | 0 py/circuitpy_defns.mk | 2 +- shared-bindings/camera/Camera.c | 110 +++++++++++--------- shared-bindings/camera/Camera.h | 14 +-- shared-bindings/camera/ImageFormat.c | 93 +++++++++++++++++ shared-bindings/camera/ImageFormat.h | 49 +++++++++ shared-bindings/camera/ImageSize.c | 163 ------------------------------ shared-bindings/camera/ImageSize.h | 59 ----------- shared-bindings/camera/__init__.c | 2 +- 11 files changed, 278 insertions(+), 367 deletions(-) delete mode 100644 ports/cxd56/common-hal/camera/ImageSize.c create mode 100644 shared-bindings/camera/ImageFormat.c create mode 100644 shared-bindings/camera/ImageFormat.h delete mode 100644 shared-bindings/camera/ImageSize.c delete mode 100644 shared-bindings/camera/ImageSize.h (limited to 'py') diff --git a/ports/cxd56/common-hal/camera/Camera.c b/ports/cxd56/common-hal/camera/Camera.c index 0c2252530..9376822c8 100644 --- a/ports/cxd56/common-hal/camera/Camera.c +++ b/ports/cxd56/common-hal/camera/Camera.c @@ -35,9 +35,6 @@ #include "shared-bindings/camera/Camera.h" -#define JPG_COMPRESS_RATIO (9) -#define SPRESENSE_CAMIMAGE_MEM_ALIGN (32) - typedef struct { const char* devpath; int fd; @@ -45,39 +42,36 @@ typedef struct { STATIC camera_dev_t camera_dev = {"/dev/video", -1}; -static void camera_size_to_width_and_height(camera_imagesize_t size, uint16_t *width, uint16_t *height) { - switch (size) { - case IMAGESIZE_320x240: - *height = VIDEO_VSIZE_QVGA; - *width = VIDEO_HSIZE_QVGA; - break; - case IMAGESIZE_640x320: - *height = VIDEO_VSIZE_VGA; - *width = VIDEO_HSIZE_VGA; - break; - case IMAGESIZE_1280x720: - *height = VIDEO_VSIZE_HD; - *width = VIDEO_HSIZE_HD; - break; - case IMAGESIZE_1280x960: - *height = VIDEO_VSIZE_QUADVGA; - *width = VIDEO_HSIZE_QUADVGA; - break; - case IMAGESIZE_1920x1080: - *height = VIDEO_VSIZE_FULLHD; - *width = VIDEO_HSIZE_FULLHD; - break; - case IMAGESIZE_2048x1536: - *height = VIDEO_VSIZE_3M; - *width = VIDEO_HSIZE_3M; - break; - case IMAGESIZE_2560x1920: - *height = VIDEO_VSIZE_5M; - *width = VIDEO_HSIZE_5M; - break; - default: - mp_raise_ValueError(translate("Size not supported")); - break; +static bool camera_check_width_and_height(uint16_t width, uint16_t height) { + if ((width == VIDEO_HSIZE_QVGA && height == VIDEO_VSIZE_QVGA) || + (width == VIDEO_HSIZE_VGA && height == VIDEO_VSIZE_VGA) || + (width == VIDEO_HSIZE_HD && height == VIDEO_VSIZE_HD) || + (width == VIDEO_HSIZE_QUADVGA && height == VIDEO_VSIZE_QUADVGA) || + (width == VIDEO_HSIZE_FULLHD && height == VIDEO_VSIZE_FULLHD) || + (width == VIDEO_HSIZE_3M && height == VIDEO_VSIZE_3M) || + (width == VIDEO_HSIZE_5M && height == VIDEO_VSIZE_5M)) { + return true; + } else { + return false; + } +} + +static bool camera_check_buffer_length(uint16_t width, uint16_t height, camera_imageformat_t format, size_t length) { + if (format == IMAGEFORMAT_JPG) { + // In SPRESENSE SDK, JPEG compression quality=80 by default. + // In such setting, the maximum actual measured size of JPEG image + // is about width * height * 2 / 9. + return length >= (size_t)(width * height * 2 / 9) ? true : false; + } else { + return false; + } +} + +static bool camera_check_format(camera_imageformat_t format) { + if (format == IMAGEFORMAT_JPG) { + return true; + } else { + return false; } } @@ -118,7 +112,9 @@ static void camera_start_preview() { camera_start_streaming(V4L2_BUF_TYPE_VIDEO_CAPTURE); } -void common_hal_camera_construct(camera_obj_t *self, camera_imagesize_t size) { +extern uint32_t _ebss; +extern uint32_t _stext; +void common_hal_camera_construct(camera_obj_t *self, uint16_t width, uint16_t height) { if (camera_dev.fd < 0) { if (video_initialize(camera_dev.devpath) < 0) { mp_raise_ValueError(translate("Could not initialize Camera")); @@ -129,25 +125,13 @@ void common_hal_camera_construct(camera_obj_t *self, camera_imagesize_t size) { } } - uint16_t width, height; - - camera_size_to_width_and_height(size, &width, &height); - - self->size = size; - - // In SPRESENSE SDK, JPEG compression quality=80 by default. - // In such setting, the maximum actual measured size of JPEG image - // is about width * height * 2 / 9. - self->buffer_size = (size_t)(width * height * 2 / JPG_COMPRESS_RATIO);; - self->buffer = m_malloc(self->buffer_size, true); - if (self->buffer == NULL) { - mp_raise_msg(&mp_type_MemoryError, translate("Couldn't allocate picture buffer")); - } - self->picture_buffer = self->buffer; - while ((uint32_t)self->picture_buffer % SPRESENSE_CAMIMAGE_MEM_ALIGN != 0) { - self->picture_buffer++; + if (!camera_check_width_and_height(width, height)) { + mp_raise_ValueError(translate("Size not supported")); } + self->width = width; + self->height = height; + camera_start_preview(); camera_set_format(V4L2_BUF_TYPE_STILL_CAPTURE, V4L2_PIX_FMT_JPEG, width, height); @@ -164,8 +148,6 @@ void common_hal_camera_deinit(camera_obj_t *self) { video_uninitialize(); - m_free(self->buffer); - close(camera_dev.fd); camera_dev.fd = -1; } @@ -174,14 +156,26 @@ bool common_hal_camera_deinited(camera_obj_t *self) { return camera_dev.fd < 0; } -void common_hal_camera_take_picture(camera_obj_t *self) { +size_t common_hal_camera_take_picture(camera_obj_t *self, uint8_t *buffer, size_t len, camera_imageformat_t format) { + if (!camera_check_width_and_height(self->width, self->height)) { + mp_raise_ValueError(translate("Size not supported")); + } + if (!camera_check_buffer_length(self->width, self->height, format, len)) { + mp_raise_ValueError(translate("Buffer is too small")); + } + if (!camera_check_format(format)) { + mp_raise_ValueError(translate("Format not supported")); + } + + camera_set_format(V4L2_BUF_TYPE_STILL_CAPTURE, V4L2_PIX_FMT_JPEG, self->width, self->height); + v4l2_buffer_t buf; memset(&buf, 0, sizeof(v4l2_buffer_t)); buf.type = V4L2_BUF_TYPE_STILL_CAPTURE; buf.memory = V4L2_MEMORY_USERPTR; - buf.m.userptr = (unsigned long)self->picture_buffer; - buf.length = self->buffer_size - SPRESENSE_CAMIMAGE_MEM_ALIGN; + buf.m.userptr = (unsigned long)buffer; + buf.length = len; ioctl(camera_dev.fd, VIDIOC_QBUF, (unsigned long)&buf); ioctl(camera_dev.fd, VIDIOC_TAKEPICT_START, 0); @@ -190,35 +184,21 @@ void common_hal_camera_take_picture(camera_obj_t *self) { ioctl(camera_dev.fd, VIDIOC_TAKEPICT_STOP, false); - self->picture_size = (size_t)buf.bytesused; + return (size_t)buf.bytesused; } -uint8_t *common_hal_camera_get_picture_buffer(camera_obj_t *self) { - return self->picture_buffer; +uint16_t common_hal_camera_get_width(camera_obj_t *self) { + return self->width; } -size_t common_hal_camera_get_picture_size(camera_obj_t *self) { - return self->picture_size; +void common_hal_camera_set_width(camera_obj_t *self, uint16_t width) { + self->width = width; } -camera_imagesize_t common_hal_camera_get_size(camera_obj_t *self) { - return self->size; +uint16_t common_hal_camera_get_height(camera_obj_t *self) { + return self->height; } -void common_hal_camera_set_size(camera_obj_t *self, camera_imagesize_t size) { - uint16_t width, height; - - camera_size_to_width_and_height(size, &width, &height); - - self->buffer_size = (size_t)(width * height * 2 / JPG_COMPRESS_RATIO);; - self->buffer = m_realloc(self->buffer, self->buffer_size); - if (self->buffer == NULL) { - mp_raise_msg(&mp_type_MemoryError, translate("Couldn't allocate picture buffer")); - } - self->picture_buffer = self->buffer; - while ((uint32_t)self->picture_buffer % SPRESENSE_CAMIMAGE_MEM_ALIGN != 0) { - self->picture_buffer++; - } - - camera_set_format(V4L2_BUF_TYPE_STILL_CAPTURE, V4L2_PIX_FMT_JPEG, width, height); +void common_hal_camera_set_height(camera_obj_t *self, uint16_t height) { + self->height = height; } diff --git a/ports/cxd56/common-hal/camera/Camera.h b/ports/cxd56/common-hal/camera/Camera.h index 1eb63ace1..11fc10208 100644 --- a/ports/cxd56/common-hal/camera/Camera.h +++ b/ports/cxd56/common-hal/camera/Camera.h @@ -29,15 +29,10 @@ #include "py/obj.h" -#include "shared-bindings/camera/ImageSize.h" - typedef struct { mp_obj_base_t base; - uint8_t *buffer; - size_t buffer_size; - uint8_t *picture_buffer; - size_t picture_size; - camera_imagesize_t size; + uint16_t width; + uint16_t height; } camera_obj_t; #endif // MICROPY_INCLUDED_CXD56_COMMON_HAL_CAMERA_CAMERA_H diff --git a/ports/cxd56/common-hal/camera/ImageSize.c b/ports/cxd56/common-hal/camera/ImageSize.c deleted file mode 100644 index e69de29bb..000000000 diff --git a/py/circuitpy_defns.mk b/py/circuitpy_defns.mk index f72c821e5..6e98af868 100644 --- a/py/circuitpy_defns.mk +++ b/py/circuitpy_defns.mk @@ -315,7 +315,6 @@ SRC_COMMON_HAL_ALL = \ busio/__init__.c \ camera/__init__.c \ camera/Camera.c \ - camera/ImageSize.c \ countio/Counter.c \ countio/__init__.c \ digitalio/DigitalInOut.c \ @@ -386,6 +385,7 @@ $(filter $(SRC_PATTERNS), \ _bleio/Attribute.c \ _bleio/ScanEntry.c \ _eve/__init__.c \ + camera/ImageFormat.c \ digitalio/Direction.c \ digitalio/DriveMode.c \ digitalio/Pull.c \ diff --git a/shared-bindings/camera/Camera.c b/shared-bindings/camera/Camera.c index 3855fed3c..3b839d802 100644 --- a/shared-bindings/camera/Camera.c +++ b/shared-bindings/camera/Camera.c @@ -48,37 +48,38 @@ //| vfs = storage.VfsFat(sd) //| storage.mount(vfs, '/sd') //| -//| cam = camera.Camera(camera.ImageSize.IMAGE_SIZE_1920x1080) +//| cam = camera.Camera(1920, 1080) //| +//| buffer = bytearray(512 * 1024) //| file = open("/sd/image.jpg","wb") -//| cam.take_picture() -//| file.write(cam.picture) +//| size = cam.take_picture() +//| file.write(buffer, size) //| file.close()""" //| -//| def __init__(self, ): +//| def __init__(self, width: int, height: int) -> None: //| """Initialize camera. //| -//| :param camera.ImageSize size: image size""" +//| :param int width: Width in pixels +//| :param int height: Height in pixels""" //| ... //| STATIC mp_obj_t camera_make_new(const mp_obj_type_t *type, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { camera_obj_t *self = m_new_obj(camera_obj_t); self->base.type = &camera_type; - enum { ARG_size }; + enum { ARG_width, ARG_height }; static const mp_arg_t allowed_args[] = { - { MP_QSTR_size, MP_ARG_REQUIRED | MP_ARG_OBJ }, + { MP_QSTR_width, MP_ARG_REQUIRED | MP_ARG_INT }, + { MP_QSTR_height, MP_ARG_REQUIRED | MP_ARG_INT }, }; mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); - camera_imagesize_t size = camera_imagesize_obj_to_type(args[ARG_size].u_obj); - - common_hal_camera_construct(self, size); + common_hal_camera_construct(self, args[ARG_width].u_int, args[ARG_height].u_int); return MP_OBJ_FROM_PTR(self); } -//| def deinit(self, ) -> Any: +//| def deinit(self) -> None: //| """De-initialize camera.""" //| ... //| @@ -95,69 +96,84 @@ STATIC void check_for_deinit(camera_obj_t *self) { } } -//| def take_picture(self, ) -> Any: -//| """Take picture.""" +//| def take_picture(self, buf: WriteableBuffer, format: ImageFormat) -> int: +//| """Take picture and save to ``buf`` in the given ``format`` +//| +//| :return: the size of the picture taken +//| :rtype: int""" //| ... //| -STATIC mp_obj_t camera_obj_take_picture(mp_obj_t self_in) { - camera_obj_t *self = MP_OBJ_TO_PTR(self_in); +STATIC mp_obj_t camera_obj_take_picture(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { + enum { ARG_buffer, ARG_format }; + static const mp_arg_t allowed_args[] = { + { MP_QSTR_buffer, MP_ARG_REQUIRED | MP_ARG_OBJ }, + { MP_QSTR_format, MP_ARG_REQUIRED | MP_ARG_OBJ }, + }; + camera_obj_t *self = MP_OBJ_TO_PTR(pos_args[0]); check_for_deinit(self); + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); - common_hal_camera_take_picture(self); - return mp_const_none; + mp_buffer_info_t bufinfo; + mp_get_buffer_raise(args[ARG_buffer].u_obj, &bufinfo, MP_BUFFER_WRITE); + + camera_imageformat_t format = camera_imageformat_obj_to_type(args[ARG_format].u_obj); + + return MP_OBJ_NEW_SMALL_INT(common_hal_camera_take_picture(self, (uint8_t *)bufinfo.buf, bufinfo.len, format)); } -MP_DEFINE_CONST_FUN_OBJ_1(camera_take_picture_obj, camera_obj_take_picture); +MP_DEFINE_CONST_FUN_OBJ_KW(camera_take_picture_obj, 3, camera_obj_take_picture); -//| picture: Any = ... -//| """Image buffer.""" +//| width: int +//| """Image width in pixels.""" //| -STATIC mp_obj_t camera_obj_get_picture(mp_obj_t self_in) { +STATIC mp_obj_t camera_obj_get_width(mp_obj_t self_in) { + camera_obj_t *self = MP_OBJ_TO_PTR(self_in); + check_for_deinit(self); + return MP_OBJ_NEW_SMALL_INT(common_hal_camera_get_width(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(camera_get_width_obj, camera_obj_get_width); + +STATIC mp_obj_t camera_obj_set_width(mp_obj_t self_in, mp_obj_t value) { camera_obj_t *self = MP_OBJ_TO_PTR(self_in); check_for_deinit(self); - uint8_t *buffer = common_hal_camera_get_picture_buffer(self); - size_t size = common_hal_camera_get_picture_size(self); + common_hal_camera_set_width(self, mp_obj_get_int(value)); - return mp_obj_new_bytearray_by_ref(size, buffer); + return mp_const_none; } -MP_DEFINE_CONST_FUN_OBJ_1(camera_get_picture_obj, camera_obj_get_picture); +MP_DEFINE_CONST_FUN_OBJ_2(camera_set_width_obj, camera_obj_set_width); -const mp_obj_property_t camera_picture_obj = { +const mp_obj_property_t camera_width_obj = { .base.type = &mp_type_property, - .proxy = {(mp_obj_t)&camera_get_picture_obj, - (mp_obj_t)&mp_const_none_obj, + .proxy = {(mp_obj_t)&camera_get_width_obj, + (mp_obj_t)&camera_set_width_obj, (mp_obj_t)&mp_const_none_obj}, }; -//| size: Any = ... -//| """Image size.""" +//| height: int +//| """Image height in pixels.""" //| -STATIC mp_obj_t camera_obj_get_size(mp_obj_t self_in) { +STATIC mp_obj_t camera_obj_get_height(mp_obj_t self_in) { camera_obj_t *self = MP_OBJ_TO_PTR(self_in); check_for_deinit(self); - return camera_imagesize_type_to_obj(common_hal_camera_get_size(self)); + return MP_OBJ_NEW_SMALL_INT(common_hal_camera_get_height(self)); } -MP_DEFINE_CONST_FUN_OBJ_1(camera_get_size_obj, camera_obj_get_size); +MP_DEFINE_CONST_FUN_OBJ_1(camera_get_height_obj, camera_obj_get_height); -STATIC mp_obj_t camera_obj_set_size(mp_obj_t self_in, mp_obj_t value) { +STATIC mp_obj_t camera_obj_set_height(mp_obj_t self_in, mp_obj_t value) { camera_obj_t *self = MP_OBJ_TO_PTR(self_in); check_for_deinit(self); - camera_imagesize_t size = camera_imagesize_obj_to_type(value); - if (size == IMAGESIZE_NONE) { - mp_raise_ValueError(translate("Invalid image size.")); - } - - common_hal_camera_set_size(self, size); + common_hal_camera_set_height(self, mp_obj_get_int(value)); return mp_const_none; } -MP_DEFINE_CONST_FUN_OBJ_2(camera_set_size_obj, camera_obj_set_size); +MP_DEFINE_CONST_FUN_OBJ_2(camera_set_height_obj, camera_obj_set_height); -const mp_obj_property_t camera_size_obj = { +const mp_obj_property_t camera_height_obj = { .base.type = &mp_type_property, - .proxy = {(mp_obj_t)&camera_get_size_obj, - (mp_obj_t)&camera_set_size_obj, + .proxy = {(mp_obj_t)&camera_get_height_obj, + (mp_obj_t)&camera_set_height_obj, (mp_obj_t)&mp_const_none_obj}, }; @@ -165,14 +181,14 @@ STATIC const mp_rom_map_elem_t camera_locals_dict_table[] = { { MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&camera_deinit_obj) }, { MP_ROM_QSTR(MP_QSTR_take_picture), MP_ROM_PTR(&camera_take_picture_obj) }, - { MP_ROM_QSTR(MP_QSTR_picture), MP_ROM_PTR(&camera_picture_obj) }, - { MP_ROM_QSTR(MP_QSTR_size), MP_ROM_PTR(&camera_size_obj) }, + { MP_ROM_QSTR(MP_QSTR_width), MP_ROM_PTR(&camera_width_obj) }, + { MP_ROM_QSTR(MP_QSTR_height), MP_ROM_PTR(&camera_height_obj) }, }; STATIC MP_DEFINE_CONST_DICT(camera_locals_dict, camera_locals_dict_table); const mp_obj_type_t camera_type = { { &mp_type_type }, - .name = MP_QSTR_GNSS, + .name = MP_QSTR_Camera, .make_new = camera_make_new, .locals_dict = (mp_obj_dict_t*)&camera_locals_dict, }; diff --git a/shared-bindings/camera/Camera.h b/shared-bindings/camera/Camera.h index e70d2493e..7ef13cd07 100644 --- a/shared-bindings/camera/Camera.h +++ b/shared-bindings/camera/Camera.h @@ -28,18 +28,18 @@ #define MICROPY_INCLUDED_SHARED_BINDINGS_CAMERA_CAMERA_H #include "common-hal/camera/Camera.h" -#include "shared-bindings/camera/ImageSize.h" +#include "shared-bindings/camera/ImageFormat.h" extern const mp_obj_type_t camera_type; -void common_hal_camera_construct(camera_obj_t *self, camera_imagesize_t size); +void common_hal_camera_construct(camera_obj_t *self, uint16_t width, uint16_t height); void common_hal_camera_deinit(camera_obj_t *self); bool common_hal_camera_deinited(camera_obj_t *self); -void common_hal_camera_take_picture(camera_obj_t *self); +size_t common_hal_camera_take_picture(camera_obj_t *self, uint8_t *buffer, size_t len, camera_imageformat_t format); -uint8_t* common_hal_camera_get_picture_buffer(camera_obj_t *self); -size_t common_hal_camera_get_picture_size(camera_obj_t *self); -camera_imagesize_t common_hal_camera_get_size(camera_obj_t *self); -void common_hal_camera_set_size(camera_obj_t *self, camera_imagesize_t size); +uint16_t common_hal_camera_get_width(camera_obj_t *self); +void common_hal_camera_set_width(camera_obj_t *self, uint16_t width); +uint16_t common_hal_camera_get_height(camera_obj_t *self); +void common_hal_camera_set_height(camera_obj_t *self, uint16_t height); #endif // MICROPY_INCLUDED_SHARED_BINDINGS_CAMERA_CAMERA_H diff --git a/shared-bindings/camera/ImageFormat.c b/shared-bindings/camera/ImageFormat.c new file mode 100644 index 000000000..d4bdddc56 --- /dev/null +++ b/shared-bindings/camera/ImageFormat.c @@ -0,0 +1,93 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright 2020 Sony Semiconductor Solutions Corporation + * + * 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/camera/ImageFormat.h" + +//| class ImageFormat: +//| """Image format""" +//| +//| def __init__(self) -> None: +//| """Enum-like class to define the image format.""" +//| +//| JPG: ImageFormat +//| """JPG format.""" +//| +//| RGB565: ImageFormat +//| """RGB565 format.""" +//| +const mp_obj_type_t camera_imageformat_type; + +const camera_imageformat_obj_t camera_imageformat_jpg_obj = { + { &camera_imageformat_type }, +}; + +const camera_imageformat_obj_t camera_imageformat_rgb565_obj = { + { &camera_imageformat_type }, +}; + +camera_imageformat_t camera_imageformat_obj_to_type(mp_obj_t obj) { + if (obj == MP_ROM_PTR(&camera_imageformat_jpg_obj)) { + return IMAGEFORMAT_JPG; + } else if (obj == MP_ROM_PTR(&camera_imageformat_rgb565_obj)) { + return IMAGEFORMAT_RGB565; + } + return IMAGEFORMAT_NONE; +} + +mp_obj_t camera_imageformat_type_to_obj(camera_imageformat_t format) { + switch (format) { + case IMAGEFORMAT_JPG: + return (mp_obj_t)MP_ROM_PTR(&camera_imageformat_jpg_obj); + case IMAGEFORMAT_RGB565: + return (mp_obj_t)MP_ROM_PTR(&camera_imageformat_rgb565_obj); + case IMAGEFORMAT_NONE: + default: + return (mp_obj_t)MP_ROM_PTR(&mp_const_none_obj); + } +} + +STATIC const mp_rom_map_elem_t camera_imageformat_locals_dict_table[] = { + {MP_ROM_QSTR(MP_QSTR_JPG), MP_ROM_PTR(&camera_imageformat_jpg_obj)}, + {MP_ROM_QSTR(MP_QSTR_RGB565), MP_ROM_PTR(&camera_imageformat_rgb565_obj)}, +}; +STATIC MP_DEFINE_CONST_DICT(camera_imageformat_locals_dict, camera_imageformat_locals_dict_table); + +STATIC void camera_imageformat_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) { + qstr format = MP_QSTR_None; + if (MP_OBJ_TO_PTR(self_in) == MP_ROM_PTR(&camera_imageformat_jpg_obj)) { + format = MP_QSTR_JPG; + } else if (MP_OBJ_TO_PTR(self_in) == MP_ROM_PTR(&camera_imageformat_rgb565_obj)) { + format = MP_QSTR_RGB565; + } + mp_printf(print, "%q.%q.%q", MP_QSTR_camera, MP_QSTR_ImageSize, format); +} + +const mp_obj_type_t camera_imageformat_type = { + { &mp_type_type }, + .name = MP_QSTR_ImageFormat, + .print = camera_imageformat_print, + .locals_dict = (mp_obj_t)&camera_imageformat_locals_dict, +}; diff --git a/shared-bindings/camera/ImageFormat.h b/shared-bindings/camera/ImageFormat.h new file mode 100644 index 000000000..8abc88438 --- /dev/null +++ b/shared-bindings/camera/ImageFormat.h @@ -0,0 +1,49 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright 2020 Sony Semiconductor Solutions Corporation + * + * 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. + */ + +#ifndef MICROPY_INCLUDED_SHARED_BINDINGS_CAMERA_IMAGEFORMAT_H +#define MICROPY_INCLUDED_SHARED_BINDINGS_CAMERA_IMAGEFORMAT_H + +#include "py/obj.h" + +typedef enum { + IMAGEFORMAT_NONE, + IMAGEFORMAT_JPG, + IMAGEFORMAT_RGB565, +} camera_imageformat_t; + +const mp_obj_type_t camera_imageformat_type; + +camera_imageformat_t camera_imageformat_obj_to_type(mp_obj_t obj); +mp_obj_t camera_imageformat_type_to_obj(camera_imageformat_t mode); + +typedef struct { + mp_obj_base_t base; +} camera_imageformat_obj_t; +extern const camera_imageformat_obj_t camera_imageformat_jpg_obj; +extern const camera_imageformat_obj_t camera_imageformat_rgb565_obj; + +#endif // MICROPY_INCLUDED_SHARED_BINDINGS_CAMERA_IMAGEFORMAT_H diff --git a/shared-bindings/camera/ImageSize.c b/shared-bindings/camera/ImageSize.c deleted file mode 100644 index bfa01814d..000000000 --- a/shared-bindings/camera/ImageSize.c +++ /dev/null @@ -1,163 +0,0 @@ -/* - * This file is part of the MicroPython project, http://micropython.org/ - * - * The MIT License (MIT) - * - * Copyright 2020 Sony Semiconductor Solutions Corporation - * - * 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/camera/ImageSize.h" - -//| class ImageSize: -//| """Image size""" -//| -//| def __init__(self) -> None: -//| """Enum-like class to define the image size.""" -//| -//| IMAGE_SIZE_320x240: ImageSize -//| """Image size 320x240.""" -//| -//| IMAGE_SIZE_640x480: ImageSize -//| """Image size 640x480.""" -//| -//| IMAGE_SIZE_1280x720: ImageSize -//| """Image size 1280x720.""" -//| -//| IMAGE_SIZE_1280x960: ImageSize -//| """Image size 1280x960.""" -//| -//| IMAGE_SIZE_1920x1080: ImageSize -//| """Image size 1920x1080.""" -//| -//| IMAGE_SIZE_2048x1536: ImageSize -//| """Image size 2048x1536.""" -//| -//| IMAGE_SIZE_2560x1920: ImageSize -//| """Image size 2560x1920.""" -//| -const mp_obj_type_t camera_imagesize_type; - -const camera_imagesize_obj_t camera_imagesize_320x240_obj = { - { &camera_imagesize_type }, -}; - -const camera_imagesize_obj_t camera_imagesize_640x320_obj = { - { &camera_imagesize_type }, -}; - -const camera_imagesize_obj_t camera_imagesize_1280x720_obj = { - { &camera_imagesize_type }, -}; - -const camera_imagesize_obj_t camera_imagesize_1280x960_obj = { - { &camera_imagesize_type }, -}; - -const camera_imagesize_obj_t camera_imagesize_1920x1080_obj = { - { &camera_imagesize_type }, -}; - -const camera_imagesize_obj_t camera_imagesize_2048x1536_obj = { - { &camera_imagesize_type }, -}; - -const camera_imagesize_obj_t camera_imagesize_2560x1920_obj = { - { &camera_imagesize_type }, -}; - -camera_imagesize_t camera_imagesize_obj_to_type(mp_obj_t obj) { - if (obj == MP_ROM_PTR(&camera_imagesize_320x240_obj)) { - return IMAGESIZE_320x240; - } else if (obj == MP_ROM_PTR(&camera_imagesize_640x320_obj)) { - return IMAGESIZE_640x320; - } else if (obj == MP_ROM_PTR(&camera_imagesize_1280x720_obj)) { - return IMAGESIZE_1280x720; - } else if (obj == MP_ROM_PTR(&camera_imagesize_1280x960_obj)) { - return IMAGESIZE_1280x960; - } else if (obj == MP_ROM_PTR(&camera_imagesize_1920x1080_obj)) { - return IMAGESIZE_1920x1080; - } else if (obj == MP_ROM_PTR(&camera_imagesize_2048x1536_obj)) { - return IMAGESIZE_2048x1536; - } else if (obj == MP_ROM_PTR(&camera_imagesize_2560x1920_obj)) { - return IMAGESIZE_2560x1920; - } - return IMAGESIZE_NONE; -} - -mp_obj_t camera_imagesize_type_to_obj(camera_imagesize_t size) { - switch (size) { - case IMAGESIZE_320x240: - return (mp_obj_t)MP_ROM_PTR(&camera_imagesize_320x240_obj); - case IMAGESIZE_640x320: - return (mp_obj_t)MP_ROM_PTR(&camera_imagesize_640x320_obj); - case IMAGESIZE_1280x720: - return (mp_obj_t)MP_ROM_PTR(&camera_imagesize_1280x720_obj); - case IMAGESIZE_1280x960: - return (mp_obj_t)MP_ROM_PTR(&camera_imagesize_1280x960_obj); - case IMAGESIZE_1920x1080: - return (mp_obj_t)MP_ROM_PTR(&camera_imagesize_1920x1080_obj); - case IMAGESIZE_2048x1536: - return (mp_obj_t)MP_ROM_PTR(&camera_imagesize_2048x1536_obj); - case IMAGESIZE_2560x1920: - return (mp_obj_t)MP_ROM_PTR(&camera_imagesize_2560x1920_obj); - case IMAGESIZE_NONE: - default: - return (mp_obj_t)MP_ROM_PTR(&mp_const_none_obj); - } -} - -STATIC const mp_rom_map_elem_t camera_imagesize_locals_dict_table[] = { - {MP_ROM_QSTR(MP_QSTR_IMAGE_SIZE_320x240), MP_ROM_PTR(&camera_imagesize_320x240_obj)}, - {MP_ROM_QSTR(MP_QSTR_IMAGE_SIZE_640x320), MP_ROM_PTR(&camera_imagesize_640x320_obj)}, - {MP_ROM_QSTR(MP_QSTR_IMAGE_SIZE_1280x720), MP_ROM_PTR(&camera_imagesize_1280x720_obj)}, - {MP_ROM_QSTR(MP_QSTR_IMAGE_SIZE_1280x960), MP_ROM_PTR(&camera_imagesize_1280x960_obj)}, - {MP_ROM_QSTR(MP_QSTR_IMAGE_SIZE_1920x1080), MP_ROM_PTR(&camera_imagesize_1920x1080_obj)}, - {MP_ROM_QSTR(MP_QSTR_IMAGE_SIZE_2048x1536), MP_ROM_PTR(&camera_imagesize_2048x1536_obj)}, - {MP_ROM_QSTR(MP_QSTR_IMAGE_SIZE_2560x1920), MP_ROM_PTR(&camera_imagesize_2560x1920_obj)}, -}; -STATIC MP_DEFINE_CONST_DICT(camera_imagesize_locals_dict, camera_imagesize_locals_dict_table); - -STATIC void camera_imagesize_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) { - qstr size = MP_QSTR_None; - if (MP_OBJ_TO_PTR(self_in) == MP_ROM_PTR(&camera_imagesize_320x240_obj)) { - size = MP_QSTR_IMAGE_SIZE_320x240; - } else if (MP_OBJ_TO_PTR(self_in) == MP_ROM_PTR(&camera_imagesize_640x320_obj)) { - size = MP_QSTR_IMAGE_SIZE_640x320; - } else if (MP_OBJ_TO_PTR(self_in) == MP_ROM_PTR(&camera_imagesize_1280x720_obj)) { - size = MP_QSTR_IMAGE_SIZE_1280x720; - } else if (MP_OBJ_TO_PTR(self_in) == MP_ROM_PTR(&camera_imagesize_1280x960_obj)) { - size = MP_QSTR_IMAGE_SIZE_1280x960; - } else if (MP_OBJ_TO_PTR(self_in) == MP_ROM_PTR(&camera_imagesize_1920x1080_obj)) { - size = MP_QSTR_IMAGE_SIZE_1920x1080; - } else if (MP_OBJ_TO_PTR(self_in) == MP_ROM_PTR(&camera_imagesize_2048x1536_obj)) { - size = MP_QSTR_IMAGE_SIZE_2048x1536; - } else if (MP_OBJ_TO_PTR(self_in) == MP_ROM_PTR(&camera_imagesize_2560x1920_obj)) { - size = MP_QSTR_IMAGE_SIZE_2560x1920; - } - mp_printf(print, "%q.%q.%q", MP_QSTR_camera, MP_QSTR_ImageSize, size); -} - -const mp_obj_type_t camera_imagesize_type = { - { &mp_type_type }, - .name = MP_QSTR_ImageSize, - .print = camera_imagesize_print, - .locals_dict = (mp_obj_t)&camera_imagesize_locals_dict, -}; diff --git a/shared-bindings/camera/ImageSize.h b/shared-bindings/camera/ImageSize.h deleted file mode 100644 index 3fe624e06..000000000 --- a/shared-bindings/camera/ImageSize.h +++ /dev/null @@ -1,59 +0,0 @@ -/* - * This file is part of the MicroPython project, http://micropython.org/ - * - * The MIT License (MIT) - * - * Copyright 2020 Sony Semiconductor Solutions Corporation - * - * 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. - */ - -#ifndef MICROPY_INCLUDED_SHARED_BINDINGS_CAMERA_IMAGESIZE_H -#define MICROPY_INCLUDED_SHARED_BINDINGS_CAMERA_IMAGESIZE_H - -#include "py/obj.h" - -typedef enum { - IMAGESIZE_NONE, - IMAGESIZE_320x240, - IMAGESIZE_640x320, - IMAGESIZE_1280x720, - IMAGESIZE_1280x960, - IMAGESIZE_1920x1080, - IMAGESIZE_2048x1536, - IMAGESIZE_2560x1920, -} camera_imagesize_t; - -const mp_obj_type_t camera_imagesize_type; - -camera_imagesize_t camera_imagesize_obj_to_type(mp_obj_t obj); -mp_obj_t camera_imagesize_type_to_obj(camera_imagesize_t mode); - -typedef struct { - mp_obj_base_t base; -} camera_imagesize_obj_t; -extern const camera_imagesize_obj_t camera_imagesize_320x240_obj; -extern const camera_imagesize_obj_t camera_imagesize_640x320_obj; -extern const camera_imagesize_obj_t camera_imagesize_1280x720_obj; -extern const camera_imagesize_obj_t camera_imagesize_1280x960_obj; -extern const camera_imagesize_obj_t camera_imagesize_1920x1080_obj; -extern const camera_imagesize_obj_t camera_imagesize_2048x1536_obj; -extern const camera_imagesize_obj_t camera_imagesize_2560x1920_obj; - -#endif // MICROPY_INCLUDED_SHARED_BINDINGS_CAMERA_IMAGESIZE_H diff --git a/shared-bindings/camera/__init__.c b/shared-bindings/camera/__init__.c index 3398d1ade..28cf7df57 100644 --- a/shared-bindings/camera/__init__.c +++ b/shared-bindings/camera/__init__.c @@ -39,7 +39,7 @@ STATIC const mp_rom_map_elem_t camera_module_globals_table[] = { { MP_ROM_QSTR(MP_QSTR_Camera), MP_ROM_PTR(&camera_type) }, // Enum-like Classes. - { MP_ROM_QSTR(MP_QSTR_ImageSize), MP_ROM_PTR(&camera_imagesize_type) }, + { MP_ROM_QSTR(MP_QSTR_ImageSize), MP_ROM_PTR(&camera_imageformat_type) }, }; STATIC MP_DEFINE_CONST_DICT(camera_module_globals, camera_module_globals_table); -- cgit v1.2.3 From a8e98cda83119b8716533ce24af6e3d691f7d2ca Mon Sep 17 00:00:00 2001 From: Jeff Epler Date: Wed, 16 Sep 2020 07:58:55 -0500 Subject: makeqstrdata: comment my understanding of @ciscorn's code --- py/makeqstrdata.py | 14 ++++++++++++++ 1 file changed, 14 insertions(+) (limited to 'py') diff --git a/py/makeqstrdata.py b/py/makeqstrdata.py index 006021791..39d4a6840 100644 --- a/py/makeqstrdata.py +++ b/py/makeqstrdata.py @@ -156,6 +156,14 @@ def compute_huffman_coding(translations, compression_filename): sum_len = 0 while True: + # Until the dictionary is filled to capacity, use a heuristic to find + # the best "word" (2- to 9-gram) to add to it. + # + # The TextSplitter allows us to avoid considering parts of the text + # that are already covered by a previously chosen word, for example + # if "the" is in words then not only will "the" not be considered + # again, neither will "there" or "wither", since they have "the" + # as substrings. extractor = TextSplitter(words) counter = collections.Counter() for t in texts: @@ -164,6 +172,8 @@ def compute_huffman_coding(translations, compression_filename): for substr in iter_substrings(word, minlen=2, maxlen=9): counter[substr] += 1 + # Score the candidates we found. This is an empirical formula only, + # chosen for its effectiveness. scores = sorted( ( (s, (len(s) - 1) ** log(max(occ - 2, 1)), occ) @@ -173,6 +183,8 @@ def compute_huffman_coding(translations, compression_filename): reverse=True, ) + # Do we have a "word" that occurred 5 times and got a score of at least + # 5? Horray. Pick the one with the highest score. word = None for (s, score, occ) in scores: if occ < 5: @@ -182,6 +194,8 @@ def compute_huffman_coding(translations, compression_filename): word = s break + # If we can successfully add it to the dictionary, do so. Otherwise, + # we've filled the dictionary to capacity and are done. if not word: break if sum_len + len(word) - 2 > max_words_len: -- cgit v1.2.3 From bfbbbd6c5ce58ba1bcb57323566209902e1000b0 Mon Sep 17 00:00:00 2001 From: Jeff Epler Date: Sat, 19 Sep 2020 10:16:13 -0500 Subject: makeqstrdata: Work with older Python This construct (which I added without sufficient testing, apparently) is only supported in Python 3.7 and newer. Make it optional so that this script works on other Python versions. This means that if you have a system with non-UTF-8 encoding you will need to use Python 3.7. In particular, this affects a problem building circuitpython in github's ubuntu-18.04 virtual environment when Python 3.7 is not explicitly installed. cookie-cuttered libraries call for Python 3.6: ``` - name: Set up Python 3.6 uses: actions/setup-python@v1 with: python-version: 3.6 ``` Since CircuitPython's own build calls for 3.8, this problem was not detected. This problem was also encountered by discord user mdroberts1243. The failure I encountered was here: https://github.com/jepler/Jepler_CircuitPython_udecimal/runs/1138045020?check_suite_focus=true .. while my step of "clone and build circuitpython unix port" is unusual, I think the same problem would have affected "build assets" if that step had been reached. --- py/makeqstrdata.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) (limited to 'py') diff --git a/py/makeqstrdata.py b/py/makeqstrdata.py index 39d4a6840..96e3956b4 100644 --- a/py/makeqstrdata.py +++ b/py/makeqstrdata.py @@ -17,8 +17,9 @@ import collections import gettext import os.path -sys.stdout.reconfigure(encoding='utf-8') -sys.stderr.reconfigure(errors='backslashreplace') +if hasattr(sys.stdout, 'reconfigure'): + sys.stdout.reconfigure(encoding='utf-8') + sys.stderr.reconfigure(errors='backslashreplace') py = os.path.dirname(sys.argv[0]) top = os.path.dirname(py) -- cgit v1.2.3 From 0318eb359fbeb91c6b37ed2050e57711ec2740bc Mon Sep 17 00:00:00 2001 From: Jeff Epler Date: Mon, 21 Sep 2020 10:02:27 -0500 Subject: makeqstrdata: Work around python3.6 compatibility problem Discord user Folknology encountered a problem building with Python 3.6.9, `TypeError: ord() expected a character, but string of length 0 found`. I was able to reproduce the problem using Python3.5*, and discovered that the meaning of the regular expression `"|."` had changed in 3.7. Before, ``` >>> [m.group(0) for m in re.finditer("|.", "hello")] ['', '', '', '', '', ''] ``` After: ``` >>> [m.group(0) for m in re.finditer("|.", "hello")] ['', 'h', '', 'e', '', 'l', '', 'l', '', 'o', ''] ``` Check if `words` is empty and if so use `"."` as the regular expression instead. This gives the same result on both versions: ``` ['h', 'e', 'l', 'l', 'o'] ``` and fixes the generation of the huffman dictionary. Folknology verified that this fix worked for them. * I could easily install 3.5 but not 3.6. 3.5 reproduced the same problem --- py/makeqstrdata.py | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) (limited to 'py') diff --git a/py/makeqstrdata.py b/py/makeqstrdata.py index 96e3956b4..b4f4f1b03 100644 --- a/py/makeqstrdata.py +++ b/py/makeqstrdata.py @@ -109,7 +109,11 @@ class TextSplitter: def __init__(self, words): words.sort(key=lambda x: len(x), reverse=True) self.words = set(words) - self.pat = re.compile("|".join(re.escape(w) for w in words) + "|.", flags=re.DOTALL) + if words: + pat = "|".join(re.escape(w) for w in words) + "|." + else: + pat = "." + self.pat = re.compile(pat, flags=re.DOTALL) def iter_words(self, text): s = [] -- cgit v1.2.3 From e7a213a11420ed362dfb672cd0fa6e77c032fa07 Mon Sep 17 00:00:00 2001 From: Jeff Epler Date: Wed, 16 Sep 2020 11:57:09 -0500 Subject: py: Add enum helper code This makes it much easier to implement enums, and the printing code is shared. We might want to convert other enums to this in the future. --- py/enum.c | 52 ++++++++++++++++++++++++++++++++++++++++++++++++++ py/enum.h | 65 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ py/py.mk | 1 + 3 files changed, 118 insertions(+) create mode 100644 py/enum.c create mode 100644 py/enum.h (limited to 'py') diff --git a/py/enum.c b/py/enum.c new file mode 100644 index 000000000..02a85a168 --- /dev/null +++ b/py/enum.c @@ -0,0 +1,52 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * SPDX-FileCopyrightText: 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 "py/enum.h" +#include "py/runtime.h" + +mp_obj_t cp_enum_find(const mp_obj_type_t *type, int value) { + const mp_obj_dict_t *dict = type->locals_dict; + for (size_t i=0; imap.used; i++) { + const cp_enum_obj_t *v = dict->map.table[i].value; + if (v->value == value) { + return (mp_obj_t)v; + } + } + return mp_const_none; +} + +int cp_enum_value(const mp_obj_type_t *type, mp_obj_t *obj) { + if (!MP_OBJ_IS_TYPE(obj, type)) { + mp_raise_TypeError_varg(translate("Expected a %q"), type->name); + } + return ((cp_enum_obj_t*)MP_OBJ_TO_PTR(obj))->value; +} + +void cp_enum_obj_print_helper(uint16_t module, const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) { + (void) kind; + cp_enum_obj_t *self = self_in; + mp_printf(print, "%q.%q.%q", module, self->base.type->name, self->name); +} diff --git a/py/enum.h b/py/enum.h new file mode 100644 index 000000000..1c38ae5ae --- /dev/null +++ b/py/enum.h @@ -0,0 +1,65 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * SPDX-FileCopyrightText: Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#pragma once + +#include "py/obj.h" + +typedef struct { + mp_obj_base_t base; + int16_t value; + int16_t name; +} cp_enum_obj_t; + +#define MAKE_ENUM_VALUE(type, prefix, name, value) \ + STATIC const cp_enum_obj_t prefix ## _ ## name ## _obj = { \ + { &type }, value, MP_QSTR_ ## name, \ + } + +#define MAKE_ENUM_MAP(name) \ + STATIC const mp_rom_map_elem_t name ## _locals_table[] = + +#define MAKE_ENUM_MAP_ENTRY(prefix, name) \ + { MP_ROM_QSTR(MP_QSTR_ ## name), MP_ROM_PTR(&prefix ## _ ## name ## _obj) } + +#define MAKE_PRINTER(module, typename) \ + STATIC void typename ## _ ## print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) { \ + cp_enum_obj_print_helper(MP_QSTR_ ## module, print, self_in, kind); \ + } + +#define MAKE_ENUM_TYPE(module, type, typename) \ + const mp_obj_type_t typename ## _type = { \ + { &mp_type_type }, \ + .name = MP_QSTR_ ## type, \ + .print = typename ## _print, \ + .locals_dict = (mp_obj_t)&typename ## _locals_dict, \ + } + + + +mp_obj_t cp_enum_find(const mp_obj_type_t *type, int value); +int cp_enum_value(const mp_obj_type_t *type, mp_obj_t *obj); +void cp_enum_obj_print_helper(uint16_t module, const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind); diff --git a/py/py.mk b/py/py.mk index 49fb0acaf..acf5d127b 100644 --- a/py/py.mk +++ b/py/py.mk @@ -181,6 +181,7 @@ PY_CORE_O_BASENAME = $(addprefix py/,\ argcheck.o \ warning.o \ map.o \ + enum.o \ obj.o \ objarray.o \ objattrtuple.o \ -- cgit v1.2.3 From a2e1867f69ec2d703a9651e5c36a02b0e14dfd9c Mon Sep 17 00:00:00 2001 From: Jeff Epler Date: Thu, 20 Aug 2020 11:08:00 -0500 Subject: _canio: Minimal implementation for SAM E5x MCUs Tested & working: * Send standard packets * Receive standard packets (1 FIFO, no filter) Interoperation between SAM E54 Xplained running this tree and MicroPython running on STM32F405 Feather with an external transceiver was also tested. Many other aspects of a full implementation are not yet present, such as error detection and recovery. --- main.c | 8 + ports/atmel-samd/Makefile | 4 + .../asf4_conf/same54/peripheral_clk_config.h | 82 +++++ ports/atmel-samd/boards/common.template.ld | 7 +- .../boards/same54_xplained/mpconfigboard.mk | 1 + ports/atmel-samd/boards/same54_xplained/pins.c | 5 +- ports/atmel-samd/common-hal/_canio/CAN.c | 384 +++++++++++++++++++++ ports/atmel-samd/common-hal/_canio/CAN.h | 62 ++++ ports/atmel-samd/common-hal/_canio/Listener.c | 117 +++++++ ports/atmel-samd/common-hal/_canio/Listener.h | 53 +++ ports/atmel-samd/common-hal/_canio/__init__.c | 25 ++ ports/atmel-samd/common-hal/_canio/__init__.h | 62 ++++ ports/atmel-samd/tools/mkcandata.py | 31 ++ py/circuitpy_defns.mk | 9 + py/circuitpy_mpconfig.h | 8 + py/circuitpy_mpconfig.mk | 3 + shared-bindings/_canio/CAN.c | 338 ++++++++++++++++++ shared-bindings/_canio/CAN.h | 31 ++ shared-bindings/_canio/Listener.c | 197 +++++++++++ shared-bindings/_canio/Listener.h | 31 ++ shared-bindings/_canio/Match.c | 140 ++++++++ shared-bindings/_canio/Match.h | 33 ++ shared-bindings/_canio/Message.c | 213 ++++++++++++ shared-bindings/_canio/Message.h | 31 ++ shared-bindings/_canio/__init__.c | 73 ++++ shared-bindings/_canio/__init__.h | 29 ++ shared-module/_canio/Match.c | 43 +++ shared-module/_canio/Match.h | 41 +++ shared-module/_canio/Message.c | 85 +++++ shared-module/_canio/Message.h | 47 +++ 30 files changed, 2190 insertions(+), 3 deletions(-) create mode 100644 ports/atmel-samd/common-hal/_canio/CAN.c create mode 100644 ports/atmel-samd/common-hal/_canio/CAN.h create mode 100644 ports/atmel-samd/common-hal/_canio/Listener.c create mode 100644 ports/atmel-samd/common-hal/_canio/Listener.h create mode 100644 ports/atmel-samd/common-hal/_canio/__init__.c create mode 100644 ports/atmel-samd/common-hal/_canio/__init__.h create mode 100755 ports/atmel-samd/tools/mkcandata.py create mode 100644 shared-bindings/_canio/CAN.c create mode 100644 shared-bindings/_canio/CAN.h create mode 100644 shared-bindings/_canio/Listener.c create mode 100644 shared-bindings/_canio/Listener.h create mode 100644 shared-bindings/_canio/Match.c create mode 100644 shared-bindings/_canio/Match.h create mode 100644 shared-bindings/_canio/Message.c create mode 100644 shared-bindings/_canio/Message.h create mode 100644 shared-bindings/_canio/__init__.c create mode 100644 shared-bindings/_canio/__init__.h create mode 100644 shared-module/_canio/Match.c create mode 100644 shared-module/_canio/Match.h create mode 100644 shared-module/_canio/Message.c create mode 100644 shared-module/_canio/Message.h (limited to 'py') diff --git a/main.c b/main.c index 5b719dc4b..f259fea3f 100755 --- a/main.c +++ b/main.c @@ -81,6 +81,10 @@ #include "supervisor/shared/bluetooth.h" #endif +#if CIRCUITPY_CANIO +#include "common-hal/_canio/CAN.h" +#endif + void do_str(const char *src, mp_parse_input_kind_t input_kind) { mp_lexer_t *lex = mp_lexer_new_from_str_len(MP_QSTR__lt_stdin_gt_, src, strlen(src), 0); if (lex == NULL) { @@ -226,6 +230,10 @@ void cleanup_after_vm(supervisor_allocation* heap) { free_memory(heap); supervisor_move_memory(); + #ifdef CIRCUITPY_CANIO + common_hal_canio_reset(); + #endif + reset_port(); #if CIRCUITPY_BOARD reset_board_busses(); diff --git a/ports/atmel-samd/Makefile b/ports/atmel-samd/Makefile index aba630dbb..1ee21679d 100644 --- a/ports/atmel-samd/Makefile +++ b/ports/atmel-samd/Makefile @@ -393,6 +393,10 @@ SRC_QSTR += $(HEADER_BUILD)/sdiodata.h $(HEADER_BUILD)/sdiodata.h: tools/mksdiodata.py | $(HEADER_BUILD) $(Q)$(PYTHON3) $< > $@ +SRC_QSTR += $(HEADER_BUILD)/candata.h +$(HEADER_BUILD)/candata.h: tools/mkcandata.py | $(HEADER_BUILD) + $(Q)$(PYTHON3) $< > $@ + SRC_QSTR += $(SRC_C) $(SRC_SUPERVISOR) $(SRC_COMMON_HAL_EXPANDED) $(SRC_SHARED_MODULE_EXPANDED) # Sources that only hold QSTRs after pre-processing. SRC_QSTR_PREPROCESSOR += peripherals/samd/$(PERIPHERALS_CHIP_FAMILY)/clocks.c diff --git a/ports/atmel-samd/asf4_conf/same54/peripheral_clk_config.h b/ports/atmel-samd/asf4_conf/same54/peripheral_clk_config.h index 59fe8730e..51173f6d3 100644 --- a/ports/atmel-samd/asf4_conf/same54/peripheral_clk_config.h +++ b/ports/atmel-samd/asf4_conf/same54/peripheral_clk_config.h @@ -1165,6 +1165,88 @@ #define CONF_SDHC1_SLOW_FREQUENCY 12000000 #endif +// CAN Clock Settings +// CAN Clock source + +// Generic clock generator 0 + +// Generic clock generator 1 + +// Generic clock generator 2 + +// Generic clock generator 3 + +// Generic clock generator 4 + +// Generic clock generator 5 + +// Generic clock generator 6 + +// Generic clock generator 7 + +// Generic clock generator 8 + +// Generic clock generator 9 + +// Generic clock generator 10 + +// Generic clock generator 11 + +// Select the clock source for CAN. +// sdhc_gclk_selection +#ifndef CONF_GCLK_CAN0_SRC +#define CONF_GCLK_CAN0_SRC GCLK_PCHCTRL_GEN_GCLK0_Val +#endif + +/** + * \def CAN FREQUENCY + * \brief CAN's Clock frequency + */ +#ifndef CONF_CAN0_FREQUENCY +#define CONF_CAN0_FREQUENCY 120000000 +#endif + +// CAN Clock Settings +// CAN Clock source + +// Generic clock generator 0 + +// Generic clock generator 1 + +// Generic clock generator 2 + +// Generic clock generator 3 + +// Generic clock generator 4 + +// Generic clock generator 5 + +// Generic clock generator 6 + +// Generic clock generator 7 + +// Generic clock generator 8 + +// Generic clock generator 9 + +// Generic clock generator 10 + +// Generic clock generator 11 + +// Select the clock source for CAN. +// sdhc_gclk_selection +#ifndef CONF_GCLK_CAN1_SRC +#define CONF_GCLK_CAN1_SRC GCLK_PCHCTRL_GEN_GCLK0_Val +#endif + +/** + * \def CAN FREQUENCY + * \brief CAN's Clock frequency + */ +#ifndef CONF_CAN1_FREQUENCY +#define CONF_CAN1_FREQUENCY 120000000 +#endif + // <<< end of configuration section >>> #endif // PERIPHERAL_CLK_CONFIG_H diff --git a/ports/atmel-samd/boards/common.template.ld b/ports/atmel-samd/boards/common.template.ld index 1054605c8..19e4753f8 100644 --- a/ports/atmel-samd/boards/common.template.ld +++ b/ports/atmel-samd/boards/common.template.ld @@ -51,6 +51,7 @@ SECTIONS { . = ALIGN(4); _srelocate = .; /* create a global symbol at data start; used by startup code in order to initialize the .data section in RAM */ + . = ALIGN(4); *(.ramfunc) *(.ramfunc*) *(.data) /* .data sections */ @@ -61,11 +62,15 @@ SECTIONS } >RAM /* Uninitialized data section */ - .bss : + .bss (NOLOAD) : { . = ALIGN(4); _sbss = .; _szero = .; /* define a global symbol at bss start; used by startup code */ + /* Data accessed by the CAN peripheral must be in the first 64kB RAM */ + _scanram = .; + *(.canram) + _ecanram = .; *(.bss) *(.bss*) *(COMMON) diff --git a/ports/atmel-samd/boards/same54_xplained/mpconfigboard.mk b/ports/atmel-samd/boards/same54_xplained/mpconfigboard.mk index 7ac126514..e4472e05d 100644 --- a/ports/atmel-samd/boards/same54_xplained/mpconfigboard.mk +++ b/ports/atmel-samd/boards/same54_xplained/mpconfigboard.mk @@ -12,3 +12,4 @@ EXTERNAL_FLASH_DEVICES = "N25Q256A" LONGINT_IMPL = MPZ CIRCUITPY_SDIOIO = 1 +CIRCUITPY_CANIO = 1 diff --git a/ports/atmel-samd/boards/same54_xplained/pins.c b/ports/atmel-samd/boards/same54_xplained/pins.c index 8a864ab97..1ed431fba 100644 --- a/ports/atmel-samd/boards/same54_xplained/pins.c +++ b/ports/atmel-samd/boards/same54_xplained/pins.c @@ -48,8 +48,9 @@ STATIC const mp_rom_map_elem_t board_global_dict_table[] = { { MP_OBJ_NEW_QSTR(MP_QSTR_QT), MP_ROM_PTR(&pin_PA16) }, - { MP_OBJ_NEW_QSTR(MP_QSTR_CANRX), MP_ROM_PTR(&pin_PB12) }, - { MP_OBJ_NEW_QSTR(MP_QSTR_CANTX), MP_ROM_PTR(&pin_PB13) }, + { MP_OBJ_NEW_QSTR(MP_QSTR_CAN_RX), MP_ROM_PTR(&pin_PB13) }, + { MP_OBJ_NEW_QSTR(MP_QSTR_CAN_TX), MP_ROM_PTR(&pin_PB12) }, + { MP_OBJ_NEW_QSTR(MP_QSTR_CAN_STANDBY), MP_ROM_PTR(&pin_PC13) }, // EXT1 header { MP_OBJ_NEW_QSTR(MP_QSTR_PB04), MP_ROM_PTR(&pin_PB04) }, diff --git a/ports/atmel-samd/common-hal/_canio/CAN.c b/ports/atmel-samd/common-hal/_canio/CAN.c new file mode 100644 index 000000000..dcd269495 --- /dev/null +++ b/ports/atmel-samd/common-hal/_canio/CAN.c @@ -0,0 +1,384 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#include + +#include "py/runtime.h" +#include "py/mperrno.h" + +#include "peripheral_clk_config.h" + +#include "common-hal/_canio/CAN.h" +#include "shared-bindings/microcontroller/Pin.h" +#include "shared-bindings/util.h" +#include "supervisor/port.h" + +#include "component/can.h" + +#include "genhdr/candata.h" + +STATIC Can * const can_insts[] = CAN_INSTS; + +STATIC canio_can_obj_t *can_objs[MP_ARRAY_SIZE(can_insts)]; + +// This must be placed in the first 64kB of RAM +STATIC COMPILER_SECTION(".canram") canio_can_state_t can_state[MP_ARRAY_SIZE(can_insts)]; + +__attribute__((optimize("O0"), noinline)) +void common_hal_canio_can_construct(canio_can_obj_t *self, mcu_pin_obj_t *rx, mcu_pin_obj_t *tx, int baudrate, bool loopback, bool silent) +{ + mcu_pin_function_t *tx_function = mcu_find_pin_function(can_tx, tx, -1, MP_QSTR_tx); + int instance = tx_function->instance; + + mcu_pin_function_t *rx_function = mcu_find_pin_function(can_rx, rx, instance, MP_QSTR_rx); + + const uint32_t can_frequency = CONF_CAN0_FREQUENCY; + +#define DIV_ROUND(a, b) (((a) + (b)/2) / (b)) +#define DIV_ROUND_UP(a, b) (((a) + (b) - 1) / (b)) + + uint32_t clocks_per_bit = DIV_ROUND(can_frequency, baudrate); + uint32_t clocks_to_sample = DIV_ROUND(clocks_per_bit * 7, 8); + uint32_t clocks_after_sample = clocks_per_bit - clocks_to_sample; + uint32_t divisor = MAX(DIV_ROUND_UP(clocks_to_sample, 256), DIV_ROUND_UP(clocks_after_sample, 128)); + if (divisor > 32) { + mp_raise_OSError(MP_EINVAL); // baudrate cannot be attained (16kHz or something is lower bound, should never happen) + } + + gpio_set_pin_direction(tx_function->pin, GPIO_DIRECTION_OUT); + gpio_set_pin_function(tx_function->pin, tx_function->function); + common_hal_never_reset_pin(tx_function->obj); + + if (rx_function) { + gpio_set_pin_direction(rx_function->pin, GPIO_DIRECTION_IN); + gpio_set_pin_function(rx_function->pin, rx_function->function); + common_hal_never_reset_pin(rx_function->obj); + } + + self->tx_pin_number = common_hal_mcu_pin_number(tx); + self->rx_pin_number = rx ? common_hal_mcu_pin_number(rx) : COMMON_HAL_MCU_NO_PIN; + self->hw = can_insts[instance]; + self->state = &can_state[instance]; + + self->loopback = loopback; + + // Allow configuration change + hri_can_set_CCCR_INIT_bit(self->hw); + while (hri_can_get_CCCR_INIT_bit(self->hw) == 0) { + } + hri_can_set_CCCR_CCE_bit(self->hw); + + if(instance == 0) { + hri_mclk_set_AHBMASK_CAN0_bit(MCLK); + hri_gclk_write_PCHCTRL_reg(GCLK, CAN0_GCLK_ID, CONF_GCLK_CAN0_SRC | (1 << GCLK_PCHCTRL_CHEN_Pos)); + + NVIC_DisableIRQ(CAN0_IRQn); + NVIC_ClearPendingIRQ(CAN0_IRQn); + NVIC_EnableIRQ(CAN0_IRQn); + hri_can_write_ILE_reg(self->hw, CAN_ILE_EINT0); +#ifdef CAN1_GCLK_ID + } else if(instance == 1) { + hri_mclk_set_AHBMASK_CAN1_bit(MCLK); + hri_gclk_write_PCHCTRL_reg(GCLK, CAN1_GCLK_ID, CONF_GCLK_CAN1_SRC | (1 << GCLK_PCHCTRL_CHEN_Pos)); + + NVIC_DisableIRQ(CAN1_IRQn); + NVIC_ClearPendingIRQ(CAN1_IRQn); + NVIC_EnableIRQ(CAN1_IRQn); + hri_can_write_ILE_reg(self->hw, CAN_ILE_EINT0); +#endif + } + + self->hw->CCCR.bit.FDOE = 0; // neither FD nor Bit Rate Switch enabled + self->hw->CCCR.bit.BRSE = 0; + + hri_can_write_MRCFG_reg(self->hw, CAN_MRCFG_QOS(CAN_MRCFG_QOS_DISABLE_Val)); // QoS disabled (no sensitive operation) + + // A "nominal bit" is a header bit. With dual rate CAN FD, this is a slower rate + { + CAN_NBTP_Type btp = { + // 0 means "1 tq", but 2 is subtracted from NTSEG1 for the + // fixed 1 "SYNC" tq + .bit.NTSEG1 = DIV_ROUND(clocks_to_sample, divisor) - 2, + .bit.NTSEG2 = DIV_ROUND(clocks_after_sample, divisor) - 1, + .bit.NBRP = divisor - 1, + .bit.NSJW = DIV_ROUND(clocks_after_sample, divisor * 4), + }; + hri_can_write_NBTP_reg(self->hw, btp.reg); + } + + // we don't do the high bit rate yet, so do we need to set this register? + // hri_can_write_DBTP_reg(self->hw, ???); + // A "data bit" is a data bit :) with dul rate CAN FD, this is a higher + // rate. However, CAN FD is not implemented in CircuitPython, and this is the same rate as + // the "nominal rate". + { + CAN_DBTP_Type btp = { + .bit.DTSEG1 = DIV_ROUND(clocks_to_sample, divisor) - 1, + .bit.DTSEG2 = DIV_ROUND(clocks_after_sample, divisor) - 1, + .bit.DBRP = divisor - 1, + .bit.DSJW = DIV_ROUND(clocks_after_sample, divisor * 4), + }; + hri_can_write_DBTP_reg(self->hw, btp.reg); + } + + { + CAN_RXF0C_Type rxf = { + .bit.F0SA = (uint32_t)self->state->rx0_fifo, + .bit.F0S = COMMON_HAL_CANIO_RX_FIFO_SIZE, + }; + hri_can_write_RXF0C_reg(self->hw, rxf.reg); + } + + { + CAN_RXF1C_Type rxf = { + .bit.F1SA = (uint32_t)self->state->rx1_fifo, + .bit.F1S = COMMON_HAL_CANIO_RX_FIFO_SIZE, + }; + hri_can_write_RXF1C_reg(self->hw, rxf.reg); + } + + // All RX data has an 8 byte payload (max) + { + CAN_RXESC_Type esc = { + .bit.F0DS = CAN_RXESC_F0DS_DATA8_Val, + .bit.F1DS = CAN_RXESC_F1DS_DATA8_Val, + .bit.RBDS = CAN_RXESC_RBDS_DATA8_Val, + }; + hri_can_write_RXESC_reg(self->hw, esc.reg); + } + + // All TX data has an 8 byte payload (max) + { + CAN_TXESC_Type esc = { + .bit.TBDS = CAN_TXESC_TBDS_DATA8_Val, + }; + hri_can_write_TXESC_reg(self->hw, esc.reg); + } + + { + CAN_TXBC_Type bc = { + .bit.TBSA = (uint32_t)self->state->tx_fifo, + .bit.NDTB = COMMON_HAL_CANIO_TX_FIFO_SIZE, + .bit.TFQM = 0, // Messages are transmitted in the order submitted + }; + hri_can_write_TXBC_reg(self->hw, bc.reg); + } + + { + CAN_TXEFC_Type efc = { + .bit.EFS = 0, + }; + hri_can_write_TXEFC_reg(self->hw, efc.reg); + } + + { + CAN_GFC_Type gfc = { + .bit.RRFE = 1, + .bit.ANFS = CAN_GFC_ANFS_RXF0_Val, + .bit.ANFE = CAN_GFC_ANFE_REJECT_Val, + }; + hri_can_write_GFC_reg(self->hw, gfc.reg); + } + + { + CAN_SIDFC_Type dfc = { + .bit.LSS = COMMON_HAL_CANIO_RX_FILTER_SIZE, + .bit.FLSSA = (uint32_t)self->state->rx_filter + }; + hri_can_write_SIDFC_reg(self->hw, dfc.reg); + } + + { + CAN_XIDFC_Type dfc = { + .bit.LSE = 0, + }; + hri_can_write_XIDFC_reg(self->hw, dfc.reg); + } + + hri_can_write_XIDAM_reg(self->hw, CAN_XIDAM_RESETVALUE); + +// silent: The CAN is set in Bus Monitoring Mode by programming CCCR.MON to '1'. (tx pin unused) +// external loopback: The CAN can be set in External Loop Back Mode by programming TEST.LBCK and CCCR.MON to '1'. (rx pin unused) +// internal loopback (silent loopback): Internal Loop Back Mode is entered by programming bits TEST.LBCK and CCCR.MON to '1'. (tx, rx unused) + self->hw->CCCR.bit.MON = silent; + self->hw->CCCR.bit.TEST = loopback; + self->hw->TEST.bit.LBCK = loopback; + + if(instance == 0) { + NVIC_DisableIRQ(CAN0_IRQn); + NVIC_ClearPendingIRQ(CAN0_IRQn); + NVIC_EnableIRQ(CAN0_IRQn); +#ifdef CAN1_GCLK_ID + } else if(instance == 1) { + NVIC_DisableIRQ(CAN1_IRQn); + NVIC_ClearPendingIRQ(CAN1_IRQn); + NVIC_EnableIRQ(CAN1_IRQn); +#endif + } + + hri_can_write_ILE_reg(self->hw, CAN_ILE_EINT0); + // Prevent configuration change + hri_can_clear_CCCR_CCE_bit(self->hw); + hri_can_clear_CCCR_INIT_bit(self->hw); + while (hri_can_get_CCCR_INIT_bit(self->hw)) { + } + + can_objs[instance] = self; +} + +int common_hal_canio_can_loopback_get(canio_can_obj_t *self) +{ + return self->loopback; +} + +int common_hal_canio_can_baudrate_get(canio_can_obj_t *self) +{ + return self->baudrate; +} + +int common_hal_canio_can_transmit_error_count_get(canio_can_obj_t *self) +{ + return -1; +} + +int common_hal_canio_can_receive_error_count_get(canio_can_obj_t *self) +{ + return -1; +} + +int common_hal_canio_can_error_warning_state_count_get(canio_can_obj_t *self) +{ + return -1; +} + +int common_hal_canio_can_error_passive_state_count_get(canio_can_obj_t *self) +{ + return -1; +} + +int common_hal_canio_can_bus_off_state_count_get(canio_can_obj_t *self) +{ + return -1; +} + +int common_hal_canio_can_state_get(canio_can_obj_t *self) { + return -1; +} + +void common_hal_canio_can_send(canio_can_obj_t *self, canio_message_obj_t *message) +{ + // We have just one dedicated TX buffer, use it! + canio_can_fifo_t *ent = &self->state->tx_fifo[0]; + ent->txb0.bit.ESI = false; + ent->txb0.bit.XTD = false; + ent->txb0.bit.RTR = message->rtr; + ent->txb0.bit.ID = message->id << 18; // short addresses are left-justified + + ent->txb1.bit.MM = 0; // "message marker" + ent->txb1.bit.EFC = 0; // don't store fifo events to event queue + ent->txb1.bit.FDF = 0; // Classic CAN format + ent->txb1.bit.BRS = 0; // No bit rate switching + ent->txb1.bit.DLC = message->size; + + if (!message->rtr) { + memcpy(ent->data, message->data, message->size); + } + + // TX buffer add request + self->hw->TXBAR.reg = 1; + + // wait 8ms (hard coded for now) for TX to occur + uint64_t deadline = port_get_raw_ticks(NULL) + 8; + while (port_get_raw_ticks(NULL) < deadline && !(self->hw->TXBTO.reg & 1)) { + RUN_BACKGROUND_TASKS; + } +} + +bool common_hal_canio_can_deinited(canio_can_obj_t *self) { + return !self->hw; +} + +void common_hal_canio_can_check_for_deinit(canio_can_obj_t *self) { + if(common_hal_canio_can_deinited(self)) { + raise_deinited_error(); + } +} + +void common_hal_canio_can_deinit(canio_can_obj_t *self) +{ + if (self->hw) { + hri_can_set_CCCR_INIT_bit(self->hw); + self->hw = 0; + } + if (self->rx_pin_number != COMMON_HAL_MCU_NO_PIN) { + reset_pin_number(self->rx_pin_number); + self->rx_pin_number = COMMON_HAL_MCU_NO_PIN; + } + if (self->tx_pin_number != COMMON_HAL_MCU_NO_PIN) { + reset_pin_number(self->tx_pin_number); + self->tx_pin_number = COMMON_HAL_MCU_NO_PIN; + } +} + +void common_hal_canio_reset(void) { + memset(can_state, 0, sizeof(can_state)); + + for (size_t i=0; i +#include + +#include "py/obj.h" +#include "py/runtime.h" + +#include "common-hal/_canio/__init__.h" +#include "common-hal/_canio/Listener.h" +#include "shared-bindings/util.h" +#include "supervisor/shared/tick.h" + +void common_hal_canio_listener_construct(canio_listener_obj_t *self, canio_can_obj_t *can, size_t nmatch, canio_match_obj_t **matches, float timeout) { + if (nmatch) { + mp_raise_NotImplementedError(NULL); + } + + if (!can->fifo0_in_use) { + self->fifo_idx = 0; + self->fifo = can->state->rx0_fifo; + self->hw = (canio_rxfifo_reg_t*)&can->hw->RXF0C; + can->hw->IR.reg = CAN_IR_RF0N | CAN_IR_RF0W | CAN_IR_RF0F | CAN_IR_RF0L; + can->fifo0_in_use = true; + } else if (!can->fifo1_in_use) { + self->fifo_idx = 1; + self->fifo = can->state->rx1_fifo; + self->hw = (canio_rxfifo_reg_t*)&can->hw->RXF1C; + can->fifo1_in_use = true; + can->hw->IR.reg = CAN_IR_RF1N | CAN_IR_RF1W | CAN_IR_RF1F | CAN_IR_RF1L; + } else { + mp_raise_ValueError(translate("All RX FIFOs in use")); + } + + self->can = can; + common_hal_canio_listener_set_timeout(self, timeout); +} + +void common_hal_canio_listener_set_timeout(canio_listener_obj_t *self, float timeout) { + self->timeout_ms = (int)MICROPY_FLOAT_C_FUN(ceil)(timeout * 1000); +} + +float common_hal_canio_listener_get_timeout(canio_listener_obj_t *self) { + return self->timeout_ms / 1000.0f; +} + +void common_hal_canio_listener_check_for_deinit(canio_listener_obj_t *self) { + if(!self->can) { + raise_deinited_error(); + } + common_hal_canio_can_check_for_deinit(self->can); +} + +int common_hal_canio_listener_in_waiting(canio_listener_obj_t *self) { + return self->hw->RXFS.bit.F0FL; +} + +bool common_hal_canio_listener_readinto(canio_listener_obj_t *self, canio_message_obj_t *message) { + if (!common_hal_canio_listener_in_waiting(self)) { + uint64_t deadline = supervisor_ticks_ms64() + self->timeout_ms; + do { + if(supervisor_ticks_ms64() > deadline) { + return false; + } + } while (!common_hal_canio_listener_in_waiting(self)); + } + int index = self->hw->RXFS.bit.F0GI; + canio_can_fifo_t *hw_message = &self->fifo[index]; + message->id = hw_message->rxb0.bit.ID >> 18; // short addresses are left-justified + message->rtr = hw_message->rxb0.bit.RTR; + message->size = hw_message->rxb1.bit.DLC; + if(!message->rtr) { + memcpy(message->data, hw_message->data, message->size); + } + self->hw->RXFA.bit.F0AI = index; + return true; +} + +void common_hal_canio_listener_deinit(canio_listener_obj_t *self) { + // free our FIFO, clear our matches, SOMETHING + if(self->can) { + if(self->fifo_idx == 0) { + self->can->fifo0_in_use = false; + } + if(self->fifo_idx == 1) { + self->can->fifo1_in_use = false; + } + } + self->fifo_idx = -1; + self->fifo = NULL; + self->can = NULL; + self->hw = NULL; +} diff --git a/ports/atmel-samd/common-hal/_canio/Listener.h b/ports/atmel-samd/common-hal/_canio/Listener.h new file mode 100644 index 000000000..cc6770e6e --- /dev/null +++ b/ports/atmel-samd/common-hal/_canio/Listener.h @@ -0,0 +1,53 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#pragma once + +#include "common-hal/_canio/CAN.h" +#include "shared-module/_canio/Match.h" + +typedef struct { + __IO CAN_RXF0C_Type RXFC; /**< \brief (R/W 32) Rx FIFO n Configuration */ + __I CAN_RXF0S_Type RXFS; /**< \brief (R/ 32) Rx FIFO n Status */ + __IO CAN_RXF0A_Type RXFA; /**< \brief (R/W 32) Rx FIFO n Acknowledge */ +} canio_rxfifo_reg_t; + +typedef struct { + mp_obj_base_t base; + canio_can_obj_t *can; + canio_can_fifo_t *fifo; + canio_rxfifo_reg_t *hw; + uint32_t timeout_ms; + uint8_t fifo_idx; +} canio_listener_obj_t; + +void common_hal_canio_listener_construct(canio_listener_obj_t *self, canio_can_obj_t *can, size_t nmatch, canio_match_obj_t **matches, float timeout); +void common_hal_canio_listener_check_for_deinit(canio_listener_obj_t *self); +void common_hal_canio_listener_deinit(canio_listener_obj_t *self); +bool common_hal_canio_listener_readinto(canio_listener_obj_t *self, canio_message_obj_t *message); +int common_hal_canio_listener_in_waiting(canio_listener_obj_t *self); +float common_hal_canio_listener_get_timeout(canio_listener_obj_t *self); +void common_hal_canio_listener_set_timeout(canio_listener_obj_t *self, float timeout); diff --git a/ports/atmel-samd/common-hal/_canio/__init__.c b/ports/atmel-samd/common-hal/_canio/__init__.c new file mode 100644 index 000000000..7932bfc2d --- /dev/null +++ b/ports/atmel-samd/common-hal/_canio/__init__.c @@ -0,0 +1,25 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ diff --git a/ports/atmel-samd/common-hal/_canio/__init__.h b/ports/atmel-samd/common-hal/_canio/__init__.h new file mode 100644 index 000000000..429369e18 --- /dev/null +++ b/ports/atmel-samd/common-hal/_canio/__init__.h @@ -0,0 +1,62 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#pragma once + +#include "hal/utils/include/utils.h" +#include "component/can.h" + +#define COMMON_HAL_CANIO_MAX_MESSAGE_LENGTH (8) +#define COMMON_HAL_CANIO_RX_FIFO_SIZE (3) +#define COMMON_HAL_CANIO_RX_FILTER_SIZE (4) +#define COMMON_HAL_CANIO_TX_FIFO_SIZE (1) + +typedef struct canio_listener canio_listener_t; +typedef struct canio_can canio_can_t; + +typedef struct { + union { + CAN_RXBE_0_Type rxb0; + CAN_TXBE_0_Type txb0; + CAN_RXF0E_0_Type rxf0; + }; + union { + CAN_RXBE_1_Type rxb1; + CAN_TXBE_1_Type txb1; + CAN_RXF0E_1_Type rxf1; + }; + COMPILER_ALIGNED(4) + uint8_t data[COMMON_HAL_CANIO_MAX_MESSAGE_LENGTH]; +} canio_can_fifo_t; + +typedef uint32_t canio_can_filter_t; + +typedef struct { + canio_can_fifo_t tx_fifo[COMMON_HAL_CANIO_TX_FIFO_SIZE]; + canio_can_fifo_t rx0_fifo[COMMON_HAL_CANIO_RX_FIFO_SIZE]; + canio_can_fifo_t rx1_fifo[COMMON_HAL_CANIO_RX_FIFO_SIZE]; + canio_can_filter_t rx_filter[COMMON_HAL_CANIO_RX_FILTER_SIZE]; +} canio_can_state_t; diff --git a/ports/atmel-samd/tools/mkcandata.py b/ports/atmel-samd/tools/mkcandata.py new file mode 100755 index 000000000..9668d2208 --- /dev/null +++ b/ports/atmel-samd/tools/mkcandata.py @@ -0,0 +1,31 @@ +#!/usr/bin/python3 + +def defines(name, suffix): + print(f'mcu_pin_function_t {name} [] = {{') + for instance in (0, 1): + for function in 'HI': + for port in 'ABCD': + for idx in range(32): + pin = f'P{port}{idx:02d}' + pinmux = f'PINMUX_{pin}{function}_CAN{instance}_{suffix}' + print(f'''\ +#if defined({pinmux}) && ! defined(IGNORE_PIN_{pin}) + {{&pin_{pin}, {instance}, PIN_{pin}, {pinmux} & 0xffff}}, +#endif''') + print(f'{{NULL, 0, 0}}') + print(f'}};') + print() + +print('''\ +#include +#include "py/obj.h" +#include "sam.h" +#include "samd/pins.h" +#include "mpconfigport.h" +#include "atmel_start_pins.h" +#include "hal/include/hal_gpio.h" +#include "common-hal/microcontroller/Pin.h" +''') + +defines('can_rx', 'RX') +defines('can_tx', 'TX') diff --git a/py/circuitpy_defns.mk b/py/circuitpy_defns.mk index 6e98af868..2614dc011 100644 --- a/py/circuitpy_defns.mk +++ b/py/circuitpy_defns.mk @@ -142,6 +142,9 @@ endif ifeq ($(CIRCUITPY_CAMERA),1) SRC_PATTERNS += camera/% endif +ifeq ($(CIRCUITPY_CANIO),1) +SRC_PATTERNS += _canio/% +endif ifeq ($(CIRCUITPY_COUNTIO),1) SRC_PATTERNS += countio/% endif @@ -315,6 +318,9 @@ SRC_COMMON_HAL_ALL = \ busio/__init__.c \ camera/__init__.c \ camera/Camera.c \ + _canio/CAN.c \ + _canio/Listener.c \ + _canio/__init__.c \ countio/Counter.c \ countio/__init__.c \ digitalio/DigitalInOut.c \ @@ -384,6 +390,7 @@ $(filter $(SRC_PATTERNS), \ _bleio/Address.c \ _bleio/Attribute.c \ _bleio/ScanEntry.c \ + _canio/Match.c \ _eve/__init__.c \ camera/ImageFormat.c \ digitalio/Direction.c \ @@ -402,6 +409,8 @@ SRC_SHARED_MODULE_ALL = \ _bleio/Attribute.c \ _bleio/ScanEntry.c \ _bleio/ScanResults.c \ + _canio/Match.c \ + _canio/Message.c \ _eve/__init__.c \ _pixelbuf/PixelBuf.c \ _pixelbuf/__init__.c \ diff --git a/py/circuitpy_mpconfig.h b/py/circuitpy_mpconfig.h index 4272de2ec..d1b12f354 100644 --- a/py/circuitpy_mpconfig.h +++ b/py/circuitpy_mpconfig.h @@ -336,6 +336,13 @@ extern const struct _mp_obj_module_t camera_module; #define CAMERA_MODULE #endif +#if CIRCUITPY_CANIO +extern const struct _mp_obj_module_t canio_module; +#define CANIO_MODULE { MP_OBJ_NEW_QSTR(MP_QSTR__canio), (mp_obj_t)&canio_module }, +#else +#define CANIO_MODULE +#endif + #if CIRCUITPY_COUNTIO extern const struct _mp_obj_module_t countio_module; #define COUNTIO_MODULE { MP_OBJ_NEW_QSTR(MP_QSTR_countio), (mp_obj_t)&countio_module }, @@ -766,6 +773,7 @@ extern const struct _mp_obj_module_t wifi_module; BOARD_MODULE \ BUSIO_MODULE \ CAMERA_MODULE \ + CANIO_MODULE \ COUNTIO_MODULE \ DIGITALIO_MODULE \ DISPLAYIO_MODULE \ diff --git a/py/circuitpy_mpconfig.mk b/py/circuitpy_mpconfig.mk index 54bdefc6d..9b9bd83b4 100644 --- a/py/circuitpy_mpconfig.mk +++ b/py/circuitpy_mpconfig.mk @@ -93,6 +93,9 @@ CFLAGS += -DCIRCUITPY_BUSIO=$(CIRCUITPY_BUSIO) CIRCUITPY_CAMERA ?= 0 CFLAGS += -DCIRCUITPY_CAMERA=$(CIRCUITPY_CAMERA) +CIRCUITPY_CANIO ?= 0 +CFLAGS += -DCIRCUITPY_CANIO=$(CIRCUITPY_CANIO) + CIRCUITPY_DIGITALIO ?= 1 CFLAGS += -DCIRCUITPY_DIGITALIO=$(CIRCUITPY_DIGITALIO) diff --git a/shared-bindings/_canio/CAN.c b/shared-bindings/_canio/CAN.c new file mode 100644 index 000000000..4c7ae3650 --- /dev/null +++ b/shared-bindings/_canio/CAN.c @@ -0,0 +1,338 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#include "common-hal/_canio/CAN.h" +#include "common-hal/_canio/Listener.h" +#include "shared-bindings/_canio/CAN.h" +#include "shared-bindings/_canio/Listener.h" +#include "shared-bindings/_canio/Match.h" +#include "shared-bindings/_canio/Message.h" +#include "shared-bindings/microcontroller/Pin.h" + +#include "py/objproperty.h" +#include "py/runtime.h" + +//| +//| class CAN: +//| """CAN bus protocol""" +//| +//| def __init__(self, +//| rx: microcontroller.Pin, +//| tx: Optional[microcontroller.Pin]=None, +//| *, +//| baudrate: int = 250000, +//| loopback: bool = False, +//| ): +//| """A common shared-bus protocol. The rx and tx pins are generally +//| connected to a transceiver which controls the H and L pins on a shared +//| bus. +//| +//| :param ~microcontrller.Pin rx: the pin to receive with. +//| :param ~microcontrller.Pin tx: the pin to transmit with, or None if the peripheral should operate in "silent" mode. +//| :param int baudrate: The bit rate of the bus in Hz. All devices on the bus must agree on this value. +//| :param bool loopback: True if the peripheral will be operated in loopback mode. +//| """ +//| ... +//| +//## auto_restart: bool = False, # Whether to restart communications after entering bus-off state +//## sample_point: float = .875, # When to sample within bit time (0.0-1.0) +STATIC mp_obj_t canio_can_make_new(const mp_obj_type_t *type, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { + enum { ARG_rx, ARG_tx, ARG_baudrate, ARG_loopback, ARG_silent, NUM_ARGS }; + static const mp_arg_t allowed_args[] = { + { MP_QSTR_rx, MP_ARG_OBJ | MP_ARG_REQUIRED, {.u_obj = 0} }, + { MP_QSTR_tx, MP_ARG_OBJ, {.u_obj = 0} }, + { MP_QSTR_baudrate, MP_ARG_INT, {.u_int = 250000} }, + { MP_QSTR_loopback, MP_ARG_BOOL, {.u_bool = false} }, + { MP_QSTR_silent, MP_ARG_BOOL, {.u_bool = false} }, + }; + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + MP_STATIC_ASSERT( MP_ARRAY_SIZE(allowed_args) == NUM_ARGS ); + + mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); + +mp_printf(&mp_plat_print, "ARG_rx=%d args[ARG_rx].u_obj=%p\n", ARG_rx, args[ARG_rx].u_obj); +mp_printf(&mp_plat_print, "ARG_tx=%d args[ARG_tx].u_obj=%p\n", ARG_tx, args[ARG_tx].u_obj); + + mcu_pin_obj_t *rx_pin = validate_obj_is_free_pin(args[ARG_rx].u_obj); +mp_printf(&mp_plat_print, "rx_pin=%p\n", rx_pin); + mcu_pin_obj_t *tx_pin = validate_obj_is_free_pin_or_none(args[ARG_tx].u_obj); +mp_printf(&mp_plat_print, "tx_pin=%p\n", tx_pin); + + canio_can_obj_t *self = m_new_obj(canio_can_obj_t); + self->base.type = &canio_can_type; + common_hal_canio_can_construct(self, rx_pin, tx_pin, args[ARG_baudrate].u_int, args[ARG_loopback].u_bool, args[ARG_silent].u_bool); + + return MP_OBJ_FROM_PTR(self); +} + + +//| baudrate: int +//| """The baud rate(read-only)""" +//| +STATIC mp_obj_t canio_can_baudrate_get(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_baudrate_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_can_baudrate_get_obj, canio_can_baudrate_get); + +STATIC const mp_obj_property_t canio_can_baudrate_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_can_baudrate_get_obj, + (mp_obj_t)mp_const_none, + (mp_obj_t)mp_const_none}, +}; + +//| state: State +//| """The status of the hardware (read-only)""" +//| +STATIC mp_obj_t canio_can_state_get(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_state_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_can_state_get_obj, canio_can_state_get); + +STATIC const mp_obj_property_t canio_can_state_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_can_state_get_obj, + (mp_obj_t)mp_const_none, + (mp_obj_t)mp_const_none}, +}; + +//| transmit_error_count: int +//| """The number of transmit errors (read-only). Increased for a detected transmission error, decreased for successful transmission. Limited to the range from 0 to 255 inclusive. Also called TEC.""" +//| +STATIC mp_obj_t canio_can_transmit_error_count_get(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_transmit_error_count_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_can_transmit_error_count_get_obj, canio_can_transmit_error_count_get); + +STATIC const mp_obj_property_t canio_can_transmit_error_count_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_can_transmit_error_count_get_obj, + (mp_obj_t)mp_const_none, + (mp_obj_t)mp_const_none}, +}; + +//| receive_error_count: int +//| """The number of receive errors (read-only). Increased for a detected reception error, decreased for successful reception. Limited to the range from 0 to 255 inclusive. Also called REC.""" +//| +STATIC mp_obj_t canio_can_receive_error_count_get(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_receive_error_count_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_can_receive_error_count_get_obj, canio_can_receive_error_count_get); + +STATIC const mp_obj_property_t canio_can_receive_error_count_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_can_receive_error_count_get_obj, + (mp_obj_t)mp_const_none, + (mp_obj_t)mp_const_none}, +}; + +//| error_warning_state_count: int +//| """The number of times the controller enterted the Error Warning state (read-only). This number wraps around to 0 after an implementation-defined number of errors.""" +//| +STATIC mp_obj_t canio_can_error_warning_state_count_get(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_error_warning_state_count_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_can_error_warning_state_count_get_obj, canio_can_error_warning_state_count_get); + +STATIC const mp_obj_property_t canio_can_error_warning_state_count_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_can_error_warning_state_count_get_obj, + (mp_obj_t)mp_const_none, + (mp_obj_t)mp_const_none}, +}; + +//| error_passive_state_count: int +//| """The number of times the controller enterted the Error Passive state (read-only). This number wraps around to 0 after an implementation-defined number of errors.""" +//| +STATIC mp_obj_t canio_can_error_passive_state_count_get(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_error_passive_state_count_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_can_error_passive_state_count_get_obj, canio_can_error_passive_state_count_get); + +STATIC const mp_obj_property_t canio_can_error_passive_state_count_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_can_error_passive_state_count_get_obj, + (mp_obj_t)mp_const_none, + (mp_obj_t)mp_const_none}, +}; + +//| bus_off_state_count: int +//| """The number of times the controller enterted the Bus Off state (read-only). This number wraps around to 0 after an implementation-defined number of errors.""" +//| +STATIC mp_obj_t canio_can_bus_off_state_count_get(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_bus_off_state_count_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_can_bus_off_state_count_get_obj, canio_can_bus_off_state_count_get); + +STATIC const mp_obj_property_t canio_can_bus_off_state_count_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_can_bus_off_state_count_get_obj, + (mp_obj_t)mp_const_none, + (mp_obj_t)mp_const_none}, +}; + +#if 0 +//| # pending_tx_count: int +//| # """The number of messages waiting to be transmitted. (read-only)""" +#endif + +//| def listen(filters: Optional[Sequence[Filter]]=None, *, timeout: float=10) -> Listener: +//| """Start receiving messages that match any one of the filters. +//| Creating a listener is an expensive operation and can interfere with reception of messages by other listeners. +//| There is an implementation-defined maximum number of listeners and limit to the complexity of the filters. +//| If the hardware cannot support all the requested filters, a ValueError is raised. Note that generally there are some number of hardware filters shared among all fifos. +//| A message can be received by at most one Listener. +//| An empty filter list causes all messages to be accepted. +//| Timeout dictates how long readinto, read and next() will block. +//| Readinto will return false(), read will return None, and next() will raise StopIteration.""" +//| ... +//| +STATIC mp_obj_t canio_can_listen(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(pos_args[0]); + common_hal_canio_can_check_for_deinit(self); + + enum { ARG_match, ARG_timeout, NUM_ARGS }; + static const mp_arg_t allowed_args[] = { + { MP_QSTR_match, MP_ARG_OBJ, {.u_obj = 0} }, + { MP_QSTR_timeout, MP_ARG_OBJ, {.u_obj = 0} }, + }; + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + MP_STATIC_ASSERT( MP_ARRAY_SIZE(allowed_args) == NUM_ARGS ); + + mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); + + size_t nmatch = 0; + mp_obj_t *match_objects = NULL; + + if (args[ARG_match].u_obj) { + mp_obj_get_array(args[ARG_match].u_obj, &nmatch, &match_objects); + } + + canio_match_obj_t *matches[nmatch]; + for (size_t i=0; iname); + } + matches[i] = MP_OBJ_TO_PTR(match_objects[i]); + } + + float timeout = args[ARG_timeout].u_obj ? mp_obj_get_float(args[ARG_timeout].u_obj) : 10.0f; + canio_listener_obj_t *listener = m_new_obj(canio_listener_obj_t); + listener->base.type = &canio_listener_type; + common_hal_canio_listener_construct(listener, self, nmatch, matches, timeout); + return listener; +} +MP_DEFINE_CONST_FUN_OBJ_KW(canio_can_listen_obj, 1, canio_can_listen); + +//| def send(message: Message) -> None: +//| """Send a message on the bus with the given data and id. +//| If the message could not be sent due to a full fifo or a bus error condition, RuntimeError is raised. +//| """ +//| ... +//| +STATIC mp_obj_t canio_can_send(mp_obj_t self_in, mp_obj_t message_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + mp_obj_type_t *message_type = mp_obj_get_type(message_in); + if (message_type != &canio_message_type) { + mp_raise_TypeError_varg(translate("expected '%q' but got '%q'"), MP_QSTR_Message, message_type->name); + } + + canio_message_obj_t *message = message_in; + common_hal_canio_can_send(self, message); + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_2(canio_can_send_obj, canio_can_send); + +//| def deinit(self) -> None: +//| """Deinitialize this object, freeing its hardware resources""" +//| ... +//| +STATIC mp_obj_t canio_can_deinit(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_deinit(self); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_can_deinit_obj, canio_can_deinit); + +//| def __enter__(self) -> CAN: +//| """Returns self, to allow the object to be used in a `with` statement for resource control""" +//| ... +//| +STATIC mp_obj_t canio_can_enter(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_can_enter_obj, canio_can_enter); + +//| def __exit__(self, unused1, unused2, unused3) -> None: +//| """Calls deinit()""" +//| ... +STATIC mp_obj_t canio_can_exit(size_t num_args, const mp_obj_t args[]) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(args[0]); + common_hal_canio_can_deinit(self); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(canio_can_exit_obj, 4, 4, canio_can_exit); + +STATIC const mp_rom_map_elem_t canio_can_locals_dict_table[] = { + { MP_ROM_QSTR(MP_QSTR___enter__), MP_ROM_PTR(&canio_can_enter_obj) }, + { MP_ROM_QSTR(MP_QSTR___exit__), MP_ROM_PTR(&canio_can_exit_obj) }, + { MP_ROM_QSTR(MP_QSTR_bus_off_state_count), MP_ROM_PTR(&canio_can_bus_off_state_count_obj) }, + { MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&canio_can_deinit_obj) }, + { MP_ROM_QSTR(MP_QSTR_error_passive_state_count), MP_ROM_PTR(&canio_can_error_passive_state_count_obj) }, + { MP_ROM_QSTR(MP_QSTR_error_warning_state_count), MP_ROM_PTR(&canio_can_error_warning_state_count_obj) }, + { MP_ROM_QSTR(MP_QSTR_listen), MP_ROM_PTR(&canio_can_listen_obj) }, + { MP_ROM_QSTR(MP_QSTR_receive_error_count), MP_ROM_PTR(&canio_can_receive_error_count_obj) }, + { MP_ROM_QSTR(MP_QSTR_send), MP_ROM_PTR(&canio_can_send_obj) }, + { MP_ROM_QSTR(MP_QSTR_state), MP_ROM_PTR(&canio_can_state_obj) }, + { MP_ROM_QSTR(MP_QSTR_baudrate), MP_ROM_PTR(&canio_can_baudrate_obj) }, + { MP_ROM_QSTR(MP_QSTR_transmit_error_count), MP_ROM_PTR(&canio_can_transmit_error_count_obj) }, +}; +STATIC MP_DEFINE_CONST_DICT(canio_can_locals_dict, canio_can_locals_dict_table); + +const mp_obj_type_t canio_can_type = { + { &mp_type_type }, + .name = MP_QSTR_CAN, + .make_new = canio_can_make_new, + .locals_dict = (mp_obj_t)&canio_can_locals_dict, +}; diff --git a/shared-bindings/_canio/CAN.h b/shared-bindings/_canio/CAN.h new file mode 100644 index 000000000..81040cf23 --- /dev/null +++ b/shared-bindings/_canio/CAN.h @@ -0,0 +1,31 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#pragma once + +#include "py/obj.h" + +extern const mp_obj_type_t canio_can_type; diff --git a/shared-bindings/_canio/Listener.c b/shared-bindings/_canio/Listener.c new file mode 100644 index 000000000..7f83c735f --- /dev/null +++ b/shared-bindings/_canio/Listener.c @@ -0,0 +1,197 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#include "shared-bindings/_canio/Listener.h" +#include "shared-bindings/_canio/Message.h" +#include "common-hal/_canio/Listener.h" + +#include "py/runtime.h" +#include "py/objproperty.h" + +//| class Listener: +//| """Listens for CAN message +//| +//| _canio.Listener is not constructed directly, but instead by calling the +//| Listen method of a _canio.CAN object.""" +//| + +//| def read(self) -> Optional[Message]: +//| """Returns a message, after waiting up to self.timeout seconds +//| +//| If no message is received in time, None is returned. Otherwise, +//| a Message is returned.""" +//| ... +//| +STATIC mp_obj_t canio_listener_read(mp_obj_t self_in) { + canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_listener_check_for_deinit(self); + + canio_message_obj_t *message = m_new_obj(canio_message_obj_t); + self->base.type = &canio_message_type; + + if (common_hal_canio_listener_readinto(self, message)) { + return message; + } else { + m_free(message); // message did not escape into vm + } + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_read_obj, canio_listener_read); + +//| def readinto(self, message: Message) -> bool: +//| """Returns a message, after waiting up to self.timeout seconds +//| +//| Returns True (and modifies message) if a message was received, +//| False otherwise.""" +//| ... +//| +STATIC mp_obj_t canio_listener_readinto(mp_obj_t self_in, mp_obj_t message) { + canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); + mp_obj_type_t *type = mp_obj_get_type(message); + if (type != &canio_message_type) { + mp_raise_TypeError_varg(translate("expected '%q' but got '%q'"), MP_QSTR_Message, type->name); + } + common_hal_canio_listener_check_for_deinit(self); + return mp_obj_new_bool(common_hal_canio_listener_readinto(self, message)); +} +STATIC MP_DEFINE_CONST_FUN_OBJ_2(canio_listener_readinto_obj, canio_listener_readinto); + +//| def in_waiting(self) -> int: +//| """Returns the number of messages waiting""" +//| ... +//| +STATIC mp_obj_t canio_listener_in_waiting(mp_obj_t self_in) { + canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_listener_check_for_deinit(self); + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_listener_in_waiting(self)); +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_in_waiting_obj, canio_listener_in_waiting); + +//| def __iter__(self): +//| """Returns self, unless the object is deinitialized""" +//| ... +//| +STATIC mp_obj_t canio_listener_iter(mp_obj_t self_in) { + canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_listener_check_for_deinit(self); + return self; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_iter_obj, canio_listener_iter); + +//| def __next__(self): +//| """Returns the next waiting message, if one is available +//| +//| If the object is deinitialized, raises ValueError. +//| +//| If no message is waiting raises StopIteration""" +//| ... +//| +STATIC mp_obj_t canio_listener_next(mp_obj_t self_in) { + canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_listener_check_for_deinit(self); + if(common_hal_canio_listener_in_waiting(self)) { + return canio_listener_read(self_in); + } + return self; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_next_obj, canio_listener_next); + +//| def deinit(self) -> None: +//| """Deinitialize this object, freeing its hardware resources""" +//| ... +//| +STATIC mp_obj_t canio_listener_deinit(mp_obj_t self_in) { + canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_listener_deinit(self); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_deinit_obj, canio_listener_deinit); + +//| def __enter__(self) -> CAN: +//| """Returns self, to allow the object to be used in a `with` statement for resource control""" +//| ... +//| +STATIC mp_obj_t canio_listener_enter(mp_obj_t self_in) { + canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_listener_check_for_deinit(self); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_enter_obj, canio_listener_enter); + +//| def __exit__(self, unused1, unused2, unused3) -> None: +//| """Calls deinit()""" +//| ... +STATIC mp_obj_t canio_listener_exit(size_t num_args, const mp_obj_t args[]) { + canio_listener_obj_t *self = MP_OBJ_TO_PTR(args[0]); + common_hal_canio_listener_deinit(self); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(canio_listener_exit_obj, 4, 4, canio_listener_exit); + + +//| timeout : float +STATIC mp_obj_t canio_listener_timeout_get(mp_obj_t self_in) { + canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_listener_check_for_deinit(self); + return mp_obj_new_float(common_hal_canio_listener_get_timeout(self)); +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_timeout_get_obj, canio_listener_timeout_get); + +STATIC mp_obj_t canio_listener_timeout_set(mp_obj_t self_in, mp_obj_t timeout_in) { + canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_listener_check_for_deinit(self); + common_hal_canio_listener_set_timeout(self, mp_obj_get_float(timeout_in)); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_2(canio_listener_timeout_set_obj, canio_listener_timeout_set); + +STATIC const mp_obj_property_t canio_listener_timeout_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_listener_timeout_get_obj, + (mp_obj_t)&canio_listener_timeout_set_obj, + (mp_obj_t)mp_const_none}, +}; + + + +STATIC const mp_rom_map_elem_t canio_listener_locals_dict_table[] = { + { MP_ROM_QSTR(MP_QSTR___enter__), MP_ROM_PTR(&canio_listener_enter_obj) }, + { MP_ROM_QSTR(MP_QSTR___exit__), MP_ROM_PTR(&canio_listener_exit_obj) }, + { MP_ROM_QSTR(MP_QSTR___iter__), MP_ROM_PTR(&canio_listener_iter_obj) }, + { MP_ROM_QSTR(MP_QSTR___next__), MP_ROM_PTR(&canio_listener_next_obj) }, + { MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&canio_listener_deinit_obj) }, + { MP_ROM_QSTR(MP_QSTR_in_waiting), MP_ROM_PTR(&canio_listener_in_waiting_obj) }, + { MP_ROM_QSTR(MP_QSTR_read), MP_ROM_PTR(&canio_listener_read_obj) }, + { MP_ROM_QSTR(MP_QSTR_readinto), MP_ROM_PTR(&canio_listener_readinto_obj) }, + { MP_ROM_QSTR(MP_QSTR_timeout), MP_ROM_PTR(&canio_listener_timeout_obj) }, +}; +STATIC MP_DEFINE_CONST_DICT(canio_listener_locals_dict, canio_listener_locals_dict_table); + +const mp_obj_type_t canio_listener_type = { + { &mp_type_type }, + .name = MP_QSTR_Listener, + .locals_dict = (mp_obj_dict_t*)&canio_listener_locals_dict, +}; diff --git a/shared-bindings/_canio/Listener.h b/shared-bindings/_canio/Listener.h new file mode 100644 index 000000000..eaa3490df --- /dev/null +++ b/shared-bindings/_canio/Listener.h @@ -0,0 +1,31 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#pragma once + +#include "py/obj.h" + +extern const mp_obj_type_t canio_listener_type; diff --git a/shared-bindings/_canio/Match.c b/shared-bindings/_canio/Match.c new file mode 100644 index 000000000..6c32aa539 --- /dev/null +++ b/shared-bindings/_canio/Match.c @@ -0,0 +1,140 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#include "shared-bindings/_canio/Match.h" +#include "shared-module/_canio/Match.h" + +#include "py/objproperty.h" +#include "py/runtime.h" + +//| class Match: +//| """Describe CAN bus messages to match""" +//| +//| +//| def __init__(self, address: int, *, mask: int = 0, extended: bool = False): +//| """Construct a Match with the given properties. +//| +//| If mask is nonzero, then the filter is for any sender which matches all +//| the nonzero bits in mask. Otherwise, it matches exactly the given address. +//| If extended is true then only extended addresses are matched, otherwise +//| only standard addresses are matched.""" +//| + +STATIC mp_obj_t canio_match_make_new(const mp_obj_type_t *type, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { + enum { ARG_address, ARG_mask, ARG_extended, NUM_ARGS }; + static const mp_arg_t allowed_args[] = { + { MP_QSTR_address, MP_ARG_INT | MP_ARG_REQUIRED, {.u_int = 0} }, + { MP_QSTR_mask, MP_ARG_INT, {.u_int = 0} }, + { MP_QSTR_extended, MP_ARG_BOOL, {.u_bool = false} }, + }; + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + MP_STATIC_ASSERT( MP_ARRAY_SIZE(allowed_args) == NUM_ARGS ); + + mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); + + int address_bits = args[ARG_extended].u_bool ? 0x1fffffff : 0x7ff; + int address = args[ARG_address].u_int; + int mask = args[ARG_mask].u_int; + + if(address & ~address_bits) { + mp_raise_ValueError_varg(translate("%q out of range"), MP_QSTR_address); + } + + if(mask & ~address_bits) { + mp_raise_ValueError_varg(translate("%q out of range"), MP_QSTR_mask); + } + + canio_match_obj_t *self = m_new_obj(canio_match_obj_t); + self->base.type = &canio_match_type; + common_hal_canio_match_construct(self, args[ARG_address].u_int, args[ARG_mask].u_int, args[ARG_extended].u_bool); + return self; +} + +//| address: int +//| """The address to match""" +//| + +STATIC mp_obj_t canio_match_address_get(mp_obj_t self_in) { + canio_match_obj_t *self = self_in; + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_match_address_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_match_address_get_obj, canio_match_address_get); + +const mp_obj_property_t canio_match_address_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_match_address_get_obj, + (mp_obj_t)&mp_const_none_obj, + (mp_obj_t)&mp_const_none_obj}, +}; + +//| +//| mask: int +//| """The optional mask of addresses to match""" +//| + +STATIC mp_obj_t canio_match_mask_get(mp_obj_t self_in) { + canio_match_obj_t *self = self_in; + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_match_mask_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_match_mask_get_obj, canio_match_mask_get); + +const mp_obj_property_t canio_match_mask_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_match_mask_get_obj, + (mp_obj_t)&mp_const_none_obj, + (mp_obj_t)&mp_const_none_obj}, +}; + +//| extended: bool +//| """True to match extended addresses, False to match standard addresses""" +//| + +STATIC mp_obj_t canio_match_extended_get(mp_obj_t self_in) { + canio_match_obj_t *self = self_in; + return mp_obj_new_bool(common_hal_canio_match_extended_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_match_extended_get_obj, canio_match_extended_get); + +const mp_obj_property_t canio_match_extended_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_match_extended_get_obj, + (mp_obj_t)&mp_const_none_obj, + (mp_obj_t)&mp_const_none_obj}, +}; + +STATIC const mp_rom_map_elem_t canio_match_locals_dict_table[] = { + { MP_ROM_QSTR(MP_QSTR_address), MP_ROM_PTR(&canio_match_address_obj) }, + { MP_ROM_QSTR(MP_QSTR_mask), MP_ROM_PTR(&canio_match_mask_obj) }, + { MP_ROM_QSTR(MP_QSTR_extended), MP_ROM_PTR(&canio_match_extended_obj) }, +}; +STATIC MP_DEFINE_CONST_DICT(canio_match_locals_dict, canio_match_locals_dict_table); + +const mp_obj_type_t canio_match_type = { + { &mp_type_type }, + .name = MP_QSTR_Match, + .make_new = canio_match_make_new, + .locals_dict = (mp_obj_dict_t*)&canio_match_locals_dict, +}; diff --git a/shared-bindings/_canio/Match.h b/shared-bindings/_canio/Match.h new file mode 100644 index 000000000..adf98eb86 --- /dev/null +++ b/shared-bindings/_canio/Match.h @@ -0,0 +1,33 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#pragma once + +#include "py/obj.h" + +extern const mp_obj_type_t canio_match_type; + +// Nothing now. diff --git a/shared-bindings/_canio/Message.c b/shared-bindings/_canio/Message.c new file mode 100644 index 000000000..a8e588354 --- /dev/null +++ b/shared-bindings/_canio/Message.c @@ -0,0 +1,213 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#include "shared-bindings/_canio/Message.h" +#include "shared-module/_canio/Message.h" + +#include "py/obj.h" +#include "py/objproperty.h" +#include "py/runtime.h" + +//| class Message: +//| def __init__(self, id: int=0, data: Optional[bytes] = None, *, size: Optional[int] = None, rtr: bool = False): +//| """Construct a Message to send on a CAN bus +//| +//| :param int id: The numeric ID of the message +//| :param bytes data: The content of the message +//| :param int size: The amount of data requested, for an rtr +//| :param bool rtr: True if the message represents an rtr (Remote Transmission Request) +//| +//| In CAN, messages can have a size from 0 to 8 bytes. +//| +//| For a non-rtr message, specify `data`. For an rtr-message, specify either `data` (a dummy buffer of the requested size) or `size`. +//| """ +//| ... +//| +STATIC mp_obj_t canio_message_make_new(const mp_obj_type_t *type, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { + enum { ARG_id, ARG_data, ARG_size, ARG_rtr, NUM_ARGS }; + static const mp_arg_t allowed_args[] = { + { MP_QSTR_id, MP_ARG_INT, {.u_obj = 0} }, + { MP_QSTR_data, MP_ARG_OBJ, {.u_obj = 0} }, + { MP_QSTR_size, MP_ARG_INT, {.u_int = -1} }, + { MP_QSTR_rtr, MP_ARG_BOOL, {.u_bool = false} }, + }; + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + MP_STATIC_ASSERT( MP_ARRAY_SIZE(allowed_args) == NUM_ARGS ); + + mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); + + bool rtr = args[ARG_rtr].u_bool; + size_t size = (size_t)args[ARG_size].u_int; + bool specified_size = (size != (size_t)-1); + bool specified_data = (args[ARG_data].u_obj != NULL); + + if(specified_size && specified_data) { + mp_raise_TypeError(translate("specify size or data, but not both")); + } + + mp_buffer_info_t data; + if (specified_data) { + mp_get_buffer_raise(args[ARG_data].u_obj, &data, MP_BUFFER_READ); + } else if (specified_size) { + data.buf = 0; + data.len = size; + } else { + data.buf = 0; + data.len = 0; + } + + if(data.len > 8) { + mp_raise_ValueError(translate("Messages limited to 8 bytes")); + } + + canio_message_obj_t *self = m_new_obj(canio_message_obj_t); + self->base.type = &canio_message_type; + common_hal_canio_message_construct(self, args[ARG_id].u_int, data.buf, data.len, rtr); + return self; +} + +//| id: int +//| """The numeric ID of the message""" +//| +STATIC mp_obj_t canio_message_id_get(const mp_obj_t self_in) { + canio_message_obj_t *self = self_in; + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_message_id_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_message_id_get_obj, canio_message_id_get); + +STATIC mp_obj_t canio_message_id_set(const mp_obj_t self_in, const mp_obj_t id) { + canio_message_obj_t *self = self_in; + common_hal_canio_message_id_set(self, mp_obj_get_int(id)); + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_2(canio_message_id_set_obj, canio_message_id_set); + +STATIC const mp_obj_property_t canio_message_id_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_message_id_get_obj, + (mp_obj_t)&canio_message_id_set_obj, + (mp_obj_t)&mp_const_none_obj}, +}; + +//| data: bytes +//| """The content of the message, or dummy content in the case of an rtr. +//| +//| Assigning to data sets the bytes to zero""" +//| +STATIC mp_obj_t canio_message_data_get(const mp_obj_t self_in) { + canio_message_obj_t *self = self_in; + return mp_obj_new_bytes((const byte*)common_hal_canio_message_data_get(self), common_hal_canio_message_size_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_message_data_get_obj, canio_message_data_get); + +STATIC mp_obj_t canio_message_data_set(const mp_obj_t self_in, const mp_obj_t data_in) { + canio_message_obj_t *self = self_in; + mp_buffer_info_t data; + mp_get_buffer_raise(data_in, &data, MP_BUFFER_READ); + if(data.len > 8) { + mp_raise_ValueError(translate("Messages limited to 8 bytes")); + } + common_hal_canio_message_data_set(self, data.buf, data.len); + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_2(canio_message_data_set_obj, canio_message_data_set); + + +STATIC const mp_obj_property_t canio_message_data_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_message_data_get_obj, + (mp_obj_t)&canio_message_data_set_obj, + (mp_obj_t)&mp_const_none_obj}, +}; + + +//| size: int +//| """The length of the message, or the length of the requested data in the case of an rtr""" +//| +STATIC mp_obj_t canio_message_size_get(const mp_obj_t self_in) { + canio_message_obj_t *self = self_in; + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_message_size_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_message_size_get_obj, canio_message_size_get); + +STATIC mp_obj_t canio_message_size_set(const mp_obj_t self_in, const mp_obj_t size_in) { + canio_message_obj_t *self = self_in; + int size = mp_obj_get_int(size_in); + if(size > 8) { + mp_raise_ValueError(translate("Messages limited to 8 bytes")); + } + common_hal_canio_message_size_set(self, size); + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_2(canio_message_size_set_obj, canio_message_size_set); + + +STATIC const mp_obj_property_t canio_message_size_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_message_size_get_obj, + (mp_obj_t)&canio_message_size_set_obj, + (mp_obj_t)&mp_const_none_obj}, +}; + +//| rtr: bool +//| """True if the message represents a remote transmission request (RTR)""" +//| +STATIC mp_obj_t canio_message_rtr_get(const mp_obj_t self_in) { + canio_message_obj_t *self = self_in; + return mp_obj_new_bool(common_hal_canio_message_rtr_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_message_rtr_get_obj, canio_message_rtr_get); + +STATIC mp_obj_t canio_message_rtr_set(const mp_obj_t self_in, const mp_obj_t rtr) { + canio_message_obj_t *self = self_in; + common_hal_canio_message_size_set(self, mp_obj_is_true(rtr)); + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_2(canio_message_rtr_set_obj, canio_message_rtr_set); + + +STATIC const mp_obj_property_t canio_message_rtr_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_message_rtr_get_obj, + (mp_obj_t)&canio_message_rtr_set_obj, + (mp_obj_t)&mp_const_none_obj}, +}; + + +STATIC const mp_rom_map_elem_t canio_message_locals_dict_table[] = { + { MP_ROM_QSTR(MP_QSTR_id), MP_ROM_PTR(&canio_message_id_obj) }, + { MP_ROM_QSTR(MP_QSTR_data), MP_ROM_PTR(&canio_message_data_obj) }, + { MP_ROM_QSTR(MP_QSTR_size), MP_ROM_PTR(&canio_message_size_obj) }, + { MP_ROM_QSTR(MP_QSTR_rtr), MP_ROM_PTR(&canio_message_rtr_obj) }, +}; +STATIC MP_DEFINE_CONST_DICT(canio_message_locals_dict, canio_message_locals_dict_table); + +const mp_obj_type_t canio_message_type = { + { &mp_type_type }, + .name = MP_QSTR_Message, + .make_new = canio_message_make_new, + .locals_dict = (mp_obj_t)&canio_message_locals_dict, +}; diff --git a/shared-bindings/_canio/Message.h b/shared-bindings/_canio/Message.h new file mode 100644 index 000000000..32d6801bc --- /dev/null +++ b/shared-bindings/_canio/Message.h @@ -0,0 +1,31 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#pragma once + +#include "py/obj.h" + +extern const mp_obj_type_t canio_message_type; diff --git a/shared-bindings/_canio/__init__.c b/shared-bindings/_canio/__init__.c new file mode 100644 index 000000000..4da008ff2 --- /dev/null +++ b/shared-bindings/_canio/__init__.c @@ -0,0 +1,73 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +//| """CAN bus access +//| +//| The `_canio` module contains low level classes to support the CAN bus +//| protocol. +//| +//| All classes change hardware state and should be deinitialized when they +//| are no longer needed if the program continues after use. To do so, either +//| call :py:meth:`!deinit` or use a context manager. See +//| :ref:`lifetime-and-contextmanagers` for more info. +//| +//| For example:: +//| +//| import _canio +//| from board import * +//| +//| can = _canio.BUS(board.CANRX, board.CANTX) +//| can.write(408, b"adafruit") +//| can.deinit() +//| +//| This example will write the data 'adafruit' onto the CAN bus to any +//| device listening for message id 408.""" +//| + +#include "py/obj.h" + +#include "shared-bindings/_canio/__init__.h" +#include "shared-bindings/_canio/CAN.h" +#include "shared-bindings/_canio/Match.h" +#include "shared-bindings/_canio/Message.h" + +STATIC const mp_rom_map_elem_t canio_module_globals_table[] = { + { MP_ROM_QSTR(MP_QSTR___name__), MP_ROM_QSTR(MP_QSTR__canio) }, + { MP_ROM_QSTR(MP_QSTR_CAN), MP_ROM_PTR(&canio_can_type) }, + { MP_ROM_QSTR(MP_QSTR_Match), MP_ROM_PTR(&canio_match_type) }, + { MP_ROM_QSTR(MP_QSTR_Message), MP_ROM_PTR(&canio_message_type) }, +#if 0 + { MP_ROM_QSTR(MP_QSTR_Listener), MP_ROM_PTR(&canio_listener_type) }, +#endif +}; + + +STATIC MP_DEFINE_CONST_DICT(canio_module_globals, canio_module_globals_table); + +const mp_obj_module_t canio_module = { + .base = { &mp_type_module }, + .globals = (mp_obj_dict_t*)&canio_module_globals, +}; diff --git a/shared-bindings/_canio/__init__.h b/shared-bindings/_canio/__init__.h new file mode 100644 index 000000000..45e76369c --- /dev/null +++ b/shared-bindings/_canio/__init__.h @@ -0,0 +1,29 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#pragma once + +// Nothing now. diff --git a/shared-module/_canio/Match.c b/shared-module/_canio/Match.c new file mode 100644 index 000000000..2b696addb --- /dev/null +++ b/shared-module/_canio/Match.c @@ -0,0 +1,43 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#include "shared-module/_canio/Match.h" + +void common_hal_canio_match_construct(canio_match_obj_t *self, int address, int mask, bool extended) { + self->address = address; + self->mask = mask; + self->extended = extended; +} + +int common_hal_canio_match_address_get(const canio_match_obj_t *self) { + return self->address; +} +int common_hal_canio_match_mask_get(const canio_match_obj_t *self) { + return self->mask; +} +bool common_hal_canio_match_extended_get(const canio_match_obj_t *self) { + return self->extended; +} diff --git a/shared-module/_canio/Match.h b/shared-module/_canio/Match.h new file mode 100644 index 000000000..099df976d --- /dev/null +++ b/shared-module/_canio/Match.h @@ -0,0 +1,41 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#pragma once + +#include "py/obj.h" + +typedef struct { + mp_obj_base_t base; + int address; + int mask; + bool extended; +} canio_match_obj_t; + +void common_hal_canio_match_construct(canio_match_obj_t *self, int address, int mask, bool extended); +int common_hal_canio_match_address_get(const canio_match_obj_t *self); +int common_hal_canio_match_mask_get(const canio_match_obj_t *self); +bool common_hal_canio_match_extended_get(const canio_match_obj_t *self); diff --git a/shared-module/_canio/Message.c b/shared-module/_canio/Message.c new file mode 100644 index 000000000..df6a40a0a --- /dev/null +++ b/shared-module/_canio/Message.c @@ -0,0 +1,85 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#include "shared-module/_canio/Message.h" + +#include + +void common_hal_canio_message_construct(canio_message_obj_t *self, int id, void *data, size_t size, bool rtr) +{ + self->id = id; + self->size = size; + self->rtr = rtr; + if (data) { + memcpy(self->data, data, size); + } else { + memset(self->data, 0, size); + } +} + +int common_hal_canio_message_id_get(const canio_message_obj_t *self) +{ + return self->id; +} + +void common_hal_canio_message_id_set(canio_message_obj_t *self, int id) +{ + self->id = id; +} + + +const void *common_hal_canio_message_data_get(const canio_message_obj_t *self) +{ + return self->data; +} + +const void common_hal_canio_message_data_set(canio_message_obj_t *self, const void *data, size_t size) +{ + memcpy(self->data, data, size); +} + + +size_t common_hal_canio_message_size_get(const canio_message_obj_t *self) +{ + return self->size; +} + +void common_hal_canio_message_size_set(canio_message_obj_t *self, size_t size) +{ + memset(self->data, 0, size); + self->size = size; +} + + +bool common_hal_canio_message_rtr_get(const canio_message_obj_t *self) +{ + return self->rtr; +} + +void common_hal_canio_message_rtr_set(canio_message_obj_t *self, bool rtr) +{ + self->rtr = rtr; +} diff --git a/shared-module/_canio/Message.h b/shared-module/_canio/Message.h new file mode 100644 index 000000000..e846f1095 --- /dev/null +++ b/shared-module/_canio/Message.h @@ -0,0 +1,47 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#pragma once + +#include "py/obj.h" + +typedef struct { + mp_obj_base_t base; + int id; + size_t size; + uint8_t data[8]; + bool rtr; +} canio_message_obj_t; + +void common_hal_canio_message_construct(canio_message_obj_t *self, int id, void *data, size_t size, bool rtr); +bool common_hal_canio_message_rtr_get(const canio_message_obj_t *self); +int common_hal_canio_message_id_get(const canio_message_obj_t *self); +const void *common_hal_canio_message_data_get(const canio_message_obj_t *self); +size_t common_hal_canio_message_size_get(const canio_message_obj_t *self); +void common_hal_canio_message_rtr_set(canio_message_obj_t *self, bool rtr); +void common_hal_canio_message_id_set(canio_message_obj_t *self, int id); +void common_hal_canio_message_data_set(canio_message_obj_t *self, const void *data, size_t size); +void common_hal_canio_message_size_set(canio_message_obj_t *self, size_t size); -- cgit v1.2.3 From 4869dbdc670bfa8a5f2e0a639495d03984ea0a6a Mon Sep 17 00:00:00 2001 From: Jeff Epler Date: Mon, 21 Sep 2020 16:42:12 -0500 Subject: canio: rename from _canio This reflects our belief that the API is stable enough to avoid incompatible changes during 6.x. --- main.c | 2 +- ports/atmel-samd/common-hal/_canio/CAN.c | 445 -------------------------- ports/atmel-samd/common-hal/_canio/CAN.h | 55 ---- ports/atmel-samd/common-hal/_canio/Listener.c | 391 ---------------------- ports/atmel-samd/common-hal/_canio/Listener.h | 53 --- ports/atmel-samd/common-hal/_canio/__init__.c | 25 -- ports/atmel-samd/common-hal/_canio/__init__.h | 67 ---- ports/atmel-samd/common-hal/canio/CAN.c | 445 ++++++++++++++++++++++++++ ports/atmel-samd/common-hal/canio/CAN.h | 55 ++++ ports/atmel-samd/common-hal/canio/Listener.c | 391 ++++++++++++++++++++++ ports/atmel-samd/common-hal/canio/Listener.h | 53 +++ ports/atmel-samd/common-hal/canio/__init__.c | 25 ++ ports/atmel-samd/common-hal/canio/__init__.h | 67 ++++ py/circuitpy_defns.mk | 14 +- py/circuitpy_mpconfig.h | 2 +- shared-bindings/_canio/CAN.c | 422 ------------------------ shared-bindings/_canio/CAN.h | 54 ---- shared-bindings/_canio/Listener.c | 193 ----------- shared-bindings/_canio/Listener.h | 31 -- shared-bindings/_canio/Match.c | 139 -------- shared-bindings/_canio/Match.h | 37 --- shared-bindings/_canio/Message.c | 212 ------------ shared-bindings/_canio/Message.h | 44 --- shared-bindings/_canio/__init__.c | 124 ------- shared-bindings/_canio/__init__.h | 33 -- shared-bindings/canio/CAN.c | 422 ++++++++++++++++++++++++ shared-bindings/canio/CAN.h | 54 ++++ shared-bindings/canio/Listener.c | 193 +++++++++++ shared-bindings/canio/Listener.h | 31 ++ shared-bindings/canio/Match.c | 139 ++++++++ shared-bindings/canio/Match.h | 37 +++ shared-bindings/canio/Message.c | 212 ++++++++++++ shared-bindings/canio/Message.h | 44 +++ shared-bindings/canio/__init__.c | 124 +++++++ shared-bindings/canio/__init__.h | 33 ++ shared-module/_canio/Match.c | 43 --- shared-module/_canio/Match.h | 36 --- shared-module/_canio/Message.c | 101 ------ shared-module/_canio/Message.h | 38 --- shared-module/canio/Match.c | 43 +++ shared-module/canio/Match.h | 36 +++ shared-module/canio/Message.c | 101 ++++++ shared-module/canio/Message.h | 38 +++ 43 files changed, 2552 insertions(+), 2552 deletions(-) delete mode 100644 ports/atmel-samd/common-hal/_canio/CAN.c delete mode 100644 ports/atmel-samd/common-hal/_canio/CAN.h delete mode 100644 ports/atmel-samd/common-hal/_canio/Listener.c delete mode 100644 ports/atmel-samd/common-hal/_canio/Listener.h delete mode 100644 ports/atmel-samd/common-hal/_canio/__init__.c delete mode 100644 ports/atmel-samd/common-hal/_canio/__init__.h create mode 100644 ports/atmel-samd/common-hal/canio/CAN.c create mode 100644 ports/atmel-samd/common-hal/canio/CAN.h create mode 100644 ports/atmel-samd/common-hal/canio/Listener.c create mode 100644 ports/atmel-samd/common-hal/canio/Listener.h create mode 100644 ports/atmel-samd/common-hal/canio/__init__.c create mode 100644 ports/atmel-samd/common-hal/canio/__init__.h delete mode 100644 shared-bindings/_canio/CAN.c delete mode 100644 shared-bindings/_canio/CAN.h delete mode 100644 shared-bindings/_canio/Listener.c delete mode 100644 shared-bindings/_canio/Listener.h delete mode 100644 shared-bindings/_canio/Match.c delete mode 100644 shared-bindings/_canio/Match.h delete mode 100644 shared-bindings/_canio/Message.c delete mode 100644 shared-bindings/_canio/Message.h delete mode 100644 shared-bindings/_canio/__init__.c delete mode 100644 shared-bindings/_canio/__init__.h create mode 100644 shared-bindings/canio/CAN.c create mode 100644 shared-bindings/canio/CAN.h create mode 100644 shared-bindings/canio/Listener.c create mode 100644 shared-bindings/canio/Listener.h create mode 100644 shared-bindings/canio/Match.c create mode 100644 shared-bindings/canio/Match.h create mode 100644 shared-bindings/canio/Message.c create mode 100644 shared-bindings/canio/Message.h create mode 100644 shared-bindings/canio/__init__.c create mode 100644 shared-bindings/canio/__init__.h delete mode 100644 shared-module/_canio/Match.c delete mode 100644 shared-module/_canio/Match.h delete mode 100644 shared-module/_canio/Message.c delete mode 100644 shared-module/_canio/Message.h create mode 100644 shared-module/canio/Match.c create mode 100644 shared-module/canio/Match.h create mode 100644 shared-module/canio/Message.c create mode 100644 shared-module/canio/Message.h (limited to 'py') diff --git a/main.c b/main.c index 4d34e451d..dbd367a59 100755 --- a/main.c +++ b/main.c @@ -82,7 +82,7 @@ #endif #if CIRCUITPY_CANIO -#include "common-hal/_canio/CAN.h" +#include "common-hal/canio/CAN.h" #endif void do_str(const char *src, mp_parse_input_kind_t input_kind) { diff --git a/ports/atmel-samd/common-hal/_canio/CAN.c b/ports/atmel-samd/common-hal/_canio/CAN.c deleted file mode 100644 index 0d967d7ca..000000000 --- a/ports/atmel-samd/common-hal/_canio/CAN.c +++ /dev/null @@ -1,445 +0,0 @@ -/* - * 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 - -#include "py/runtime.h" -#include "py/mperrno.h" - -#include "peripheral_clk_config.h" - -#include "common-hal/_canio/CAN.h" -#include "shared-bindings/microcontroller/Pin.h" -#include "shared-bindings/util.h" -#include "supervisor/port.h" - -#include "component/can.h" - -#include "genhdr/candata.h" - -STATIC Can * const can_insts[] = CAN_INSTS; - -STATIC canio_can_obj_t *can_objs[MP_ARRAY_SIZE(can_insts)]; - -// This must be placed in the first 64kB of RAM -STATIC COMPILER_SECTION(".canram") canio_can_state_t can_state[MP_ARRAY_SIZE(can_insts)]; - -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) -{ - mcu_pin_function_t *tx_function = mcu_find_pin_function(can_tx, tx, -1, MP_QSTR_tx); - int instance = tx_function->instance; - - mcu_pin_function_t *rx_function = mcu_find_pin_function(can_rx, rx, instance, MP_QSTR_rx); - - const uint32_t can_frequency = CONF_CAN0_FREQUENCY; - -#define DIV_ROUND(a, b) (((a) + (b)/2) / (b)) -#define DIV_ROUND_UP(a, b) (((a) + (b) - 1) / (b)) - - uint32_t clocks_per_bit = DIV_ROUND(can_frequency, baudrate); - uint32_t clocks_to_sample = DIV_ROUND(clocks_per_bit * 7, 8); - uint32_t clocks_after_sample = clocks_per_bit - clocks_to_sample; - uint32_t divisor = MAX(DIV_ROUND_UP(clocks_to_sample, 256), DIV_ROUND_UP(clocks_after_sample, 128)); - if (divisor > 32) { - mp_raise_OSError(MP_EINVAL); // baudrate cannot be attained (16kHz or something is lower bound, should never happen) - } - - gpio_set_pin_direction(tx_function->pin, GPIO_DIRECTION_OUT); - gpio_set_pin_function(tx_function->pin, tx_function->function); - common_hal_never_reset_pin(tx_function->obj); - - gpio_set_pin_direction(rx_function->pin, GPIO_DIRECTION_IN); - gpio_set_pin_function(rx_function->pin, rx_function->function); - common_hal_never_reset_pin(rx_function->obj); - - self->tx_pin_number = tx ? common_hal_mcu_pin_number(tx) : COMMON_HAL_MCU_NO_PIN; - self->rx_pin_number = rx ? common_hal_mcu_pin_number(rx) : COMMON_HAL_MCU_NO_PIN; - self->hw = can_insts[instance]; - self->state = &can_state[instance]; - - self->loopback = loopback; - self->silent = silent; - - // Allow configuration change - hri_can_set_CCCR_INIT_bit(self->hw); - while (hri_can_get_CCCR_INIT_bit(self->hw) == 0) { - } - hri_can_set_CCCR_CCE_bit(self->hw); - - if (instance == 0) { - hri_mclk_set_AHBMASK_CAN0_bit(MCLK); - hri_gclk_write_PCHCTRL_reg(GCLK, CAN0_GCLK_ID, CONF_GCLK_CAN0_SRC | (1 << GCLK_PCHCTRL_CHEN_Pos)); - - NVIC_DisableIRQ(CAN0_IRQn); - NVIC_ClearPendingIRQ(CAN0_IRQn); - NVIC_EnableIRQ(CAN0_IRQn); - hri_can_write_ILE_reg(self->hw, CAN_ILE_EINT0); -#ifdef CAN1_GCLK_ID - } else if (instance == 1) { - hri_mclk_set_AHBMASK_CAN1_bit(MCLK); - hri_gclk_write_PCHCTRL_reg(GCLK, CAN1_GCLK_ID, CONF_GCLK_CAN1_SRC | (1 << GCLK_PCHCTRL_CHEN_Pos)); - - NVIC_DisableIRQ(CAN1_IRQn); - NVIC_ClearPendingIRQ(CAN1_IRQn); - NVIC_EnableIRQ(CAN1_IRQn); - hri_can_write_ILE_reg(self->hw, CAN_ILE_EINT0); -#endif - } - - self->hw->CCCR.bit.FDOE = 0; // neither FD nor Bit Rate Switch enabled - self->hw->CCCR.bit.BRSE = 0; - - hri_can_write_MRCFG_reg(self->hw, CAN_MRCFG_QOS(CAN_MRCFG_QOS_DISABLE_Val)); // QoS disabled (no sensitive operation) - - // A "nominal bit" is a header bit. With dual rate CAN FD, this is a slower rate - { - CAN_NBTP_Type btp = { - // 0 means "1 tq", but 2 is subtracted from NTSEG1 for the - // fixed 1 "SYNC" tq - .bit.NTSEG1 = DIV_ROUND(clocks_to_sample, divisor) - 2, - .bit.NTSEG2 = DIV_ROUND(clocks_after_sample, divisor) - 1, - .bit.NBRP = divisor - 1, - .bit.NSJW = DIV_ROUND(clocks_after_sample, divisor * 4), - }; - hri_can_write_NBTP_reg(self->hw, btp.reg); - } - - // A "data bit" is a data bit :) with dula rate CAN FD, this is a higher - // rate. However, CAN FD is not implemented in CircuitPython, and this is - // the same rate as the "nominal rate". - { - CAN_DBTP_Type btp = { - .bit.DTSEG1 = DIV_ROUND(clocks_to_sample, divisor) - 1, - .bit.DTSEG2 = DIV_ROUND(clocks_after_sample, divisor) - 1, - .bit.DBRP = divisor - 1, - .bit.DSJW = DIV_ROUND(clocks_after_sample, divisor * 4), - }; - hri_can_write_DBTP_reg(self->hw, btp.reg); - } - - { - CAN_RXF0C_Type rxf = { - .bit.F0SA = (uint32_t)self->state->rx0_fifo, - .bit.F0S = COMMON_HAL_CANIO_RX_FIFO_SIZE, - }; - hri_can_write_RXF0C_reg(self->hw, rxf.reg); - } - - { - CAN_RXF1C_Type rxf = { - .bit.F1SA = (uint32_t)self->state->rx1_fifo, - .bit.F1S = COMMON_HAL_CANIO_RX_FIFO_SIZE, - }; - hri_can_write_RXF1C_reg(self->hw, rxf.reg); - } - - // All RX data has an 8 byte payload (max) - { - CAN_RXESC_Type esc = { - .bit.F0DS = CAN_RXESC_F0DS_DATA8_Val, - .bit.F1DS = CAN_RXESC_F1DS_DATA8_Val, - .bit.RBDS = CAN_RXESC_RBDS_DATA8_Val, - }; - hri_can_write_RXESC_reg(self->hw, esc.reg); - } - - // All TX data has an 8 byte payload (max) - { - CAN_TXESC_Type esc = { - .bit.TBDS = CAN_TXESC_TBDS_DATA8_Val, - }; - hri_can_write_TXESC_reg(self->hw, esc.reg); - } - - { - CAN_TXBC_Type bc = { - .bit.TBSA = (uint32_t)self->state->tx_fifo, - .bit.NDTB = COMMON_HAL_CANIO_TX_FIFO_SIZE, - .bit.TFQM = 0, // Messages are transmitted in the order submitted - }; - hri_can_write_TXBC_reg(self->hw, bc.reg); - } - - { - CAN_TXEFC_Type efc = { - .bit.EFS = 0, - }; - hri_can_write_TXEFC_reg(self->hw, efc.reg); - } - - { - CAN_GFC_Type gfc = { - .bit.RRFE = 1, - .bit.ANFS = CAN_GFC_ANFS_REJECT_Val, - .bit.ANFE = CAN_GFC_ANFE_REJECT_Val, - }; - hri_can_write_GFC_reg(self->hw, gfc.reg); - } - - { - CAN_SIDFC_Type dfc = { - .bit.LSS = COMMON_HAL_CANIO_RX_FILTER_SIZE, - .bit.FLSSA = (uint32_t)self->state->standard_rx_filter - }; - hri_can_write_SIDFC_reg(self->hw, dfc.reg); - } - - { - CAN_XIDFC_Type dfc = { - .bit.LSE = COMMON_HAL_CANIO_RX_FILTER_SIZE, - .bit.FLESA = (uint32_t)self->state->extended_rx_filter - }; - hri_can_write_XIDFC_reg(self->hw, dfc.reg); - } - - { - CAN_IE_Type ie = { - .bit.EWE = 1, - .bit.EPE = 1, - .bit.BOE = 1, - }; - hri_can_write_IE_reg(self->hw, ie.reg); - } - - hri_can_write_XIDAM_reg(self->hw, CAN_XIDAM_RESETVALUE); - -// silent: The CAN is set in Bus Monitoring Mode by programming CCCR.MON to '1'. (tx pin unused) -// external loopback: The CAN can be set in External Loop Back Mode by programming TEST.LBCK and CCCR.MON to '1'. (rx pin unused) -// internal loopback (silent loopback): Internal Loop Back Mode is entered by programming bits TEST.LBCK and CCCR.MON to '1'. (tx, rx unused) - self->hw->CCCR.bit.MON = silent; - self->hw->CCCR.bit.TEST = loopback; - self->hw->TEST.bit.LBCK = loopback; - - if (instance == 0) { - NVIC_DisableIRQ(CAN0_IRQn); - NVIC_ClearPendingIRQ(CAN0_IRQn); - NVIC_EnableIRQ(CAN0_IRQn); -#ifdef CAN1_GCLK_ID - } else if (instance == 1) { - NVIC_DisableIRQ(CAN1_IRQn); - NVIC_ClearPendingIRQ(CAN1_IRQn); - NVIC_EnableIRQ(CAN1_IRQn); -#endif - } - - hri_can_write_ILE_reg(self->hw, CAN_ILE_EINT0); - // Prevent configuration change - hri_can_clear_CCCR_CCE_bit(self->hw); - hri_can_clear_CCCR_INIT_bit(self->hw); - while (hri_can_get_CCCR_INIT_bit(self->hw)) { - } - - can_objs[instance] = self; -} - -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->hw->ECR.bit.TEC; -} - -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) { - return BUS_STATE_OFF; - } - if (psr.bit.EP) { - return BUS_STATE_ERROR_PASSIVE; - } - if (psr.bit.EW) { - return BUS_STATE_ERROR_WARNING; - } - return BUS_STATE_ERROR_ACTIVE; -} - -void common_hal_canio_can_restart(canio_can_obj_t *self) { - if (!self->hw->PSR.bit.BO) { - return; - } - - hri_can_clear_CCCR_INIT_bit(self->hw); - while (hri_can_get_CCCR_INIT_bit(self->hw)) { - } -} - -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; -} - -static void maybe_auto_restart(canio_can_obj_t *self) { - if (self->auto_restart) { - common_hal_canio_can_restart(self); - } -} - -void common_hal_canio_can_send(canio_can_obj_t *self, canio_message_obj_t *message) -{ - maybe_auto_restart(self); - - // We have just one dedicated TX buffer, use it! - canio_can_fifo_t *ent = &self->state->tx_fifo[0]; - - ent->txb0.bit.ESI = false; - ent->txb0.bit.XTD = message->extended; - ent->txb0.bit.RTR = message->rtr; - if (message->extended) { - ent->txb0.bit.ID = message->id << 18; - } else { - ent->txb0.bit.ID = message->id << 18; // short addresses are left-justified - } - - ent->txb1.bit.MM = 0; // "message marker" - ent->txb1.bit.EFC = 0; // don't store fifo events to event queue - ent->txb1.bit.FDF = 0; // Classic CAN format - ent->txb1.bit.BRS = 0; // No bit rate switching - ent->txb1.bit.DLC = message->size; - - if (!message->rtr) { - memcpy(ent->data, message->data, message->size); - } - - // TX buffer add request - self->hw->TXBAR.reg = 1; - - // wait 8ms (hard coded for now) for TX to occur - uint64_t deadline = port_get_raw_ticks(NULL) + 8; - while (port_get_raw_ticks(NULL) < deadline && !(self->hw->TXBTO.reg & 1)) { - RUN_BACKGROUND_TASKS; - } -} - -bool common_hal_canio_can_silent_get(canio_can_obj_t *self) { - return self->silent; -} - -bool common_hal_canio_can_deinited(canio_can_obj_t *self) { - return !self->hw; -} - -void common_hal_canio_can_check_for_deinit(canio_can_obj_t *self) { - if (common_hal_canio_can_deinited(self)) { - raise_deinited_error(); - } -} - -void common_hal_canio_can_deinit(canio_can_obj_t *self) -{ - if (self->hw) { - hri_can_set_CCCR_INIT_bit(self->hw); - self->hw = 0; - } - if (self->rx_pin_number != COMMON_HAL_MCU_NO_PIN) { - reset_pin_number(self->rx_pin_number); - self->rx_pin_number = COMMON_HAL_MCU_NO_PIN; - } - if (self->tx_pin_number != COMMON_HAL_MCU_NO_PIN) { - reset_pin_number(self->tx_pin_number); - self->tx_pin_number = COMMON_HAL_MCU_NO_PIN; - } -} - -void common_hal_canio_reset(void) { - memset(can_state, 0, sizeof(can_state)); - - for (size_t i=0; ierror_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); -} - -__attribute__((used)) -void CAN0_Handler(void) { - can_handler(0); -} - -#ifdef CAN1_GCLK_ID -__attribute__((used)) -void CAN1_Handler(void) { - can_handler(1); -} -#endif diff --git a/ports/atmel-samd/common-hal/_canio/CAN.h b/ports/atmel-samd/common-hal/_canio/CAN.h deleted file mode 100644 index 1cc34e3ac..000000000 --- a/ports/atmel-samd/common-hal/_canio/CAN.h +++ /dev/null @@ -1,55 +0,0 @@ -/* - * 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 "component/can.h" -#include "common-hal/microcontroller/Pin.h" -#include "common-hal/_canio/__init__.h" -#include "shared-module/_canio/Message.h" - -#define COMMON_HAL_CAN_RX_FIFO_LEN (2) -#define COMMON_HAL_CAN_TX_FIFO_LEN (2) - -typedef struct canio_can_obj { - mp_obj_base_t base; - Can *hw; - canio_can_state_t *state; - volatile uint32_t error_warning_state_count; - volatile uint32_t error_passive_state_count; - volatile uint32_t bus_off_state_count; - int baudrate; - uint8_t rx_pin_number:8; - uint8_t tx_pin_number:8; - bool loopback:1; - bool silent:1; - bool auto_restart:1; - bool fifo0_in_use:1; - bool fifo1_in_use:1; -} canio_can_obj_t; diff --git a/ports/atmel-samd/common-hal/_canio/Listener.c b/ports/atmel-samd/common-hal/_canio/Listener.c deleted file mode 100644 index 0a5f629f8..000000000 --- a/ports/atmel-samd/common-hal/_canio/Listener.c +++ /dev/null @@ -1,391 +0,0 @@ -/* - * 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 -#include - -#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 "component/can.h" - -STATIC void allow_config_change(canio_can_obj_t *can) { - can->hw->CCCR.bit.INIT = 1; - while (!can->hw->CCCR.bit.INIT) { - } - can->hw->CCCR.bit.CCE = 1; -} - -STATIC void prevent_config_change(canio_can_obj_t *can) { - can->hw->CCCR.bit.CCE = 0; - can->hw->CCCR.bit.INIT = 0; - while (can->hw->CCCR.bit.INIT) { - } -} - -__attribute__((unused)) -STATIC void static_assertions(void) { - MP_STATIC_ASSERT(CAN_GFC_ANFE_RXF0_Val + 1 == CAN_GFC_ANFE_RXF1_Val); - MP_STATIC_ASSERT(CAN_GFC_ANFS_RXF0_Val + 1 == CAN_GFC_ANFS_RXF1_Val); - MP_STATIC_ASSERT(CAN_SIDFE_0_SFEC_STF0M_Val + 1 == CAN_SIDFE_0_SFEC_STF1M_Val); - 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 standard_filter_in_use(CanMramSidfe *filter) { - return filter->SIDFE_0.bit.SFEC != CAN_SIDFE_0_SFEC_DISABLE_Val; -} - -STATIC bool extended_filter_in_use(CanMramXidfe *filter) { - return filter->XIDFE_0.bit.EFEC != CAN_XIDFE_0_EFEC_DISABLE_Val; -} - -STATIC size_t num_filters_needed(size_t nmatch, canio_match_obj_t **matches, bool extended) { - size_t num_half_filters_needed = 1; - for(size_t i=0; iextended) { - continue; - } - if (single_address_filter(matches[i])) { - num_half_filters_needed += 1; - } else { - num_half_filters_needed += 2; - } - } - return num_half_filters_needed / 2; -} - -STATIC size_t num_filters_available(canio_can_obj_t *can, bool extended) { - size_t available = 0; - if (extended) { - for(size_t i = 0; i < MP_ARRAY_SIZE(can->state->extended_rx_filter); i++) { - if (!extended_filter_in_use(&can->state->extended_rx_filter[i])) { - available++; - } - } - } else { - for(size_t i = 0; i < MP_ARRAY_SIZE(can->state->standard_rx_filter); i++) { - if (!standard_filter_in_use(&can->state->standard_rx_filter[i])) { - available++; - } - } - } - return available; -} - -STATIC void clear_filters(canio_listener_obj_t *self) { - canio_can_obj_t *can = self->can; - int fifo = self->fifo_idx; - - // If it was a global accept, clear it - allow_config_change(can); - if (can->hw->GFC.bit.ANFS == CAN_GFC_ANFS_RXF0 + fifo) { - can->hw->GFC.bit.ANFS = CAN_GFC_ANFS_REJECT_Val; - } - if (can->hw->GFC.bit.ANFE == CAN_GFC_ANFE_RXF0 + fifo) { - can->hw->GFC.bit.ANFE = CAN_GFC_ANFE_REJECT_Val; - } - prevent_config_change(can); - - // For each filter entry, if it pointed at this FIFO set it to DISABLE - for(size_t i = 0; i < MP_ARRAY_SIZE(can->state->extended_rx_filter); i++) { - int val = CAN_XIDFE_0_EFEC_STF0M_Val + fifo; - if (can->state->extended_rx_filter[i].XIDFE_0.bit.EFEC == val) { - can->state->extended_rx_filter[i].XIDFE_0.bit.EFEC = CAN_XIDFE_0_EFEC_DISABLE_Val; - } - } - for(size_t i = 0; i < MP_ARRAY_SIZE(can->state->standard_rx_filter); i++) { - int val = CAN_SIDFE_0_SFEC_STF1M_Val + fifo; - if (can->state->standard_rx_filter[i].SIDFE_0.bit.SFEC == val) { - can->state->standard_rx_filter[i].SIDFE_0.bit.SFEC = CAN_SIDFE_0_SFEC_DISABLE_Val; - } - } -} - -STATIC CanMramXidfe *next_extended_filter(canio_listener_obj_t *self, CanMramXidfe *start) { - CanMramXidfe *end = &self->can->state->extended_rx_filter[MP_ARRAY_SIZE(self->can->state->extended_rx_filter)]; - if (start == NULL) { - start = self->can->state->extended_rx_filter; - } else { - start = start + 1; - } - while (extended_filter_in_use(start)) { - if (start == end) { - return NULL; - } - start = start + 1; - } - return start; -} - -STATIC CanMramSidfe *next_standard_filter(canio_listener_obj_t *self, CanMramSidfe *start) { - CanMramSidfe *end = &self->can->state->standard_rx_filter[MP_ARRAY_SIZE(self->can->state->standard_rx_filter)]; - if (start == NULL) { - start = self->can->state->standard_rx_filter; - } else { - start = start + 1; - } - while (standard_filter_in_use(start)) { - if (start == end) { - return NULL; - } - start = start + 1; - } - return start; -} - -STATIC void install_standard_filter(CanMramSidfe *standard, int id1, int id2, int sfec, int sft) { - assert(standard); - CAN_SIDFE_0_Type val = { - .bit.SFID1 = id1, - .bit.SFID2 = id2, - .bit.SFEC = sfec, - .bit.SFT = sft, - }; - standard->SIDFE_0 = val; -} - -STATIC void install_extended_filter(CanMramXidfe *extended, int id1, int id2, int efec, int eft) { - assert(extended); - CAN_XIDFE_0_Type val0 = { - .bit.EFID1 = id1, - .bit.EFEC = efec, - }; - CAN_XIDFE_1_Type val1 = { - .bit.EFID2 = id2, - .bit.EFT = eft, - }; - // Set entry 0 second, because it has the enable bits (XIDFE_0_EFEC) - extended->XIDFE_1 = val1; - extended->XIDFE_0 = val0; -} - - -#define NO_ADDRESS (-1) -void set_filters(canio_listener_obj_t *self, size_t nmatch, canio_match_obj_t **matches) { - int fifo = self->fifo_idx; - - if (!nmatch) { - allow_config_change(self->can); - self->can->hw->GFC.bit.ANFS = CAN_GFC_ANFS_RXF0_Val + fifo; - self->can->hw->GFC.bit.ANFE = CAN_GFC_ANFE_RXF0_Val + fifo; - self->can->hw->CCCR.bit.CCE = 0; - prevent_config_change(self->can); - return; - } - - CanMramSidfe *standard = next_standard_filter(self, NULL); - CanMramXidfe *extended = next_extended_filter(self, NULL); - - int first_address = NO_ADDRESS; - - // step 1: single address standard matches - // we have to gather up pairs and stuff them in a single filter entry - for(size_t i = 0; iextended) { - continue; - } - if (!single_address_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; - standard = next_standard_filter(self, standard); - } else { - first_address = match->address; - } - } - // 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); - standard = next_standard_filter(self, standard); - first_address = NO_ADDRESS; - } - - // step 2: standard mask filter - for(size_t i = 0; iextended) { - continue; - } - if (single_address_filter(match)) { - continue; - } - install_standard_filter(standard, match->address, 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 - // we have to gather up pairs and stuff them in a single filter entry - for(size_t i = 0; iextended) { - continue; - } - if (!single_address_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; - extended = next_extended_filter(self, extended); - } else { - first_address = match->address; - } - } - // 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); - extended = next_extended_filter(self, extended); - first_address = NO_ADDRESS; - } - - // step 4: extended mask filters - for(size_t i = 0; iextended) { - continue; - } - if (single_address_filter(match)) { - continue; - } - install_extended_filter(extended, match->address, match->mask, CAN_XIDFE_0_EFEC_STF0M_Val + fifo, CAN_XIDFE_1_EFT_CLASSIC_Val); - extended = next_extended_filter(self, extended); - } - - // phew, easy(!) -} - - -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->fifo = can->state->rx0_fifo; - self->hw = (canio_rxfifo_reg_t*)&can->hw->RXF0C; - can->hw->IR.reg = CAN_IR_RF0N | CAN_IR_RF0W | CAN_IR_RF0F | CAN_IR_RF0L; - can->fifo0_in_use = true; - } else if (!can->fifo1_in_use) { - self->fifo_idx = 1; - self->fifo = can->state->rx1_fifo; - self->hw = (canio_rxfifo_reg_t*)&can->hw->RXF1C; - can->fifo1_in_use = true; - can->hw->IR.reg = CAN_IR_RF1N | CAN_IR_RF1W | CAN_IR_RF1F | CAN_IR_RF1L; - } else { - mp_raise_ValueError(translate("All RX FIFOs in use")); - } - - if (!nmatch) { - if (can->hw->GFC.bit.ANFS == CAN_GFC_ANFS_RXF1_Val - self->fifo_idx) { - mp_raise_ValueError(translate("Already have all-matches listener")); - } - if (can->hw->GFC.bit.ANFE == CAN_GFC_ANFE_RXF1_Val - self->fifo_idx) { - mp_raise_ValueError(translate("Already have all-matches listener")); - } - } - - if (num_filters_needed(nmatch, matches, false) > num_filters_available(can, false)) { - mp_raise_ValueError(translate("Filters too complex")); - } - - if (num_filters_needed(nmatch, matches, true) > num_filters_available(can, true)) { - mp_raise_ValueError(translate("Filters too complex")); - } - - // Nothing can fail now so it's safe to assign self->can - self->can = can; - 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->hw->RXFS.bit.F0FL; -} - -bool common_hal_canio_listener_readinto(canio_listener_obj_t *self, canio_message_obj_t *message) { - if (!common_hal_canio_listener_in_waiting(self)) { - uint64_t deadline = supervisor_ticks_ms64() + self->timeout_ms; - do { - if (supervisor_ticks_ms64() > deadline) { - return false; - } - } while (!common_hal_canio_listener_in_waiting(self)); - } - int index = self->hw->RXFS.bit.F0GI; - canio_can_fifo_t *hw_message = &self->fifo[index]; - message->extended = hw_message->rxb0.bit.XTD; - if (message->extended) { - message->id = hw_message->rxb0.bit.ID; - } else { - message->id = hw_message->rxb0.bit.ID >> 18; // short addresses are left-justified - } - message->rtr = hw_message->rxb0.bit.RTR; - message->size = hw_message->rxb1.bit.DLC; - if (!message->rtr) { - memcpy(message->data, hw_message->data, message->size); - } - self->hw->RXFA.bit.F0AI = index; - return true; -} - -void common_hal_canio_listener_deinit(canio_listener_obj_t *self) { - 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->fifo = NULL; - self->can = NULL; - self->hw = NULL; -} diff --git a/ports/atmel-samd/common-hal/_canio/Listener.h b/ports/atmel-samd/common-hal/_canio/Listener.h deleted file mode 100644 index cc6770e6e..000000000 --- a/ports/atmel-samd/common-hal/_canio/Listener.h +++ /dev/null @@ -1,53 +0,0 @@ -/* - * This file is part of the MicroPython project, http://micropython.org/ - * - * The MIT License (MIT) - * - * Copyright (c) 2020 Jeff Epler for Adafruit Industries - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ - -#pragma once - -#include "common-hal/_canio/CAN.h" -#include "shared-module/_canio/Match.h" - -typedef struct { - __IO CAN_RXF0C_Type RXFC; /**< \brief (R/W 32) Rx FIFO n Configuration */ - __I CAN_RXF0S_Type RXFS; /**< \brief (R/ 32) Rx FIFO n Status */ - __IO CAN_RXF0A_Type RXFA; /**< \brief (R/W 32) Rx FIFO n Acknowledge */ -} canio_rxfifo_reg_t; - -typedef struct { - mp_obj_base_t base; - canio_can_obj_t *can; - canio_can_fifo_t *fifo; - canio_rxfifo_reg_t *hw; - uint32_t timeout_ms; - uint8_t fifo_idx; -} canio_listener_obj_t; - -void common_hal_canio_listener_construct(canio_listener_obj_t *self, canio_can_obj_t *can, size_t nmatch, canio_match_obj_t **matches, float timeout); -void common_hal_canio_listener_check_for_deinit(canio_listener_obj_t *self); -void common_hal_canio_listener_deinit(canio_listener_obj_t *self); -bool common_hal_canio_listener_readinto(canio_listener_obj_t *self, canio_message_obj_t *message); -int common_hal_canio_listener_in_waiting(canio_listener_obj_t *self); -float common_hal_canio_listener_get_timeout(canio_listener_obj_t *self); -void common_hal_canio_listener_set_timeout(canio_listener_obj_t *self, float timeout); diff --git a/ports/atmel-samd/common-hal/_canio/__init__.c b/ports/atmel-samd/common-hal/_canio/__init__.c deleted file mode 100644 index 7932bfc2d..000000000 --- a/ports/atmel-samd/common-hal/_canio/__init__.c +++ /dev/null @@ -1,25 +0,0 @@ -/* - * This file is part of the MicroPython project, http://micropython.org/ - * - * The MIT License (MIT) - * - * Copyright (c) 2020 Jeff Epler for Adafruit Industries - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ diff --git a/ports/atmel-samd/common-hal/_canio/__init__.h b/ports/atmel-samd/common-hal/_canio/__init__.h deleted file mode 100644 index cb491ab9e..000000000 --- a/ports/atmel-samd/common-hal/_canio/__init__.h +++ /dev/null @@ -1,67 +0,0 @@ -/* - * This file is part of the MicroPython project, http://micropython.org/ - * - * The MIT License (MIT) - * - * Copyright (c) 2020 Jeff Epler for Adafruit Industries - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ - -#pragma once - -#include "hal/utils/include/utils.h" -#include "component/can.h" - -#define COMMON_HAL_CANIO_MAX_MESSAGE_LENGTH (8) -#define COMMON_HAL_CANIO_RX_FIFO_SIZE (3) -#define COMMON_HAL_CANIO_RX_FILTER_SIZE (4) -#define COMMON_HAL_CANIO_TX_FIFO_SIZE (1) - -// This appears to be a typo (transposition error) in the ASF4 headers -// It's called the "Extended ID Filter Entry" -typedef CanMramXifde CanMramXidfe; - -typedef struct canio_listener canio_listener_t; -typedef struct canio_can canio_can_t; - -typedef struct { - union { - CAN_RXBE_0_Type rxb0; - CAN_TXBE_0_Type txb0; - CAN_RXF0E_0_Type rxf0; - }; - union { - CAN_RXBE_1_Type rxb1; - CAN_TXBE_1_Type txb1; - CAN_RXF0E_1_Type rxf1; - }; - COMPILER_ALIGNED(4) - uint8_t data[COMMON_HAL_CANIO_MAX_MESSAGE_LENGTH]; -} canio_can_fifo_t; - -typedef uint32_t canio_can_filter_t; - -typedef struct { - canio_can_fifo_t tx_fifo[COMMON_HAL_CANIO_TX_FIFO_SIZE]; - canio_can_fifo_t rx0_fifo[COMMON_HAL_CANIO_RX_FIFO_SIZE]; - canio_can_fifo_t rx1_fifo[COMMON_HAL_CANIO_RX_FIFO_SIZE]; - CanMramSidfe standard_rx_filter[COMMON_HAL_CANIO_RX_FILTER_SIZE]; - CanMramXifde extended_rx_filter[COMMON_HAL_CANIO_RX_FILTER_SIZE]; -} canio_can_state_t; diff --git a/ports/atmel-samd/common-hal/canio/CAN.c b/ports/atmel-samd/common-hal/canio/CAN.c new file mode 100644 index 000000000..01cc03dea --- /dev/null +++ b/ports/atmel-samd/common-hal/canio/CAN.c @@ -0,0 +1,445 @@ +/* + * 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 + +#include "py/runtime.h" +#include "py/mperrno.h" + +#include "peripheral_clk_config.h" + +#include "common-hal/canio/CAN.h" +#include "shared-bindings/microcontroller/Pin.h" +#include "shared-bindings/util.h" +#include "supervisor/port.h" + +#include "component/can.h" + +#include "genhdr/candata.h" + +STATIC Can * const can_insts[] = CAN_INSTS; + +STATIC canio_can_obj_t *can_objs[MP_ARRAY_SIZE(can_insts)]; + +// This must be placed in the first 64kB of RAM +STATIC COMPILER_SECTION(".canram") canio_can_state_t can_state[MP_ARRAY_SIZE(can_insts)]; + +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) +{ + mcu_pin_function_t *tx_function = mcu_find_pin_function(can_tx, tx, -1, MP_QSTR_tx); + int instance = tx_function->instance; + + mcu_pin_function_t *rx_function = mcu_find_pin_function(can_rx, rx, instance, MP_QSTR_rx); + + const uint32_t can_frequency = CONF_CAN0_FREQUENCY; + +#define DIV_ROUND(a, b) (((a) + (b)/2) / (b)) +#define DIV_ROUND_UP(a, b) (((a) + (b) - 1) / (b)) + + uint32_t clocks_per_bit = DIV_ROUND(can_frequency, baudrate); + uint32_t clocks_to_sample = DIV_ROUND(clocks_per_bit * 7, 8); + uint32_t clocks_after_sample = clocks_per_bit - clocks_to_sample; + uint32_t divisor = MAX(DIV_ROUND_UP(clocks_to_sample, 256), DIV_ROUND_UP(clocks_after_sample, 128)); + if (divisor > 32) { + mp_raise_OSError(MP_EINVAL); // baudrate cannot be attained (16kHz or something is lower bound, should never happen) + } + + gpio_set_pin_direction(tx_function->pin, GPIO_DIRECTION_OUT); + gpio_set_pin_function(tx_function->pin, tx_function->function); + common_hal_never_reset_pin(tx_function->obj); + + gpio_set_pin_direction(rx_function->pin, GPIO_DIRECTION_IN); + gpio_set_pin_function(rx_function->pin, rx_function->function); + common_hal_never_reset_pin(rx_function->obj); + + self->tx_pin_number = tx ? common_hal_mcu_pin_number(tx) : COMMON_HAL_MCU_NO_PIN; + self->rx_pin_number = rx ? common_hal_mcu_pin_number(rx) : COMMON_HAL_MCU_NO_PIN; + self->hw = can_insts[instance]; + self->state = &can_state[instance]; + + self->loopback = loopback; + self->silent = silent; + + // Allow configuration change + hri_can_set_CCCR_INIT_bit(self->hw); + while (hri_can_get_CCCR_INIT_bit(self->hw) == 0) { + } + hri_can_set_CCCR_CCE_bit(self->hw); + + if (instance == 0) { + hri_mclk_set_AHBMASK_CAN0_bit(MCLK); + hri_gclk_write_PCHCTRL_reg(GCLK, CAN0_GCLK_ID, CONF_GCLK_CAN0_SRC | (1 << GCLK_PCHCTRL_CHEN_Pos)); + + NVIC_DisableIRQ(CAN0_IRQn); + NVIC_ClearPendingIRQ(CAN0_IRQn); + NVIC_EnableIRQ(CAN0_IRQn); + hri_can_write_ILE_reg(self->hw, CAN_ILE_EINT0); +#ifdef CAN1_GCLK_ID + } else if (instance == 1) { + hri_mclk_set_AHBMASK_CAN1_bit(MCLK); + hri_gclk_write_PCHCTRL_reg(GCLK, CAN1_GCLK_ID, CONF_GCLK_CAN1_SRC | (1 << GCLK_PCHCTRL_CHEN_Pos)); + + NVIC_DisableIRQ(CAN1_IRQn); + NVIC_ClearPendingIRQ(CAN1_IRQn); + NVIC_EnableIRQ(CAN1_IRQn); + hri_can_write_ILE_reg(self->hw, CAN_ILE_EINT0); +#endif + } + + self->hw->CCCR.bit.FDOE = 0; // neither FD nor Bit Rate Switch enabled + self->hw->CCCR.bit.BRSE = 0; + + hri_can_write_MRCFG_reg(self->hw, CAN_MRCFG_QOS(CAN_MRCFG_QOS_DISABLE_Val)); // QoS disabled (no sensitive operation) + + // A "nominal bit" is a header bit. With dual rate CAN FD, this is a slower rate + { + CAN_NBTP_Type btp = { + // 0 means "1 tq", but 2 is subtracted from NTSEG1 for the + // fixed 1 "SYNC" tq + .bit.NTSEG1 = DIV_ROUND(clocks_to_sample, divisor) - 2, + .bit.NTSEG2 = DIV_ROUND(clocks_after_sample, divisor) - 1, + .bit.NBRP = divisor - 1, + .bit.NSJW = DIV_ROUND(clocks_after_sample, divisor * 4), + }; + hri_can_write_NBTP_reg(self->hw, btp.reg); + } + + // A "data bit" is a data bit :) with dula rate CAN FD, this is a higher + // rate. However, CAN FD is not implemented in CircuitPython, and this is + // the same rate as the "nominal rate". + { + CAN_DBTP_Type btp = { + .bit.DTSEG1 = DIV_ROUND(clocks_to_sample, divisor) - 1, + .bit.DTSEG2 = DIV_ROUND(clocks_after_sample, divisor) - 1, + .bit.DBRP = divisor - 1, + .bit.DSJW = DIV_ROUND(clocks_after_sample, divisor * 4), + }; + hri_can_write_DBTP_reg(self->hw, btp.reg); + } + + { + CAN_RXF0C_Type rxf = { + .bit.F0SA = (uint32_t)self->state->rx0_fifo, + .bit.F0S = COMMON_HAL_CANIO_RX_FIFO_SIZE, + }; + hri_can_write_RXF0C_reg(self->hw, rxf.reg); + } + + { + CAN_RXF1C_Type rxf = { + .bit.F1SA = (uint32_t)self->state->rx1_fifo, + .bit.F1S = COMMON_HAL_CANIO_RX_FIFO_SIZE, + }; + hri_can_write_RXF1C_reg(self->hw, rxf.reg); + } + + // All RX data has an 8 byte payload (max) + { + CAN_RXESC_Type esc = { + .bit.F0DS = CAN_RXESC_F0DS_DATA8_Val, + .bit.F1DS = CAN_RXESC_F1DS_DATA8_Val, + .bit.RBDS = CAN_RXESC_RBDS_DATA8_Val, + }; + hri_can_write_RXESC_reg(self->hw, esc.reg); + } + + // All TX data has an 8 byte payload (max) + { + CAN_TXESC_Type esc = { + .bit.TBDS = CAN_TXESC_TBDS_DATA8_Val, + }; + hri_can_write_TXESC_reg(self->hw, esc.reg); + } + + { + CAN_TXBC_Type bc = { + .bit.TBSA = (uint32_t)self->state->tx_fifo, + .bit.NDTB = COMMON_HAL_CANIO_TX_FIFO_SIZE, + .bit.TFQM = 0, // Messages are transmitted in the order submitted + }; + hri_can_write_TXBC_reg(self->hw, bc.reg); + } + + { + CAN_TXEFC_Type efc = { + .bit.EFS = 0, + }; + hri_can_write_TXEFC_reg(self->hw, efc.reg); + } + + { + CAN_GFC_Type gfc = { + .bit.RRFE = 1, + .bit.ANFS = CAN_GFC_ANFS_REJECT_Val, + .bit.ANFE = CAN_GFC_ANFE_REJECT_Val, + }; + hri_can_write_GFC_reg(self->hw, gfc.reg); + } + + { + CAN_SIDFC_Type dfc = { + .bit.LSS = COMMON_HAL_CANIO_RX_FILTER_SIZE, + .bit.FLSSA = (uint32_t)self->state->standard_rx_filter + }; + hri_can_write_SIDFC_reg(self->hw, dfc.reg); + } + + { + CAN_XIDFC_Type dfc = { + .bit.LSE = COMMON_HAL_CANIO_RX_FILTER_SIZE, + .bit.FLESA = (uint32_t)self->state->extended_rx_filter + }; + hri_can_write_XIDFC_reg(self->hw, dfc.reg); + } + + { + CAN_IE_Type ie = { + .bit.EWE = 1, + .bit.EPE = 1, + .bit.BOE = 1, + }; + hri_can_write_IE_reg(self->hw, ie.reg); + } + + hri_can_write_XIDAM_reg(self->hw, CAN_XIDAM_RESETVALUE); + +// silent: The CAN is set in Bus Monitoring Mode by programming CCCR.MON to '1'. (tx pin unused) +// external loopback: The CAN can be set in External Loop Back Mode by programming TEST.LBCK and CCCR.MON to '1'. (rx pin unused) +// internal loopback (silent loopback): Internal Loop Back Mode is entered by programming bits TEST.LBCK and CCCR.MON to '1'. (tx, rx unused) + self->hw->CCCR.bit.MON = silent; + self->hw->CCCR.bit.TEST = loopback; + self->hw->TEST.bit.LBCK = loopback; + + if (instance == 0) { + NVIC_DisableIRQ(CAN0_IRQn); + NVIC_ClearPendingIRQ(CAN0_IRQn); + NVIC_EnableIRQ(CAN0_IRQn); +#ifdef CAN1_GCLK_ID + } else if (instance == 1) { + NVIC_DisableIRQ(CAN1_IRQn); + NVIC_ClearPendingIRQ(CAN1_IRQn); + NVIC_EnableIRQ(CAN1_IRQn); +#endif + } + + hri_can_write_ILE_reg(self->hw, CAN_ILE_EINT0); + // Prevent configuration change + hri_can_clear_CCCR_CCE_bit(self->hw); + hri_can_clear_CCCR_INIT_bit(self->hw); + while (hri_can_get_CCCR_INIT_bit(self->hw)) { + } + + can_objs[instance] = self; +} + +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->hw->ECR.bit.TEC; +} + +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) { + return BUS_STATE_OFF; + } + if (psr.bit.EP) { + return BUS_STATE_ERROR_PASSIVE; + } + if (psr.bit.EW) { + return BUS_STATE_ERROR_WARNING; + } + return BUS_STATE_ERROR_ACTIVE; +} + +void common_hal_canio_can_restart(canio_can_obj_t *self) { + if (!self->hw->PSR.bit.BO) { + return; + } + + hri_can_clear_CCCR_INIT_bit(self->hw); + while (hri_can_get_CCCR_INIT_bit(self->hw)) { + } +} + +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; +} + +static void maybe_auto_restart(canio_can_obj_t *self) { + if (self->auto_restart) { + common_hal_canio_can_restart(self); + } +} + +void common_hal_canio_can_send(canio_can_obj_t *self, canio_message_obj_t *message) +{ + maybe_auto_restart(self); + + // We have just one dedicated TX buffer, use it! + canio_can_fifo_t *ent = &self->state->tx_fifo[0]; + + ent->txb0.bit.ESI = false; + ent->txb0.bit.XTD = message->extended; + ent->txb0.bit.RTR = message->rtr; + if (message->extended) { + ent->txb0.bit.ID = message->id << 18; + } else { + ent->txb0.bit.ID = message->id << 18; // short addresses are left-justified + } + + ent->txb1.bit.MM = 0; // "message marker" + ent->txb1.bit.EFC = 0; // don't store fifo events to event queue + ent->txb1.bit.FDF = 0; // Classic CAN format + ent->txb1.bit.BRS = 0; // No bit rate switching + ent->txb1.bit.DLC = message->size; + + if (!message->rtr) { + memcpy(ent->data, message->data, message->size); + } + + // TX buffer add request + self->hw->TXBAR.reg = 1; + + // wait 8ms (hard coded for now) for TX to occur + uint64_t deadline = port_get_raw_ticks(NULL) + 8; + while (port_get_raw_ticks(NULL) < deadline && !(self->hw->TXBTO.reg & 1)) { + RUN_BACKGROUND_TASKS; + } +} + +bool common_hal_canio_can_silent_get(canio_can_obj_t *self) { + return self->silent; +} + +bool common_hal_canio_can_deinited(canio_can_obj_t *self) { + return !self->hw; +} + +void common_hal_canio_can_check_for_deinit(canio_can_obj_t *self) { + if (common_hal_canio_can_deinited(self)) { + raise_deinited_error(); + } +} + +void common_hal_canio_can_deinit(canio_can_obj_t *self) +{ + if (self->hw) { + hri_can_set_CCCR_INIT_bit(self->hw); + self->hw = 0; + } + if (self->rx_pin_number != COMMON_HAL_MCU_NO_PIN) { + reset_pin_number(self->rx_pin_number); + self->rx_pin_number = COMMON_HAL_MCU_NO_PIN; + } + if (self->tx_pin_number != COMMON_HAL_MCU_NO_PIN) { + reset_pin_number(self->tx_pin_number); + self->tx_pin_number = COMMON_HAL_MCU_NO_PIN; + } +} + +void common_hal_canio_reset(void) { + memset(can_state, 0, sizeof(can_state)); + + for (size_t i=0; ierror_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); +} + +__attribute__((used)) +void CAN0_Handler(void) { + can_handler(0); +} + +#ifdef CAN1_GCLK_ID +__attribute__((used)) +void CAN1_Handler(void) { + can_handler(1); +} +#endif diff --git a/ports/atmel-samd/common-hal/canio/CAN.h b/ports/atmel-samd/common-hal/canio/CAN.h new file mode 100644 index 000000000..cdea60e7d --- /dev/null +++ b/ports/atmel-samd/common-hal/canio/CAN.h @@ -0,0 +1,55 @@ +/* + * 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 "component/can.h" +#include "common-hal/microcontroller/Pin.h" +#include "common-hal/canio/__init__.h" +#include "shared-module/canio/Message.h" + +#define COMMON_HAL_CAN_RX_FIFO_LEN (2) +#define COMMON_HAL_CAN_TX_FIFO_LEN (2) + +typedef struct canio_can_obj { + mp_obj_base_t base; + Can *hw; + canio_can_state_t *state; + volatile uint32_t error_warning_state_count; + volatile uint32_t error_passive_state_count; + volatile uint32_t bus_off_state_count; + int baudrate; + uint8_t rx_pin_number:8; + uint8_t tx_pin_number:8; + bool loopback:1; + bool silent:1; + bool auto_restart:1; + bool fifo0_in_use:1; + bool fifo1_in_use:1; +} canio_can_obj_t; diff --git a/ports/atmel-samd/common-hal/canio/Listener.c b/ports/atmel-samd/common-hal/canio/Listener.c new file mode 100644 index 000000000..bf8b3288d --- /dev/null +++ b/ports/atmel-samd/common-hal/canio/Listener.c @@ -0,0 +1,391 @@ +/* + * 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 +#include + +#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 "component/can.h" + +STATIC void allow_config_change(canio_can_obj_t *can) { + can->hw->CCCR.bit.INIT = 1; + while (!can->hw->CCCR.bit.INIT) { + } + can->hw->CCCR.bit.CCE = 1; +} + +STATIC void prevent_config_change(canio_can_obj_t *can) { + can->hw->CCCR.bit.CCE = 0; + can->hw->CCCR.bit.INIT = 0; + while (can->hw->CCCR.bit.INIT) { + } +} + +__attribute__((unused)) +STATIC void static_assertions(void) { + MP_STATIC_ASSERT(CAN_GFC_ANFE_RXF0_Val + 1 == CAN_GFC_ANFE_RXF1_Val); + MP_STATIC_ASSERT(CAN_GFC_ANFS_RXF0_Val + 1 == CAN_GFC_ANFS_RXF1_Val); + MP_STATIC_ASSERT(CAN_SIDFE_0_SFEC_STF0M_Val + 1 == CAN_SIDFE_0_SFEC_STF1M_Val); + 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 standard_filter_in_use(CanMramSidfe *filter) { + return filter->SIDFE_0.bit.SFEC != CAN_SIDFE_0_SFEC_DISABLE_Val; +} + +STATIC bool extended_filter_in_use(CanMramXidfe *filter) { + return filter->XIDFE_0.bit.EFEC != CAN_XIDFE_0_EFEC_DISABLE_Val; +} + +STATIC size_t num_filters_needed(size_t nmatch, canio_match_obj_t **matches, bool extended) { + size_t num_half_filters_needed = 1; + for(size_t i=0; iextended) { + continue; + } + if (single_address_filter(matches[i])) { + num_half_filters_needed += 1; + } else { + num_half_filters_needed += 2; + } + } + return num_half_filters_needed / 2; +} + +STATIC size_t num_filters_available(canio_can_obj_t *can, bool extended) { + size_t available = 0; + if (extended) { + for(size_t i = 0; i < MP_ARRAY_SIZE(can->state->extended_rx_filter); i++) { + if (!extended_filter_in_use(&can->state->extended_rx_filter[i])) { + available++; + } + } + } else { + for(size_t i = 0; i < MP_ARRAY_SIZE(can->state->standard_rx_filter); i++) { + if (!standard_filter_in_use(&can->state->standard_rx_filter[i])) { + available++; + } + } + } + return available; +} + +STATIC void clear_filters(canio_listener_obj_t *self) { + canio_can_obj_t *can = self->can; + int fifo = self->fifo_idx; + + // If it was a global accept, clear it + allow_config_change(can); + if (can->hw->GFC.bit.ANFS == CAN_GFC_ANFS_RXF0 + fifo) { + can->hw->GFC.bit.ANFS = CAN_GFC_ANFS_REJECT_Val; + } + if (can->hw->GFC.bit.ANFE == CAN_GFC_ANFE_RXF0 + fifo) { + can->hw->GFC.bit.ANFE = CAN_GFC_ANFE_REJECT_Val; + } + prevent_config_change(can); + + // For each filter entry, if it pointed at this FIFO set it to DISABLE + for(size_t i = 0; i < MP_ARRAY_SIZE(can->state->extended_rx_filter); i++) { + int val = CAN_XIDFE_0_EFEC_STF0M_Val + fifo; + if (can->state->extended_rx_filter[i].XIDFE_0.bit.EFEC == val) { + can->state->extended_rx_filter[i].XIDFE_0.bit.EFEC = CAN_XIDFE_0_EFEC_DISABLE_Val; + } + } + for(size_t i = 0; i < MP_ARRAY_SIZE(can->state->standard_rx_filter); i++) { + int val = CAN_SIDFE_0_SFEC_STF1M_Val + fifo; + if (can->state->standard_rx_filter[i].SIDFE_0.bit.SFEC == val) { + can->state->standard_rx_filter[i].SIDFE_0.bit.SFEC = CAN_SIDFE_0_SFEC_DISABLE_Val; + } + } +} + +STATIC CanMramXidfe *next_extended_filter(canio_listener_obj_t *self, CanMramXidfe *start) { + CanMramXidfe *end = &self->can->state->extended_rx_filter[MP_ARRAY_SIZE(self->can->state->extended_rx_filter)]; + if (start == NULL) { + start = self->can->state->extended_rx_filter; + } else { + start = start + 1; + } + while (extended_filter_in_use(start)) { + if (start == end) { + return NULL; + } + start = start + 1; + } + return start; +} + +STATIC CanMramSidfe *next_standard_filter(canio_listener_obj_t *self, CanMramSidfe *start) { + CanMramSidfe *end = &self->can->state->standard_rx_filter[MP_ARRAY_SIZE(self->can->state->standard_rx_filter)]; + if (start == NULL) { + start = self->can->state->standard_rx_filter; + } else { + start = start + 1; + } + while (standard_filter_in_use(start)) { + if (start == end) { + return NULL; + } + start = start + 1; + } + return start; +} + +STATIC void install_standard_filter(CanMramSidfe *standard, int id1, int id2, int sfec, int sft) { + assert(standard); + CAN_SIDFE_0_Type val = { + .bit.SFID1 = id1, + .bit.SFID2 = id2, + .bit.SFEC = sfec, + .bit.SFT = sft, + }; + standard->SIDFE_0 = val; +} + +STATIC void install_extended_filter(CanMramXidfe *extended, int id1, int id2, int efec, int eft) { + assert(extended); + CAN_XIDFE_0_Type val0 = { + .bit.EFID1 = id1, + .bit.EFEC = efec, + }; + CAN_XIDFE_1_Type val1 = { + .bit.EFID2 = id2, + .bit.EFT = eft, + }; + // Set entry 0 second, because it has the enable bits (XIDFE_0_EFEC) + extended->XIDFE_1 = val1; + extended->XIDFE_0 = val0; +} + + +#define NO_ADDRESS (-1) +void set_filters(canio_listener_obj_t *self, size_t nmatch, canio_match_obj_t **matches) { + int fifo = self->fifo_idx; + + if (!nmatch) { + allow_config_change(self->can); + self->can->hw->GFC.bit.ANFS = CAN_GFC_ANFS_RXF0_Val + fifo; + self->can->hw->GFC.bit.ANFE = CAN_GFC_ANFE_RXF0_Val + fifo; + self->can->hw->CCCR.bit.CCE = 0; + prevent_config_change(self->can); + return; + } + + CanMramSidfe *standard = next_standard_filter(self, NULL); + CanMramXidfe *extended = next_extended_filter(self, NULL); + + int first_address = NO_ADDRESS; + + // step 1: single address standard matches + // we have to gather up pairs and stuff them in a single filter entry + for(size_t i = 0; iextended) { + continue; + } + if (!single_address_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; + standard = next_standard_filter(self, standard); + } else { + first_address = match->address; + } + } + // 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); + standard = next_standard_filter(self, standard); + first_address = NO_ADDRESS; + } + + // step 2: standard mask filter + for(size_t i = 0; iextended) { + continue; + } + if (single_address_filter(match)) { + continue; + } + install_standard_filter(standard, match->address, 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 + // we have to gather up pairs and stuff them in a single filter entry + for(size_t i = 0; iextended) { + continue; + } + if (!single_address_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; + extended = next_extended_filter(self, extended); + } else { + first_address = match->address; + } + } + // 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); + extended = next_extended_filter(self, extended); + first_address = NO_ADDRESS; + } + + // step 4: extended mask filters + for(size_t i = 0; iextended) { + continue; + } + if (single_address_filter(match)) { + continue; + } + install_extended_filter(extended, match->address, match->mask, CAN_XIDFE_0_EFEC_STF0M_Val + fifo, CAN_XIDFE_1_EFT_CLASSIC_Val); + extended = next_extended_filter(self, extended); + } + + // phew, easy(!) +} + + +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->fifo = can->state->rx0_fifo; + self->hw = (canio_rxfifo_reg_t*)&can->hw->RXF0C; + can->hw->IR.reg = CAN_IR_RF0N | CAN_IR_RF0W | CAN_IR_RF0F | CAN_IR_RF0L; + can->fifo0_in_use = true; + } else if (!can->fifo1_in_use) { + self->fifo_idx = 1; + self->fifo = can->state->rx1_fifo; + self->hw = (canio_rxfifo_reg_t*)&can->hw->RXF1C; + can->fifo1_in_use = true; + can->hw->IR.reg = CAN_IR_RF1N | CAN_IR_RF1W | CAN_IR_RF1F | CAN_IR_RF1L; + } else { + mp_raise_ValueError(translate("All RX FIFOs in use")); + } + + if (!nmatch) { + if (can->hw->GFC.bit.ANFS == CAN_GFC_ANFS_RXF1_Val - self->fifo_idx) { + mp_raise_ValueError(translate("Already have all-matches listener")); + } + if (can->hw->GFC.bit.ANFE == CAN_GFC_ANFE_RXF1_Val - self->fifo_idx) { + mp_raise_ValueError(translate("Already have all-matches listener")); + } + } + + if (num_filters_needed(nmatch, matches, false) > num_filters_available(can, false)) { + mp_raise_ValueError(translate("Filters too complex")); + } + + if (num_filters_needed(nmatch, matches, true) > num_filters_available(can, true)) { + mp_raise_ValueError(translate("Filters too complex")); + } + + // Nothing can fail now so it's safe to assign self->can + self->can = can; + 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->hw->RXFS.bit.F0FL; +} + +bool common_hal_canio_listener_readinto(canio_listener_obj_t *self, canio_message_obj_t *message) { + if (!common_hal_canio_listener_in_waiting(self)) { + uint64_t deadline = supervisor_ticks_ms64() + self->timeout_ms; + do { + if (supervisor_ticks_ms64() > deadline) { + return false; + } + } while (!common_hal_canio_listener_in_waiting(self)); + } + int index = self->hw->RXFS.bit.F0GI; + canio_can_fifo_t *hw_message = &self->fifo[index]; + message->extended = hw_message->rxb0.bit.XTD; + if (message->extended) { + message->id = hw_message->rxb0.bit.ID; + } else { + message->id = hw_message->rxb0.bit.ID >> 18; // short addresses are left-justified + } + message->rtr = hw_message->rxb0.bit.RTR; + message->size = hw_message->rxb1.bit.DLC; + if (!message->rtr) { + memcpy(message->data, hw_message->data, message->size); + } + self->hw->RXFA.bit.F0AI = index; + return true; +} + +void common_hal_canio_listener_deinit(canio_listener_obj_t *self) { + 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->fifo = NULL; + self->can = NULL; + self->hw = NULL; +} diff --git a/ports/atmel-samd/common-hal/canio/Listener.h b/ports/atmel-samd/common-hal/canio/Listener.h new file mode 100644 index 000000000..a51a9fc37 --- /dev/null +++ b/ports/atmel-samd/common-hal/canio/Listener.h @@ -0,0 +1,53 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#pragma once + +#include "common-hal/canio/CAN.h" +#include "shared-module/canio/Match.h" + +typedef struct { + __IO CAN_RXF0C_Type RXFC; /**< \brief (R/W 32) Rx FIFO n Configuration */ + __I CAN_RXF0S_Type RXFS; /**< \brief (R/ 32) Rx FIFO n Status */ + __IO CAN_RXF0A_Type RXFA; /**< \brief (R/W 32) Rx FIFO n Acknowledge */ +} canio_rxfifo_reg_t; + +typedef struct { + mp_obj_base_t base; + canio_can_obj_t *can; + canio_can_fifo_t *fifo; + canio_rxfifo_reg_t *hw; + uint32_t timeout_ms; + uint8_t fifo_idx; +} canio_listener_obj_t; + +void common_hal_canio_listener_construct(canio_listener_obj_t *self, canio_can_obj_t *can, size_t nmatch, canio_match_obj_t **matches, float timeout); +void common_hal_canio_listener_check_for_deinit(canio_listener_obj_t *self); +void common_hal_canio_listener_deinit(canio_listener_obj_t *self); +bool common_hal_canio_listener_readinto(canio_listener_obj_t *self, canio_message_obj_t *message); +int common_hal_canio_listener_in_waiting(canio_listener_obj_t *self); +float common_hal_canio_listener_get_timeout(canio_listener_obj_t *self); +void common_hal_canio_listener_set_timeout(canio_listener_obj_t *self, float timeout); diff --git a/ports/atmel-samd/common-hal/canio/__init__.c b/ports/atmel-samd/common-hal/canio/__init__.c new file mode 100644 index 000000000..7932bfc2d --- /dev/null +++ b/ports/atmel-samd/common-hal/canio/__init__.c @@ -0,0 +1,25 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ diff --git a/ports/atmel-samd/common-hal/canio/__init__.h b/ports/atmel-samd/common-hal/canio/__init__.h new file mode 100644 index 000000000..cb491ab9e --- /dev/null +++ b/ports/atmel-samd/common-hal/canio/__init__.h @@ -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. + */ + +#pragma once + +#include "hal/utils/include/utils.h" +#include "component/can.h" + +#define COMMON_HAL_CANIO_MAX_MESSAGE_LENGTH (8) +#define COMMON_HAL_CANIO_RX_FIFO_SIZE (3) +#define COMMON_HAL_CANIO_RX_FILTER_SIZE (4) +#define COMMON_HAL_CANIO_TX_FIFO_SIZE (1) + +// This appears to be a typo (transposition error) in the ASF4 headers +// It's called the "Extended ID Filter Entry" +typedef CanMramXifde CanMramXidfe; + +typedef struct canio_listener canio_listener_t; +typedef struct canio_can canio_can_t; + +typedef struct { + union { + CAN_RXBE_0_Type rxb0; + CAN_TXBE_0_Type txb0; + CAN_RXF0E_0_Type rxf0; + }; + union { + CAN_RXBE_1_Type rxb1; + CAN_TXBE_1_Type txb1; + CAN_RXF0E_1_Type rxf1; + }; + COMPILER_ALIGNED(4) + uint8_t data[COMMON_HAL_CANIO_MAX_MESSAGE_LENGTH]; +} canio_can_fifo_t; + +typedef uint32_t canio_can_filter_t; + +typedef struct { + canio_can_fifo_t tx_fifo[COMMON_HAL_CANIO_TX_FIFO_SIZE]; + canio_can_fifo_t rx0_fifo[COMMON_HAL_CANIO_RX_FIFO_SIZE]; + canio_can_fifo_t rx1_fifo[COMMON_HAL_CANIO_RX_FIFO_SIZE]; + CanMramSidfe standard_rx_filter[COMMON_HAL_CANIO_RX_FILTER_SIZE]; + CanMramXifde extended_rx_filter[COMMON_HAL_CANIO_RX_FILTER_SIZE]; +} canio_can_state_t; diff --git a/py/circuitpy_defns.mk b/py/circuitpy_defns.mk index 2614dc011..98fa7a5f2 100644 --- a/py/circuitpy_defns.mk +++ b/py/circuitpy_defns.mk @@ -143,7 +143,7 @@ ifeq ($(CIRCUITPY_CAMERA),1) SRC_PATTERNS += camera/% endif ifeq ($(CIRCUITPY_CANIO),1) -SRC_PATTERNS += _canio/% +SRC_PATTERNS += canio/% endif ifeq ($(CIRCUITPY_COUNTIO),1) SRC_PATTERNS += countio/% @@ -318,9 +318,9 @@ SRC_COMMON_HAL_ALL = \ busio/__init__.c \ camera/__init__.c \ camera/Camera.c \ - _canio/CAN.c \ - _canio/Listener.c \ - _canio/__init__.c \ + canio/CAN.c \ + canio/Listener.c \ + canio/__init__.c \ countio/Counter.c \ countio/__init__.c \ digitalio/DigitalInOut.c \ @@ -390,7 +390,7 @@ $(filter $(SRC_PATTERNS), \ _bleio/Address.c \ _bleio/Attribute.c \ _bleio/ScanEntry.c \ - _canio/Match.c \ + canio/Match.c \ _eve/__init__.c \ camera/ImageFormat.c \ digitalio/Direction.c \ @@ -409,8 +409,8 @@ SRC_SHARED_MODULE_ALL = \ _bleio/Attribute.c \ _bleio/ScanEntry.c \ _bleio/ScanResults.c \ - _canio/Match.c \ - _canio/Message.c \ + canio/Match.c \ + canio/Message.c \ _eve/__init__.c \ _pixelbuf/PixelBuf.c \ _pixelbuf/__init__.c \ diff --git a/py/circuitpy_mpconfig.h b/py/circuitpy_mpconfig.h index d1b12f354..0583ae1c9 100644 --- a/py/circuitpy_mpconfig.h +++ b/py/circuitpy_mpconfig.h @@ -338,7 +338,7 @@ extern const struct _mp_obj_module_t camera_module; #if CIRCUITPY_CANIO extern const struct _mp_obj_module_t canio_module; -#define CANIO_MODULE { MP_OBJ_NEW_QSTR(MP_QSTR__canio), (mp_obj_t)&canio_module }, +#define CANIO_MODULE { MP_OBJ_NEW_QSTR(MP_QSTR_canio), (mp_obj_t)&canio_module }, #else #define CANIO_MODULE #endif diff --git a/shared-bindings/_canio/CAN.c b/shared-bindings/_canio/CAN.c deleted file mode 100644 index 38aed85d3..000000000 --- a/shared-bindings/_canio/CAN.c +++ /dev/null @@ -1,422 +0,0 @@ -/* - * 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 "py/enum.h" -#include "common-hal/_canio/CAN.h" -#include "common-hal/_canio/Listener.h" -#include "shared-bindings/_canio/__init__.h" -#include "shared-bindings/_canio/CAN.h" -#include "shared-bindings/_canio/Listener.h" -#include "shared-bindings/_canio/Match.h" -#include "shared-bindings/_canio/Message.h" -#include "shared-bindings/microcontroller/Pin.h" - -#include "py/objproperty.h" -#include "py/runtime.h" - -//| -//| class CAN: -//| """CAN bus protocol""" -//| -//| def __init__(self, -//| tx: microcontroller.Pin, -//| rx: microcontroller.Pin, -//| *, -//| baudrate: int = 250000, -//| loopback: bool = False, -//| silent: bool = False, -//| auto_restart: bool = False, -//| ): -//| """A common shared-bus protocol. The rx and tx pins are generally -//| connected to a transceiver which controls the H and L pins on a -//| shared bus. -//| -//| :param ~microcontroller.Pin rx: the pin to receive with -//| :param ~microcontroller.Pin tx: the pin to transmit with -//| :param int baudrate: The bit rate of the bus in Hz. All devices on the bus must agree on this value. -//| :param bool loopback: When True the ``rx`` pin's value is ignored, and the device receives the packets it sends. -//| :param bool silent: When True the ``tx`` pin is always driven to the high logic level. This mode can be used to "sniff" a CAN bus without interfering. -//| :param bool auto_restart: If True, will restart communications after entering bus-off state -//| """ -//| ... -//| -STATIC mp_obj_t canio_can_make_new(const mp_obj_type_t *type, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { - enum { ARG_rx, ARG_tx, ARG_baudrate, ARG_loopback, ARG_silent, ARG_auto_restart, NUM_ARGS }; - static const mp_arg_t allowed_args[] = { - { MP_QSTR_tx, MP_ARG_OBJ | MP_ARG_REQUIRED }, - { MP_QSTR_rx, MP_ARG_OBJ | MP_ARG_REQUIRED }, - { MP_QSTR_baudrate, MP_ARG_INT, {.u_int = 250000} }, - { MP_QSTR_loopback, MP_ARG_BOOL, {.u_bool = false} }, - { MP_QSTR_silent, MP_ARG_BOOL, {.u_bool = false} }, - { MP_QSTR_auto_restart, 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); - - mcu_pin_obj_t *rx_pin = validate_obj_is_free_pin_or_none(args[ARG_rx].u_obj); - mcu_pin_obj_t *tx_pin = validate_obj_is_free_pin_or_none(args[ARG_tx].u_obj); - if (!rx_pin && !tx_pin) { - mp_raise_ValueError(translate("tx and rx cannot both be None")); - } - - canio_can_obj_t *self = m_new_obj(canio_can_obj_t); - self->base.type = &canio_can_type; - common_hal_canio_can_construct(self, tx_pin, rx_pin, args[ARG_baudrate].u_int, args[ARG_loopback].u_bool, args[ARG_silent].u_bool); - - common_hal_canio_can_auto_restart_set(self, args[ARG_auto_restart].u_bool); - - return MP_OBJ_FROM_PTR(self); -} - - -//| auto_restart: bool -//| """If True, will restart communications after entering bus-off state""" -//| -STATIC mp_obj_t canio_can_auto_restart_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_bool(common_hal_canio_can_auto_restart_get(self)); -} -MP_DEFINE_CONST_FUN_OBJ_1(canio_can_auto_restart_get_obj, canio_can_auto_restart_get); - -STATIC mp_obj_t canio_can_auto_restart_set(mp_obj_t self_in, mp_obj_t flag_in) { - canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_can_check_for_deinit(self); - common_hal_canio_can_auto_restart_set(self, mp_obj_is_true(flag_in)); - return mp_const_none; -} -MP_DEFINE_CONST_FUN_OBJ_2(canio_can_auto_restart_set_obj, canio_can_auto_restart_set); - -STATIC const mp_obj_property_t canio_can_auto_restart_obj = { - .base.type = &mp_type_property, - .proxy = {(mp_obj_t)&canio_can_auto_restart_get_obj, - (mp_obj_t)&canio_can_auto_restart_set_obj, - (mp_obj_t)mp_const_none}, -}; - - -//| baudrate: int -//| """The baud rate (read-only)""" -//| -STATIC mp_obj_t canio_can_baudrate_get(mp_obj_t self_in) { - canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_can_check_for_deinit(self); - return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_baudrate_get(self)); -} -MP_DEFINE_CONST_FUN_OBJ_1(canio_can_baudrate_get_obj, canio_can_baudrate_get); - -STATIC const mp_obj_property_t canio_can_baudrate_obj = { - .base.type = &mp_type_property, - .proxy = {(mp_obj_t)&canio_can_baudrate_get_obj, - (mp_obj_t)mp_const_none, - (mp_obj_t)mp_const_none}, -}; - -//| transmit_error_count: int -//| """The number of transmit errors (read-only). Increased for a detected transmission error, decreased for successful transmission. Limited to the range from 0 to 255 inclusive. Also called TEC.""" -//| -STATIC mp_obj_t canio_can_transmit_error_count_get(mp_obj_t self_in) { - canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_can_check_for_deinit(self); - return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_transmit_error_count_get(self)); -} -MP_DEFINE_CONST_FUN_OBJ_1(canio_can_transmit_error_count_get_obj, canio_can_transmit_error_count_get); - -STATIC const mp_obj_property_t canio_can_transmit_error_count_obj = { - .base.type = &mp_type_property, - .proxy = {(mp_obj_t)&canio_can_transmit_error_count_get_obj, - (mp_obj_t)mp_const_none, - (mp_obj_t)mp_const_none}, -}; - -//| receive_error_count: int -//| """The number of receive errors (read-only). Increased for a detected reception error, decreased for successful reception. Limited to the range from 0 to 255 inclusive. Also called REC.""" -//| -STATIC mp_obj_t canio_can_receive_error_count_get(mp_obj_t self_in) { - canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_can_check_for_deinit(self); - return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_receive_error_count_get(self)); -} -MP_DEFINE_CONST_FUN_OBJ_1(canio_can_receive_error_count_get_obj, canio_can_receive_error_count_get); - -STATIC const mp_obj_property_t canio_can_receive_error_count_obj = { - .base.type = &mp_type_property, - .proxy = {(mp_obj_t)&canio_can_receive_error_count_get_obj, - (mp_obj_t)mp_const_none, - (mp_obj_t)mp_const_none}, -}; - -//| error_warning_state_count: int -//| """The number of times the controller enterted the Error Warning state (read-only). This number wraps around to 0 after an implementation-defined number of errors.""" -//| -STATIC mp_obj_t canio_can_error_warning_state_count_get(mp_obj_t self_in) { - canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_can_check_for_deinit(self); - return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_error_warning_state_count_get(self)); -} -MP_DEFINE_CONST_FUN_OBJ_1(canio_can_error_warning_state_count_get_obj, canio_can_error_warning_state_count_get); - -STATIC const mp_obj_property_t canio_can_error_warning_state_count_obj = { - .base.type = &mp_type_property, - .proxy = {(mp_obj_t)&canio_can_error_warning_state_count_get_obj, - (mp_obj_t)mp_const_none, - (mp_obj_t)mp_const_none}, -}; - -//| error_passive_state_count: int -//| """The number of times the controller enterted the Error Passive state (read-only). This number wraps around to 0 after an implementation-defined number of errors.""" -//| -STATIC mp_obj_t canio_can_error_passive_state_count_get(mp_obj_t self_in) { - canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_can_check_for_deinit(self); - return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_error_passive_state_count_get(self)); -} -MP_DEFINE_CONST_FUN_OBJ_1(canio_can_error_passive_state_count_get_obj, canio_can_error_passive_state_count_get); - -STATIC const mp_obj_property_t canio_can_error_passive_state_count_obj = { - .base.type = &mp_type_property, - .proxy = {(mp_obj_t)&canio_can_error_passive_state_count_get_obj, - (mp_obj_t)mp_const_none, - (mp_obj_t)mp_const_none}, -}; - -//| bus_off_state_count: int -//| """The number of times the controller enterted the Bus Off state (read-only). This number wraps around to 0 after an implementation-defined number of errors.""" -//| -STATIC mp_obj_t canio_can_bus_off_state_count_get(mp_obj_t self_in) { - canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_can_check_for_deinit(self); - return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_bus_off_state_count_get(self)); -} -MP_DEFINE_CONST_FUN_OBJ_1(canio_can_bus_off_state_count_get_obj, canio_can_bus_off_state_count_get); - -STATIC const mp_obj_property_t canio_can_bus_off_state_count_obj = { - .base.type = &mp_type_property, - .proxy = {(mp_obj_t)&canio_can_bus_off_state_count_get_obj, - (mp_obj_t)mp_const_none, - (mp_obj_t)mp_const_none}, -}; - -//| state: State -//| """The current state of the bus.""" -STATIC mp_obj_t canio_can_state_get(mp_obj_t self_in) { - canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_can_check_for_deinit(self); - return cp_enum_find(&canio_bus_state_type, common_hal_canio_can_state_get(self)); -} - -MP_DEFINE_CONST_FUN_OBJ_1(canio_can_state_get_obj, canio_can_state_get); - -STATIC const mp_obj_property_t canio_can_state_obj = { - .base.type = &mp_type_property, - .proxy = {(mp_obj_t)&canio_can_state_get_obj, - (mp_obj_t)mp_const_none, - (mp_obj_t)mp_const_none}, -}; - - -//| def restart(self) -> None: -//| """If the device is in the bus off state, restart it.""" -//| ... -//| -STATIC mp_obj_t canio_can_restart(mp_obj_t self_in) { - canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_can_check_for_deinit(self); - common_hal_canio_can_restart(self); - return mp_const_none; -} -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: -//| """Start receiving messages that match any one of the filters. -//| -//| Creating a listener is an expensive operation and can interfere with reception of messages by other listeners. -//| -//| There is an implementation-defined maximum number of listeners and limit to the complexity of the filters. -//| -//| If the hardware cannot support all the requested matches, a ValueError is raised. Note that generally there are some number of hardware filters shared among all fifos. -//| -//| A message can be received by at most one Listener. If more than one listener matches a message, it is undefined which one actually receives it. -//| -//| An empty filter list causes all messages to be accepted. -//| -//| Timeout dictates how long readinto, read 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 }; - static const mp_arg_t allowed_args[] = { - { MP_QSTR_match, MP_ARG_OBJ, {.u_obj = 0} }, - { MP_QSTR_timeout, MP_ARG_OBJ, {.u_obj = 0} }, - }; - mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; - MP_STATIC_ASSERT( MP_ARRAY_SIZE(allowed_args) == NUM_ARGS ); - - mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); - - size_t nmatch = 0; - mp_obj_t *match_objects = NULL; - - if (args[ARG_match].u_obj) { - mp_obj_get_array(args[ARG_match].u_obj, &nmatch, &match_objects); - } - - canio_match_obj_t *matches[nmatch]; - for (size_t i=0; iname); - } - matches[i] = MP_OBJ_TO_PTR(match_objects[i]); - } - - float timeout = args[ARG_timeout].u_obj ? mp_obj_get_float(args[ARG_timeout].u_obj) : 10.0f; - canio_listener_obj_t *listener = m_new_obj(canio_listener_obj_t); - listener->base.type = &canio_listener_type; - common_hal_canio_listener_construct(listener, self, nmatch, matches, timeout); - return listener; -} -MP_DEFINE_CONST_FUN_OBJ_KW(canio_can_listen_obj, 1, canio_can_listen); - -//| loopback: bool -//| """True if the device was created in loopback mode, False otherwise""" -//| -STATIC mp_obj_t canio_can_loopback_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_bool(common_hal_canio_can_loopback_get(self)); -} -MP_DEFINE_CONST_FUN_OBJ_1(canio_can_loopback_get_obj, canio_can_loopback_get); - -STATIC const mp_obj_property_t canio_can_loopback_obj = { - .base.type = &mp_type_property, - .proxy = {(mp_obj_t)&canio_can_loopback_get_obj, - (mp_obj_t)mp_const_none, - (mp_obj_t)mp_const_none}, -}; - - -//| def send(message: Message) -> None: -//| """Send a message on the bus with the given data and id. -//| If the message could not be sent due to a full fifo or a bus error condition, RuntimeError is raised. -//| """ -//| ... -//| -STATIC mp_obj_t canio_can_send(mp_obj_t self_in, mp_obj_t message_in) { - canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_can_check_for_deinit(self); - mp_obj_type_t *message_type = mp_obj_get_type(message_in); - if (message_type != &canio_message_type) { - mp_raise_TypeError_varg(translate("expected '%q' but got '%q'"), MP_QSTR_Message, message_type->name); - } - - canio_message_obj_t *message = message_in; - common_hal_canio_can_send(self, message); - return mp_const_none; -} -MP_DEFINE_CONST_FUN_OBJ_2(canio_can_send_obj, canio_can_send); - -//| silent: bool -//| """True if the device was created in silent mode, False otherwise""" -//| -STATIC mp_obj_t canio_can_silent_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_bool(common_hal_canio_can_silent_get(self)); -} -MP_DEFINE_CONST_FUN_OBJ_1(canio_can_silent_get_obj, canio_can_silent_get); - -STATIC const mp_obj_property_t canio_can_silent_obj = { - .base.type = &mp_type_property, - .proxy = {(mp_obj_t)&canio_can_silent_get_obj, - (mp_obj_t)mp_const_none, - (mp_obj_t)mp_const_none}, -}; - - -//| def deinit(self) -> None: -//| """Deinitialize this object, freeing its hardware resources""" -//| ... -//| -STATIC mp_obj_t canio_can_deinit(mp_obj_t self_in) { - canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_can_deinit(self); - return mp_const_none; -} -STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_can_deinit_obj, canio_can_deinit); - -//| def __enter__(self) -> CAN: -//| """Returns self, to allow the object to be used in a `with` statement for resource control""" -//| ... -//| -STATIC mp_obj_t canio_can_enter(mp_obj_t self_in) { - canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_can_check_for_deinit(self); - return mp_const_none; -} -STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_can_enter_obj, canio_can_enter); - -//| def __exit__(self, unused1, unused2, unused3) -> None: -//| """Calls deinit()""" -//| ... -STATIC mp_obj_t canio_can_exit(size_t num_args, const mp_obj_t args[]) { - canio_can_obj_t *self = MP_OBJ_TO_PTR(args[0]); - common_hal_canio_can_deinit(self); - return mp_const_none; -} -STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(canio_can_exit_obj, 4, 4, canio_can_exit); - -STATIC const mp_rom_map_elem_t canio_can_locals_dict_table[] = { - { MP_ROM_QSTR(MP_QSTR___enter__), MP_ROM_PTR(&canio_can_enter_obj) }, - { MP_ROM_QSTR(MP_QSTR___exit__), MP_ROM_PTR(&canio_can_exit_obj) }, - { MP_ROM_QSTR(MP_QSTR_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) }, - { MP_ROM_QSTR(MP_QSTR_restart), MP_ROM_PTR(&canio_can_restart_obj) }, - { MP_ROM_QSTR(MP_QSTR_send), MP_ROM_PTR(&canio_can_send_obj) }, - { MP_ROM_QSTR(MP_QSTR_silent), MP_ROM_PTR(&canio_can_silent_obj) }, - { MP_ROM_QSTR(MP_QSTR_state), MP_ROM_PTR(&canio_can_state_obj) }, - { MP_ROM_QSTR(MP_QSTR_transmit_error_count), MP_ROM_PTR(&canio_can_transmit_error_count_obj) }, -}; -STATIC MP_DEFINE_CONST_DICT(canio_can_locals_dict, canio_can_locals_dict_table); - -const mp_obj_type_t canio_can_type = { - { &mp_type_type }, - .name = MP_QSTR_CAN, - .make_new = canio_can_make_new, - .locals_dict = (mp_obj_t)&canio_can_locals_dict, -}; diff --git a/shared-bindings/_canio/CAN.h b/shared-bindings/_canio/CAN.h deleted file mode 100644 index c591c8e6b..000000000 --- a/shared-bindings/_canio/CAN.h +++ /dev/null @@ -1,54 +0,0 @@ -/* - * 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/microcontroller/Pin.h" -#include "shared-bindings/_canio/Message.h" - -extern const mp_obj_type_t canio_can_type; - -typedef struct canio_can_obj canio_can_obj_t; - -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); -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); -bool common_hal_canio_can_silent_get(canio_can_obj_t *self); -int common_hal_canio_can_transmit_error_count_get(canio_can_obj_t *self); -void common_hal_canio_can_auto_restart_set(canio_can_obj_t *self, bool auto_restart); -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_reset(void); diff --git a/shared-bindings/_canio/Listener.c b/shared-bindings/_canio/Listener.c deleted file mode 100644 index 6186f3bbd..000000000 --- a/shared-bindings/_canio/Listener.c +++ /dev/null @@ -1,193 +0,0 @@ -/* - * This file is part of the MicroPython project, http://micropython.org/ - * - * The MIT License (MIT) - * - * Copyright (c) 2020 Jeff Epler for Adafruit Industries - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ - -#include "shared-bindings/_canio/Listener.h" -#include "shared-bindings/_canio/Message.h" -#include "common-hal/_canio/Listener.h" - -#include "py/runtime.h" -#include "py/objproperty.h" - -//| class Listener: -//| """Listens for CAN message -//| -//| _canio.Listener is not constructed directly, but instead by calling the -//| Listen method of a _canio.CAN object.""" -//| - -//| def read(self) -> Optional[Message]: -//| """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.""" -//| ... -//| -STATIC mp_obj_t canio_listener_read(mp_obj_t self_in) { - canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_listener_check_for_deinit(self); - - canio_message_obj_t *message = m_new_obj(canio_message_obj_t); - self->base.type = &canio_message_type; - - if (common_hal_canio_listener_readinto(self, message)) { - return message; - } else { - m_free(message); // message did not escape into vm - } - return mp_const_none; -} -STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_read_obj, canio_listener_read); - -//| def readinto(self, message: Message) -> bool: -//| """Returns 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); - -//| def in_waiting(self) -> int: -//| """Returns the number of messages waiting""" -//| ... -//| -STATIC mp_obj_t canio_listener_in_waiting(mp_obj_t self_in) { - canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_listener_check_for_deinit(self); - return MP_OBJ_NEW_SMALL_INT(common_hal_canio_listener_in_waiting(self)); -} -STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_in_waiting_obj, canio_listener_in_waiting); - -//| def __iter__(self): -//| """Returns self, unless the object is deinitialized""" -//| ... -//| -STATIC mp_obj_t canio_listener_iter(mp_obj_t self_in) { - canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_listener_check_for_deinit(self); - return self; -} -STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_iter_obj, canio_listener_iter); - -//| def __next__(self): -//| """Reads a message, after waiting up to self.timeout seconds -//| -//| If no message is received in time, raises StopIteration. Otherwise, -//| a Message is returned.""" -//| ... -//| -STATIC mp_obj_t canio_listener_next(mp_obj_t self_in) { - mp_obj_t result = canio_listener_read(self_in); - if (result == mp_const_none) { - return MP_OBJ_STOP_ITERATION; - } - return result; -} -STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_next_obj, canio_listener_next); - -//| def deinit(self) -> None: -//| """Deinitialize this object, freeing its hardware resources""" -//| ... -//| -STATIC mp_obj_t canio_listener_deinit(mp_obj_t self_in) { - canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_listener_deinit(self); - return mp_const_none; -} -STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_deinit_obj, canio_listener_deinit); - -//| def __enter__(self) -> CAN: -//| """Returns self, to allow the object to be used in a `with` statement for resource control""" -//| ... -//| -STATIC mp_obj_t canio_listener_enter(mp_obj_t self_in) { - canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_listener_check_for_deinit(self); - return mp_const_none; -} -STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_enter_obj, canio_listener_enter); - -//| def __exit__(self, unused1, unused2, unused3) -> None: -//| """Calls deinit()""" -//| ... -STATIC mp_obj_t canio_listener_exit(size_t num_args, const mp_obj_t args[]) { - canio_listener_obj_t *self = MP_OBJ_TO_PTR(args[0]); - common_hal_canio_listener_deinit(self); - return mp_const_none; -} -STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(canio_listener_exit_obj, 4, 4, canio_listener_exit); - - -//| timeout : float -STATIC mp_obj_t canio_listener_timeout_get(mp_obj_t self_in) { - canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_listener_check_for_deinit(self); - return mp_obj_new_float(common_hal_canio_listener_get_timeout(self)); -} -STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_timeout_get_obj, canio_listener_timeout_get); - -STATIC mp_obj_t canio_listener_timeout_set(mp_obj_t self_in, mp_obj_t timeout_in) { - canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); - common_hal_canio_listener_check_for_deinit(self); - common_hal_canio_listener_set_timeout(self, mp_obj_get_float(timeout_in)); - return mp_const_none; -} -STATIC MP_DEFINE_CONST_FUN_OBJ_2(canio_listener_timeout_set_obj, canio_listener_timeout_set); - -STATIC const mp_obj_property_t canio_listener_timeout_obj = { - .base.type = &mp_type_property, - .proxy = {(mp_obj_t)&canio_listener_timeout_get_obj, - (mp_obj_t)&canio_listener_timeout_set_obj, - (mp_obj_t)mp_const_none}, -}; - - - -STATIC const mp_rom_map_elem_t canio_listener_locals_dict_table[] = { - { MP_ROM_QSTR(MP_QSTR___enter__), MP_ROM_PTR(&canio_listener_enter_obj) }, - { MP_ROM_QSTR(MP_QSTR___exit__), MP_ROM_PTR(&canio_listener_exit_obj) }, - { MP_ROM_QSTR(MP_QSTR___iter__), MP_ROM_PTR(&canio_listener_iter_obj) }, - { MP_ROM_QSTR(MP_QSTR___next__), MP_ROM_PTR(&canio_listener_next_obj) }, - { MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&canio_listener_deinit_obj) }, - { MP_ROM_QSTR(MP_QSTR_in_waiting), MP_ROM_PTR(&canio_listener_in_waiting_obj) }, - { MP_ROM_QSTR(MP_QSTR_read), MP_ROM_PTR(&canio_listener_read_obj) }, - { MP_ROM_QSTR(MP_QSTR_readinto), MP_ROM_PTR(&canio_listener_readinto_obj) }, - { MP_ROM_QSTR(MP_QSTR_timeout), MP_ROM_PTR(&canio_listener_timeout_obj) }, -}; -STATIC MP_DEFINE_CONST_DICT(canio_listener_locals_dict, canio_listener_locals_dict_table); - -const mp_obj_type_t canio_listener_type = { - { &mp_type_type }, - .name = MP_QSTR_Listener, - .locals_dict = (mp_obj_dict_t*)&canio_listener_locals_dict, -}; diff --git a/shared-bindings/_canio/Listener.h b/shared-bindings/_canio/Listener.h deleted file mode 100644 index eaa3490df..000000000 --- a/shared-bindings/_canio/Listener.h +++ /dev/null @@ -1,31 +0,0 @@ -/* - * This file is part of the MicroPython project, http://micropython.org/ - * - * The MIT License (MIT) - * - * Copyright (c) 2020 Jeff Epler for Adafruit Industries - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ - -#pragma once - -#include "py/obj.h" - -extern const mp_obj_type_t canio_listener_type; diff --git a/shared-bindings/_canio/Match.c b/shared-bindings/_canio/Match.c deleted file mode 100644 index 4ff35906b..000000000 --- a/shared-bindings/_canio/Match.c +++ /dev/null @@ -1,139 +0,0 @@ -/* - * This file is part of the MicroPython project, http://micropython.org/ - * - * The MIT License (MIT) - * - * Copyright (c) 2020 Jeff Epler for Adafruit Industries - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ - -#include "shared-bindings/_canio/Match.h" - -#include "py/objproperty.h" -#include "py/runtime.h" - -//| class Match: -//| """Describe CAN bus messages to match""" -//| -//| -//| def __init__(self, address: int, *, mask: int = 0, extended: bool = False): -//| """Construct a Match with the given properties. -//| -//| If mask is nonzero, then the filter is for any sender which matches all -//| the nonzero bits in mask. Otherwise, it matches exactly the given address. -//| If extended is true then only extended addresses are matched, otherwise -//| only standard addresses are matched.""" -//| - -STATIC mp_obj_t canio_match_make_new(const mp_obj_type_t *type, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { - enum { ARG_address, ARG_mask, ARG_extended, NUM_ARGS }; - static const mp_arg_t allowed_args[] = { - { MP_QSTR_address, MP_ARG_INT | MP_ARG_REQUIRED }, - { MP_QSTR_mask, MP_ARG_INT, {.u_int = 0} }, - { MP_QSTR_extended, MP_ARG_BOOL, {.u_bool = false} }, - }; - mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; - MP_STATIC_ASSERT( MP_ARRAY_SIZE(allowed_args) == NUM_ARGS ); - - mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); - - int address_bits = args[ARG_extended].u_bool ? 0x1fffffff : 0x7ff; - int address = args[ARG_address].u_int; - int mask = args[ARG_mask].u_int; - - if (address & ~address_bits) { - mp_raise_ValueError_varg(translate("%q out of range"), MP_QSTR_address); - } - - if (mask & ~address_bits) { - mp_raise_ValueError_varg(translate("%q out of range"), MP_QSTR_mask); - } - - canio_match_obj_t *self = m_new_obj(canio_match_obj_t); - self->base.type = &canio_match_type; - common_hal_canio_match_construct(self, args[ARG_address].u_int, args[ARG_mask].u_int, args[ARG_extended].u_bool); - return self; -} - -//| address: int -//| """The address to match""" -//| - -STATIC mp_obj_t canio_match_address_get(mp_obj_t self_in) { - canio_match_obj_t *self = self_in; - return MP_OBJ_NEW_SMALL_INT(common_hal_canio_match_get_address(self)); -} -MP_DEFINE_CONST_FUN_OBJ_1(canio_match_address_get_obj, canio_match_address_get); - -const mp_obj_property_t canio_match_address_obj = { - .base.type = &mp_type_property, - .proxy = {(mp_obj_t)&canio_match_address_get_obj, - (mp_obj_t)&mp_const_none_obj, - (mp_obj_t)&mp_const_none_obj}, -}; - -//| -//| mask: int -//| """The optional mask of addresses to match""" -//| - -STATIC mp_obj_t canio_match_mask_get(mp_obj_t self_in) { - canio_match_obj_t *self = self_in; - return MP_OBJ_NEW_SMALL_INT(common_hal_canio_match_get_mask(self)); -} -MP_DEFINE_CONST_FUN_OBJ_1(canio_match_mask_get_obj, canio_match_mask_get); - -const mp_obj_property_t canio_match_mask_obj = { - .base.type = &mp_type_property, - .proxy = {(mp_obj_t)&canio_match_mask_get_obj, - (mp_obj_t)&mp_const_none_obj, - (mp_obj_t)&mp_const_none_obj}, -}; - -//| extended: bool -//| """True to match extended addresses, False to match standard addresses""" -//| - -STATIC mp_obj_t canio_match_extended_get(mp_obj_t self_in) { - canio_match_obj_t *self = self_in; - return mp_obj_new_bool(common_hal_canio_match_get_extended(self)); -} -MP_DEFINE_CONST_FUN_OBJ_1(canio_match_extended_get_obj, canio_match_extended_get); - -const mp_obj_property_t canio_match_extended_obj = { - .base.type = &mp_type_property, - .proxy = {(mp_obj_t)&canio_match_extended_get_obj, - (mp_obj_t)&mp_const_none_obj, - (mp_obj_t)&mp_const_none_obj}, -}; - -STATIC const mp_rom_map_elem_t canio_match_locals_dict_table[] = { - { MP_ROM_QSTR(MP_QSTR_address), MP_ROM_PTR(&canio_match_address_obj) }, - { MP_ROM_QSTR(MP_QSTR_mask), MP_ROM_PTR(&canio_match_mask_obj) }, - { MP_ROM_QSTR(MP_QSTR_extended), MP_ROM_PTR(&canio_match_extended_obj) }, -}; -STATIC MP_DEFINE_CONST_DICT(canio_match_locals_dict, canio_match_locals_dict_table); - -const mp_obj_type_t canio_match_type = { - { &mp_type_type }, - .name = MP_QSTR_Match, - .make_new = canio_match_make_new, - .locals_dict = (mp_obj_dict_t*)&canio_match_locals_dict, -}; diff --git a/shared-bindings/_canio/Match.h b/shared-bindings/_canio/Match.h deleted file mode 100644 index 5522c2636..000000000 --- a/shared-bindings/_canio/Match.h +++ /dev/null @@ -1,37 +0,0 @@ -/* - * 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/Match.h" - -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); -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 deleted file mode 100644 index 487ac9bfd..000000000 --- a/shared-bindings/_canio/Message.c +++ /dev/null @@ -1,212 +0,0 @@ -/* - * This file is part of the MicroPython project, http://micropython.org/ - * - * The MIT License (MIT) - * - * Copyright (c) 2020 Jeff Epler for Adafruit Industries - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ - -#include "shared-bindings/_canio/Message.h" - -#include "py/obj.h" -#include "py/objproperty.h" -#include "py/runtime.h" - -//| class Message: -//| def __init__(self, id: int=0, data: Optional[bytes] = None, *, size: Optional[int] = None, rtr: bool = False, 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. -//| -//| :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`. -//| """ -//| ... -//| -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 }; - static const mp_arg_t allowed_args[] = { - { MP_QSTR_id, MP_ARG_INT, {.u_obj = 0} }, - { MP_QSTR_data, MP_ARG_OBJ, {.u_obj = 0} }, - { MP_QSTR_size, MP_ARG_INT, {.u_int = -1} }, - { MP_QSTR_rtr, MP_ARG_BOOL, {.u_bool = false} }, - { MP_QSTR_extended, MP_ARG_BOOL, {.u_bool = false} }, - }; - mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; - MP_STATIC_ASSERT( MP_ARRAY_SIZE(allowed_args) == NUM_ARGS ); - - 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; - } - - if (data.len > 8) { - mp_raise_ValueError(translate("Messages limited to 8 bytes")); - } - - canio_message_obj_t *self = m_new_obj(canio_message_obj_t); - self->base.type = &canio_message_type; - common_hal_canio_message_construct(self, args[ARG_id].u_int, data.buf, data.len, rtr, extended); - return self; -} - -//| id: int -//| """The numeric ID of the message""" -//| -STATIC mp_obj_t canio_message_id_get(const mp_obj_t self_in) { - canio_message_obj_t *self = self_in; - return MP_OBJ_NEW_SMALL_INT(common_hal_canio_message_get_id(self)); -} -MP_DEFINE_CONST_FUN_OBJ_1(canio_message_id_get_obj, canio_message_id_get); - -STATIC mp_obj_t canio_message_id_set(const mp_obj_t self_in, const mp_obj_t id) { - canio_message_obj_t *self = self_in; - common_hal_canio_message_set_id(self, mp_obj_get_int(id)); - return mp_const_none; -} -MP_DEFINE_CONST_FUN_OBJ_2(canio_message_id_set_obj, canio_message_id_set); - -STATIC const mp_obj_property_t canio_message_id_obj = { - .base.type = &mp_type_property, - .proxy = {(mp_obj_t)&canio_message_id_get_obj, - (mp_obj_t)&canio_message_id_set_obj, - (mp_obj_t)&mp_const_none_obj}, -}; - -//| data: bytes -//| """The content of the message, or dummy content in the case of an rtr. -//| -//| Assigning to data also sets the length and clears the rtr flag.""" -//| -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)); -} -MP_DEFINE_CONST_FUN_OBJ_1(canio_message_data_get_obj, canio_message_data_get); - -STATIC mp_obj_t canio_message_data_set(const mp_obj_t self_in, const mp_obj_t data_in) { - canio_message_obj_t *self = self_in; - mp_buffer_info_t data; - mp_get_buffer_raise(data_in, &data, MP_BUFFER_READ); - if (data.len > 8) { - mp_raise_ValueError(translate("Messages limited to 8 bytes")); - } - common_hal_canio_message_set_data(self, data.buf, data.len); - return mp_const_none; -} -MP_DEFINE_CONST_FUN_OBJ_2(canio_message_data_set_obj, canio_message_data_set); - - -STATIC const mp_obj_property_t canio_message_data_obj = { - .base.type = &mp_type_property, - .proxy = {(mp_obj_t)&canio_message_data_get_obj, - (mp_obj_t)&canio_message_data_set_obj, - (mp_obj_t)&mp_const_none_obj}, -}; - - -//| extended: bool -//| """True if the message represents a remote transmission request (RTR)""" -//| -STATIC mp_obj_t canio_message_extended_get(const mp_obj_t self_in) { - canio_message_obj_t *self = self_in; - return mp_obj_new_bool(common_hal_canio_message_get_extended(self)); -} -MP_DEFINE_CONST_FUN_OBJ_1(canio_message_extended_get_obj, canio_message_extended_get); - -STATIC mp_obj_t canio_message_extended_set(const mp_obj_t self_in, const mp_obj_t extended) { - canio_message_obj_t *self = self_in; - common_hal_canio_message_set_extended(self, mp_obj_is_true(extended)); - return mp_const_none; -} -MP_DEFINE_CONST_FUN_OBJ_2(canio_message_extended_set_obj, canio_message_extended_set); - - -STATIC const mp_obj_property_t canio_message_extended_obj = { - .base.type = &mp_type_property, - .proxy = {(mp_obj_t)&canio_message_extended_get_obj, - (mp_obj_t)&canio_message_extended_set_obj, - (mp_obj_t)&mp_const_none_obj}, -}; - - -//| rtr: bool -//| """True if the message represents a remote transmission request (RTR). 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); - -const mp_obj_type_t canio_message_type = { - { &mp_type_type }, - .name = MP_QSTR_Message, - .make_new = canio_message_make_new, - .locals_dict = (mp_obj_t)&canio_message_locals_dict, -}; diff --git a/shared-bindings/_canio/Message.h b/shared-bindings/_canio/Message.h deleted file mode 100644 index ed739af0d..000000000 --- a/shared-bindings/_canio/Message.h +++ /dev/null @@ -1,44 +0,0 @@ -/* - * 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/Message.h" - -extern const mp_obj_type_t canio_message_type; - -void common_hal_canio_message_construct(canio_message_obj_t *self, int id, void *data, size_t size, bool rtr, 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); diff --git a/shared-bindings/_canio/__init__.c b/shared-bindings/_canio/__init__.c deleted file mode 100644 index 29e43c5c4..000000000 --- a/shared-bindings/_canio/__init__.c +++ /dev/null @@ -1,124 +0,0 @@ -/* - * This file is part of the MicroPython project, http://micropython.org/ - * - * The MIT License (MIT) - * - * Copyright (c) 2020 Jeff Epler for Adafruit Industries - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ - -//| """CAN bus access -//| -//| The `_canio` module contains low level classes to support the CAN bus -//| protocol. -//| -//| CAN and Listener classes change hardware state and should be deinitialized when they -//| are no longer needed if the program continues after use. To do so, either -//| call :py:meth:`!deinit` or use a context manager. See -//| :ref:`lifetime-and-contextmanagers` for more info. -//| -//| For example:: -//| -//| import _canio -//| from board import * -//| -//| can = _canio.CAN(board.CAN_RX, board.CAN_TX, baudrate=1000000) -//| message = _canio.Message(id=0x0408, data="adafruit" -//| can.write(message)) -//| can.deinit() -//| -//| This example will write the data 'adafruit' onto the CAN bus to any -//| device listening for message id 0x0408. -//| -//| A CAN bus involves a transceiver, which is often a separate chip with a "standby" pin. -//| If your board has a CAN_STANDBY pin, ensure to set it to an output with the value False -//| to enable the transceiver. -//| -//| Other implementations of the CAN device may exist (for instance, attached -//| via an SPI bus). If so their constructor arguments may differ, but -//| otherwise we encourage implementors to follow the API that the core uses. -//| """ -//| - -#include "py/obj.h" -#include "py/enum.h" - -#include "shared-bindings/_canio/__init__.h" -#include "shared-bindings/_canio/CAN.h" -#include "shared-bindings/_canio/Match.h" -#include "shared-bindings/_canio/Message.h" -#include "shared-bindings/_canio/Listener.h" - -MAKE_ENUM_VALUE(canio_bus_state_type, bus_state, ERROR_ACTIVE, BUS_STATE_ERROR_ACTIVE); -MAKE_ENUM_VALUE(canio_bus_state_type, bus_state, ERROR_PASSIVE, BUS_STATE_ERROR_PASSIVE); -MAKE_ENUM_VALUE(canio_bus_state_type, bus_state, ERROR_WARNING, BUS_STATE_ERROR_WARNING); -MAKE_ENUM_VALUE(canio_bus_state_type, bus_state, BUS_OFF, BUS_STATE_OFF); - -//| class BusState: -//| """The state of the CAN bus""" -//| -//| ERROR_ACTIVE: object -//| """The bus is in the normal (active) state""" -//| -//| ERROR_WARNING: object -//| """The bus is in the normal (active) state, but a moderate number of errors have occurred recently. -//| -//| NOTE: Not all implementations may use ERROR_WARNING. Do not rely on seeing ERROR_WARNING before ERROR_PASSIVE.""" -//| -//| ERROR_PASSIVE: object -//| """The bus is in the passive state due to the number of errors that have occurred recently. -//| -//| This device will acknowledge packets it receives, but cannot transmit messages. -//| If additional errors occur, this device may progress to BUS_OFF. -//| If it successfully acknowledges other packets on the bus, it can return to ERROR_WARNING or ERROR_ACTIVE and transmit packets. -//| """ -//| -//| BUS_OFF: object -//| """The bus has turned off due to the number of errors that have -//| occurred recently. It must be restarted before it will send or receive -//| packets. This device will neither send or acknowledge packets on the bus.""" -//| -MAKE_ENUM_MAP(canio_bus_state) { - MAKE_ENUM_MAP_ENTRY(bus_state, ERROR_ACTIVE), - MAKE_ENUM_MAP_ENTRY(bus_state, ERROR_PASSIVE), - MAKE_ENUM_MAP_ENTRY(bus_state, ERROR_WARNING), - MAKE_ENUM_MAP_ENTRY(bus_state, BUS_OFF), -}; -STATIC MP_DEFINE_CONST_DICT(canio_bus_state_locals_dict, canio_bus_state_locals_table); - -MAKE_PRINTER(_canio, canio_bus_state); - -MAKE_ENUM_TYPE(_canio, BusState, canio_bus_state); - -STATIC const mp_rom_map_elem_t canio_module_globals_table[] = { - { MP_ROM_QSTR(MP_QSTR_BusState), MP_ROM_PTR(&canio_bus_state_type) }, - { MP_ROM_QSTR(MP_QSTR_CAN), MP_ROM_PTR(&canio_can_type) }, - { 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___name__), MP_ROM_QSTR(MP_QSTR__canio) }, -}; - -STATIC MP_DEFINE_CONST_DICT(canio_module_globals, canio_module_globals_table); - -const mp_obj_module_t canio_module = { - .base = { &mp_type_module }, - .globals = (mp_obj_dict_t*)&canio_module_globals, -}; diff --git a/shared-bindings/_canio/__init__.h b/shared-bindings/_canio/__init__.h deleted file mode 100644 index e24eba92c..000000000 --- a/shared-bindings/_canio/__init__.h +++ /dev/null @@ -1,33 +0,0 @@ -/* - * 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 - -typedef enum { - BUS_STATE_ERROR_ACTIVE, BUS_STATE_ERROR_PASSIVE, BUS_STATE_ERROR_WARNING, BUS_STATE_OFF -} canio_bus_state_t; - -extern const mp_obj_type_t canio_bus_state_type; diff --git a/shared-bindings/canio/CAN.c b/shared-bindings/canio/CAN.c new file mode 100644 index 000000000..482d11546 --- /dev/null +++ b/shared-bindings/canio/CAN.c @@ -0,0 +1,422 @@ +/* + * 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 "py/enum.h" +#include "common-hal/canio/CAN.h" +#include "common-hal/canio/Listener.h" +#include "shared-bindings/canio/__init__.h" +#include "shared-bindings/canio/CAN.h" +#include "shared-bindings/canio/Listener.h" +#include "shared-bindings/canio/Match.h" +#include "shared-bindings/canio/Message.h" +#include "shared-bindings/microcontroller/Pin.h" + +#include "py/objproperty.h" +#include "py/runtime.h" + +//| +//| class CAN: +//| """CAN bus protocol""" +//| +//| def __init__(self, +//| tx: microcontroller.Pin, +//| rx: microcontroller.Pin, +//| *, +//| baudrate: int = 250000, +//| loopback: bool = False, +//| silent: bool = False, +//| auto_restart: bool = False, +//| ): +//| """A common shared-bus protocol. The rx and tx pins are generally +//| connected to a transceiver which controls the H and L pins on a +//| shared bus. +//| +//| :param ~microcontroller.Pin rx: the pin to receive with +//| :param ~microcontroller.Pin tx: the pin to transmit with +//| :param int baudrate: The bit rate of the bus in Hz. All devices on the bus must agree on this value. +//| :param bool loopback: When True the ``rx`` pin's value is ignored, and the device receives the packets it sends. +//| :param bool silent: When True the ``tx`` pin is always driven to the high logic level. This mode can be used to "sniff" a CAN bus without interfering. +//| :param bool auto_restart: If True, will restart communications after entering bus-off state +//| """ +//| ... +//| +STATIC mp_obj_t canio_can_make_new(const mp_obj_type_t *type, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { + enum { ARG_rx, ARG_tx, ARG_baudrate, ARG_loopback, ARG_silent, ARG_auto_restart, NUM_ARGS }; + static const mp_arg_t allowed_args[] = { + { MP_QSTR_tx, MP_ARG_OBJ | MP_ARG_REQUIRED }, + { MP_QSTR_rx, MP_ARG_OBJ | MP_ARG_REQUIRED }, + { MP_QSTR_baudrate, MP_ARG_INT, {.u_int = 250000} }, + { MP_QSTR_loopback, MP_ARG_BOOL, {.u_bool = false} }, + { MP_QSTR_silent, MP_ARG_BOOL, {.u_bool = false} }, + { MP_QSTR_auto_restart, 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); + + mcu_pin_obj_t *rx_pin = validate_obj_is_free_pin_or_none(args[ARG_rx].u_obj); + mcu_pin_obj_t *tx_pin = validate_obj_is_free_pin_or_none(args[ARG_tx].u_obj); + if (!rx_pin && !tx_pin) { + mp_raise_ValueError(translate("tx and rx cannot both be None")); + } + + canio_can_obj_t *self = m_new_obj(canio_can_obj_t); + self->base.type = &canio_can_type; + common_hal_canio_can_construct(self, tx_pin, rx_pin, args[ARG_baudrate].u_int, args[ARG_loopback].u_bool, args[ARG_silent].u_bool); + + common_hal_canio_can_auto_restart_set(self, args[ARG_auto_restart].u_bool); + + return MP_OBJ_FROM_PTR(self); +} + + +//| auto_restart: bool +//| """If True, will restart communications after entering bus-off state""" +//| +STATIC mp_obj_t canio_can_auto_restart_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_bool(common_hal_canio_can_auto_restart_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_can_auto_restart_get_obj, canio_can_auto_restart_get); + +STATIC mp_obj_t canio_can_auto_restart_set(mp_obj_t self_in, mp_obj_t flag_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + common_hal_canio_can_auto_restart_set(self, mp_obj_is_true(flag_in)); + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_2(canio_can_auto_restart_set_obj, canio_can_auto_restart_set); + +STATIC const mp_obj_property_t canio_can_auto_restart_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_can_auto_restart_get_obj, + (mp_obj_t)&canio_can_auto_restart_set_obj, + (mp_obj_t)mp_const_none}, +}; + + +//| baudrate: int +//| """The baud rate (read-only)""" +//| +STATIC mp_obj_t canio_can_baudrate_get(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_baudrate_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_can_baudrate_get_obj, canio_can_baudrate_get); + +STATIC const mp_obj_property_t canio_can_baudrate_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_can_baudrate_get_obj, + (mp_obj_t)mp_const_none, + (mp_obj_t)mp_const_none}, +}; + +//| transmit_error_count: int +//| """The number of transmit errors (read-only). Increased for a detected transmission error, decreased for successful transmission. Limited to the range from 0 to 255 inclusive. Also called TEC.""" +//| +STATIC mp_obj_t canio_can_transmit_error_count_get(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_transmit_error_count_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_can_transmit_error_count_get_obj, canio_can_transmit_error_count_get); + +STATIC const mp_obj_property_t canio_can_transmit_error_count_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_can_transmit_error_count_get_obj, + (mp_obj_t)mp_const_none, + (mp_obj_t)mp_const_none}, +}; + +//| receive_error_count: int +//| """The number of receive errors (read-only). Increased for a detected reception error, decreased for successful reception. Limited to the range from 0 to 255 inclusive. Also called REC.""" +//| +STATIC mp_obj_t canio_can_receive_error_count_get(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_receive_error_count_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_can_receive_error_count_get_obj, canio_can_receive_error_count_get); + +STATIC const mp_obj_property_t canio_can_receive_error_count_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_can_receive_error_count_get_obj, + (mp_obj_t)mp_const_none, + (mp_obj_t)mp_const_none}, +}; + +//| error_warning_state_count: int +//| """The number of times the controller enterted the Error Warning state (read-only). This number wraps around to 0 after an implementation-defined number of errors.""" +//| +STATIC mp_obj_t canio_can_error_warning_state_count_get(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_error_warning_state_count_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_can_error_warning_state_count_get_obj, canio_can_error_warning_state_count_get); + +STATIC const mp_obj_property_t canio_can_error_warning_state_count_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_can_error_warning_state_count_get_obj, + (mp_obj_t)mp_const_none, + (mp_obj_t)mp_const_none}, +}; + +//| error_passive_state_count: int +//| """The number of times the controller enterted the Error Passive state (read-only). This number wraps around to 0 after an implementation-defined number of errors.""" +//| +STATIC mp_obj_t canio_can_error_passive_state_count_get(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_error_passive_state_count_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_can_error_passive_state_count_get_obj, canio_can_error_passive_state_count_get); + +STATIC const mp_obj_property_t canio_can_error_passive_state_count_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_can_error_passive_state_count_get_obj, + (mp_obj_t)mp_const_none, + (mp_obj_t)mp_const_none}, +}; + +//| bus_off_state_count: int +//| """The number of times the controller enterted the Bus Off state (read-only). This number wraps around to 0 after an implementation-defined number of errors.""" +//| +STATIC mp_obj_t canio_can_bus_off_state_count_get(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_can_bus_off_state_count_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_can_bus_off_state_count_get_obj, canio_can_bus_off_state_count_get); + +STATIC const mp_obj_property_t canio_can_bus_off_state_count_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_can_bus_off_state_count_get_obj, + (mp_obj_t)mp_const_none, + (mp_obj_t)mp_const_none}, +}; + +//| state: State +//| """The current state of the bus.""" +STATIC mp_obj_t canio_can_state_get(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + return cp_enum_find(&canio_bus_state_type, common_hal_canio_can_state_get(self)); +} + +MP_DEFINE_CONST_FUN_OBJ_1(canio_can_state_get_obj, canio_can_state_get); + +STATIC const mp_obj_property_t canio_can_state_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_can_state_get_obj, + (mp_obj_t)mp_const_none, + (mp_obj_t)mp_const_none}, +}; + + +//| def restart(self) -> None: +//| """If the device is in the bus off state, restart it.""" +//| ... +//| +STATIC mp_obj_t canio_can_restart(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + common_hal_canio_can_restart(self); + return mp_const_none; +} +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: +//| """Start receiving messages that match any one of the filters. +//| +//| Creating a listener is an expensive operation and can interfere with reception of messages by other listeners. +//| +//| There is an implementation-defined maximum number of listeners and limit to the complexity of the filters. +//| +//| If the hardware cannot support all the requested matches, a ValueError is raised. Note that generally there are some number of hardware filters shared among all fifos. +//| +//| A message can be received by at most one Listener. If more than one listener matches a message, it is undefined which one actually receives it. +//| +//| An empty filter list causes all messages to be accepted. +//| +//| Timeout dictates how long readinto, read 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 }; + static const mp_arg_t allowed_args[] = { + { MP_QSTR_match, MP_ARG_OBJ, {.u_obj = 0} }, + { MP_QSTR_timeout, MP_ARG_OBJ, {.u_obj = 0} }, + }; + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + MP_STATIC_ASSERT( MP_ARRAY_SIZE(allowed_args) == NUM_ARGS ); + + mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); + + size_t nmatch = 0; + mp_obj_t *match_objects = NULL; + + if (args[ARG_match].u_obj) { + mp_obj_get_array(args[ARG_match].u_obj, &nmatch, &match_objects); + } + + canio_match_obj_t *matches[nmatch]; + for (size_t i=0; iname); + } + matches[i] = MP_OBJ_TO_PTR(match_objects[i]); + } + + float timeout = args[ARG_timeout].u_obj ? mp_obj_get_float(args[ARG_timeout].u_obj) : 10.0f; + canio_listener_obj_t *listener = m_new_obj(canio_listener_obj_t); + listener->base.type = &canio_listener_type; + common_hal_canio_listener_construct(listener, self, nmatch, matches, timeout); + return listener; +} +MP_DEFINE_CONST_FUN_OBJ_KW(canio_can_listen_obj, 1, canio_can_listen); + +//| loopback: bool +//| """True if the device was created in loopback mode, False otherwise""" +//| +STATIC mp_obj_t canio_can_loopback_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_bool(common_hal_canio_can_loopback_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_can_loopback_get_obj, canio_can_loopback_get); + +STATIC const mp_obj_property_t canio_can_loopback_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_can_loopback_get_obj, + (mp_obj_t)mp_const_none, + (mp_obj_t)mp_const_none}, +}; + + +//| def send(message: Message) -> None: +//| """Send a message on the bus with the given data and id. +//| If the message could not be sent due to a full fifo or a bus error condition, RuntimeError is raised. +//| """ +//| ... +//| +STATIC mp_obj_t canio_can_send(mp_obj_t self_in, mp_obj_t message_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + mp_obj_type_t *message_type = mp_obj_get_type(message_in); + if (message_type != &canio_message_type) { + mp_raise_TypeError_varg(translate("expected '%q' but got '%q'"), MP_QSTR_Message, message_type->name); + } + + canio_message_obj_t *message = message_in; + common_hal_canio_can_send(self, message); + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_2(canio_can_send_obj, canio_can_send); + +//| silent: bool +//| """True if the device was created in silent mode, False otherwise""" +//| +STATIC mp_obj_t canio_can_silent_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_bool(common_hal_canio_can_silent_get(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_can_silent_get_obj, canio_can_silent_get); + +STATIC const mp_obj_property_t canio_can_silent_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_can_silent_get_obj, + (mp_obj_t)mp_const_none, + (mp_obj_t)mp_const_none}, +}; + + +//| def deinit(self) -> None: +//| """Deinitialize this object, freeing its hardware resources""" +//| ... +//| +STATIC mp_obj_t canio_can_deinit(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_deinit(self); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_can_deinit_obj, canio_can_deinit); + +//| def __enter__(self) -> CAN: +//| """Returns self, to allow the object to be used in a `with` statement for resource control""" +//| ... +//| +STATIC mp_obj_t canio_can_enter(mp_obj_t self_in) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_can_check_for_deinit(self); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_can_enter_obj, canio_can_enter); + +//| def __exit__(self, unused1, unused2, unused3) -> None: +//| """Calls deinit()""" +//| ... +STATIC mp_obj_t canio_can_exit(size_t num_args, const mp_obj_t args[]) { + canio_can_obj_t *self = MP_OBJ_TO_PTR(args[0]); + common_hal_canio_can_deinit(self); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(canio_can_exit_obj, 4, 4, canio_can_exit); + +STATIC const mp_rom_map_elem_t canio_can_locals_dict_table[] = { + { MP_ROM_QSTR(MP_QSTR___enter__), MP_ROM_PTR(&canio_can_enter_obj) }, + { MP_ROM_QSTR(MP_QSTR___exit__), MP_ROM_PTR(&canio_can_exit_obj) }, + { MP_ROM_QSTR(MP_QSTR_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) }, + { MP_ROM_QSTR(MP_QSTR_restart), MP_ROM_PTR(&canio_can_restart_obj) }, + { MP_ROM_QSTR(MP_QSTR_send), MP_ROM_PTR(&canio_can_send_obj) }, + { MP_ROM_QSTR(MP_QSTR_silent), MP_ROM_PTR(&canio_can_silent_obj) }, + { MP_ROM_QSTR(MP_QSTR_state), MP_ROM_PTR(&canio_can_state_obj) }, + { MP_ROM_QSTR(MP_QSTR_transmit_error_count), MP_ROM_PTR(&canio_can_transmit_error_count_obj) }, +}; +STATIC MP_DEFINE_CONST_DICT(canio_can_locals_dict, canio_can_locals_dict_table); + +const mp_obj_type_t canio_can_type = { + { &mp_type_type }, + .name = MP_QSTR_CAN, + .make_new = canio_can_make_new, + .locals_dict = (mp_obj_t)&canio_can_locals_dict, +}; diff --git a/shared-bindings/canio/CAN.h b/shared-bindings/canio/CAN.h new file mode 100644 index 000000000..66c972c28 --- /dev/null +++ b/shared-bindings/canio/CAN.h @@ -0,0 +1,54 @@ +/* + * 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/microcontroller/Pin.h" +#include "shared-bindings/canio/Message.h" + +extern const mp_obj_type_t canio_can_type; + +typedef struct canio_can_obj canio_can_obj_t; + +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); +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); +bool common_hal_canio_can_silent_get(canio_can_obj_t *self); +int common_hal_canio_can_transmit_error_count_get(canio_can_obj_t *self); +void common_hal_canio_can_auto_restart_set(canio_can_obj_t *self, bool auto_restart); +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_reset(void); diff --git a/shared-bindings/canio/Listener.c b/shared-bindings/canio/Listener.c new file mode 100644 index 000000000..0b50e5835 --- /dev/null +++ b/shared-bindings/canio/Listener.c @@ -0,0 +1,193 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#include "shared-bindings/canio/Listener.h" +#include "shared-bindings/canio/Message.h" +#include "common-hal/canio/Listener.h" + +#include "py/runtime.h" +#include "py/objproperty.h" + +//| class Listener: +//| """Listens for CAN message +//| +//| _canio.Listener is not constructed directly, but instead by calling the +//| Listen method of a _canio.CAN object.""" +//| + +//| def read(self) -> Optional[Message]: +//| """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.""" +//| ... +//| +STATIC mp_obj_t canio_listener_read(mp_obj_t self_in) { + canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_listener_check_for_deinit(self); + + canio_message_obj_t *message = m_new_obj(canio_message_obj_t); + self->base.type = &canio_message_type; + + if (common_hal_canio_listener_readinto(self, message)) { + return message; + } else { + m_free(message); // message did not escape into vm + } + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_read_obj, canio_listener_read); + +//| def readinto(self, message: Message) -> bool: +//| """Returns 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); + +//| def in_waiting(self) -> int: +//| """Returns the number of messages waiting""" +//| ... +//| +STATIC mp_obj_t canio_listener_in_waiting(mp_obj_t self_in) { + canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_listener_check_for_deinit(self); + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_listener_in_waiting(self)); +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_in_waiting_obj, canio_listener_in_waiting); + +//| def __iter__(self): +//| """Returns self, unless the object is deinitialized""" +//| ... +//| +STATIC mp_obj_t canio_listener_iter(mp_obj_t self_in) { + canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_listener_check_for_deinit(self); + return self; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_iter_obj, canio_listener_iter); + +//| def __next__(self): +//| """Reads a message, after waiting up to self.timeout seconds +//| +//| If no message is received in time, raises StopIteration. Otherwise, +//| a Message is returned.""" +//| ... +//| +STATIC mp_obj_t canio_listener_next(mp_obj_t self_in) { + mp_obj_t result = canio_listener_read(self_in); + if (result == mp_const_none) { + return MP_OBJ_STOP_ITERATION; + } + return result; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_next_obj, canio_listener_next); + +//| def deinit(self) -> None: +//| """Deinitialize this object, freeing its hardware resources""" +//| ... +//| +STATIC mp_obj_t canio_listener_deinit(mp_obj_t self_in) { + canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_listener_deinit(self); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_deinit_obj, canio_listener_deinit); + +//| def __enter__(self) -> CAN: +//| """Returns self, to allow the object to be used in a `with` statement for resource control""" +//| ... +//| +STATIC mp_obj_t canio_listener_enter(mp_obj_t self_in) { + canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_listener_check_for_deinit(self); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_enter_obj, canio_listener_enter); + +//| def __exit__(self, unused1, unused2, unused3) -> None: +//| """Calls deinit()""" +//| ... +STATIC mp_obj_t canio_listener_exit(size_t num_args, const mp_obj_t args[]) { + canio_listener_obj_t *self = MP_OBJ_TO_PTR(args[0]); + common_hal_canio_listener_deinit(self); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(canio_listener_exit_obj, 4, 4, canio_listener_exit); + + +//| timeout : float +STATIC mp_obj_t canio_listener_timeout_get(mp_obj_t self_in) { + canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_listener_check_for_deinit(self); + return mp_obj_new_float(common_hal_canio_listener_get_timeout(self)); +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_listener_timeout_get_obj, canio_listener_timeout_get); + +STATIC mp_obj_t canio_listener_timeout_set(mp_obj_t self_in, mp_obj_t timeout_in) { + canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in); + common_hal_canio_listener_check_for_deinit(self); + common_hal_canio_listener_set_timeout(self, mp_obj_get_float(timeout_in)); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_2(canio_listener_timeout_set_obj, canio_listener_timeout_set); + +STATIC const mp_obj_property_t canio_listener_timeout_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_listener_timeout_get_obj, + (mp_obj_t)&canio_listener_timeout_set_obj, + (mp_obj_t)mp_const_none}, +}; + + + +STATIC const mp_rom_map_elem_t canio_listener_locals_dict_table[] = { + { MP_ROM_QSTR(MP_QSTR___enter__), MP_ROM_PTR(&canio_listener_enter_obj) }, + { MP_ROM_QSTR(MP_QSTR___exit__), MP_ROM_PTR(&canio_listener_exit_obj) }, + { MP_ROM_QSTR(MP_QSTR___iter__), MP_ROM_PTR(&canio_listener_iter_obj) }, + { MP_ROM_QSTR(MP_QSTR___next__), MP_ROM_PTR(&canio_listener_next_obj) }, + { MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&canio_listener_deinit_obj) }, + { MP_ROM_QSTR(MP_QSTR_in_waiting), MP_ROM_PTR(&canio_listener_in_waiting_obj) }, + { MP_ROM_QSTR(MP_QSTR_read), MP_ROM_PTR(&canio_listener_read_obj) }, + { MP_ROM_QSTR(MP_QSTR_readinto), MP_ROM_PTR(&canio_listener_readinto_obj) }, + { MP_ROM_QSTR(MP_QSTR_timeout), MP_ROM_PTR(&canio_listener_timeout_obj) }, +}; +STATIC MP_DEFINE_CONST_DICT(canio_listener_locals_dict, canio_listener_locals_dict_table); + +const mp_obj_type_t canio_listener_type = { + { &mp_type_type }, + .name = MP_QSTR_Listener, + .locals_dict = (mp_obj_dict_t*)&canio_listener_locals_dict, +}; diff --git a/shared-bindings/canio/Listener.h b/shared-bindings/canio/Listener.h new file mode 100644 index 000000000..eaa3490df --- /dev/null +++ b/shared-bindings/canio/Listener.h @@ -0,0 +1,31 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#pragma once + +#include "py/obj.h" + +extern const mp_obj_type_t canio_listener_type; diff --git a/shared-bindings/canio/Match.c b/shared-bindings/canio/Match.c new file mode 100644 index 000000000..ff5d028fa --- /dev/null +++ b/shared-bindings/canio/Match.c @@ -0,0 +1,139 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#include "shared-bindings/canio/Match.h" + +#include "py/objproperty.h" +#include "py/runtime.h" + +//| class Match: +//| """Describe CAN bus messages to match""" +//| +//| +//| def __init__(self, address: int, *, mask: int = 0, extended: bool = False): +//| """Construct a Match with the given properties. +//| +//| If mask is nonzero, then the filter is for any sender which matches all +//| the nonzero bits in mask. Otherwise, it matches exactly the given address. +//| If extended is true then only extended addresses are matched, otherwise +//| only standard addresses are matched.""" +//| + +STATIC mp_obj_t canio_match_make_new(const mp_obj_type_t *type, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { + enum { ARG_address, ARG_mask, ARG_extended, NUM_ARGS }; + static const mp_arg_t allowed_args[] = { + { MP_QSTR_address, MP_ARG_INT | MP_ARG_REQUIRED }, + { MP_QSTR_mask, MP_ARG_INT, {.u_int = 0} }, + { MP_QSTR_extended, MP_ARG_BOOL, {.u_bool = false} }, + }; + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + MP_STATIC_ASSERT( MP_ARRAY_SIZE(allowed_args) == NUM_ARGS ); + + mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); + + int address_bits = args[ARG_extended].u_bool ? 0x1fffffff : 0x7ff; + int address = args[ARG_address].u_int; + int mask = args[ARG_mask].u_int; + + if (address & ~address_bits) { + mp_raise_ValueError_varg(translate("%q out of range"), MP_QSTR_address); + } + + if (mask & ~address_bits) { + mp_raise_ValueError_varg(translate("%q out of range"), MP_QSTR_mask); + } + + canio_match_obj_t *self = m_new_obj(canio_match_obj_t); + self->base.type = &canio_match_type; + common_hal_canio_match_construct(self, args[ARG_address].u_int, args[ARG_mask].u_int, args[ARG_extended].u_bool); + return self; +} + +//| address: int +//| """The address to match""" +//| + +STATIC mp_obj_t canio_match_address_get(mp_obj_t self_in) { + canio_match_obj_t *self = self_in; + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_match_get_address(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_match_address_get_obj, canio_match_address_get); + +const mp_obj_property_t canio_match_address_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_match_address_get_obj, + (mp_obj_t)&mp_const_none_obj, + (mp_obj_t)&mp_const_none_obj}, +}; + +//| +//| mask: int +//| """The optional mask of addresses to match""" +//| + +STATIC mp_obj_t canio_match_mask_get(mp_obj_t self_in) { + canio_match_obj_t *self = self_in; + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_match_get_mask(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_match_mask_get_obj, canio_match_mask_get); + +const mp_obj_property_t canio_match_mask_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_match_mask_get_obj, + (mp_obj_t)&mp_const_none_obj, + (mp_obj_t)&mp_const_none_obj}, +}; + +//| extended: bool +//| """True to match extended addresses, False to match standard addresses""" +//| + +STATIC mp_obj_t canio_match_extended_get(mp_obj_t self_in) { + canio_match_obj_t *self = self_in; + return mp_obj_new_bool(common_hal_canio_match_get_extended(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_match_extended_get_obj, canio_match_extended_get); + +const mp_obj_property_t canio_match_extended_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_match_extended_get_obj, + (mp_obj_t)&mp_const_none_obj, + (mp_obj_t)&mp_const_none_obj}, +}; + +STATIC const mp_rom_map_elem_t canio_match_locals_dict_table[] = { + { MP_ROM_QSTR(MP_QSTR_address), MP_ROM_PTR(&canio_match_address_obj) }, + { MP_ROM_QSTR(MP_QSTR_mask), MP_ROM_PTR(&canio_match_mask_obj) }, + { MP_ROM_QSTR(MP_QSTR_extended), MP_ROM_PTR(&canio_match_extended_obj) }, +}; +STATIC MP_DEFINE_CONST_DICT(canio_match_locals_dict, canio_match_locals_dict_table); + +const mp_obj_type_t canio_match_type = { + { &mp_type_type }, + .name = MP_QSTR_Match, + .make_new = canio_match_make_new, + .locals_dict = (mp_obj_dict_t*)&canio_match_locals_dict, +}; diff --git a/shared-bindings/canio/Match.h b/shared-bindings/canio/Match.h new file mode 100644 index 000000000..88996d730 --- /dev/null +++ b/shared-bindings/canio/Match.h @@ -0,0 +1,37 @@ +/* + * 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/Match.h" + +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); +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 new file mode 100644 index 000000000..11de6ded9 --- /dev/null +++ b/shared-bindings/canio/Message.c @@ -0,0 +1,212 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#include "shared-bindings/canio/Message.h" + +#include "py/obj.h" +#include "py/objproperty.h" +#include "py/runtime.h" + +//| class Message: +//| def __init__(self, id: int=0, data: Optional[bytes] = None, *, size: Optional[int] = None, rtr: bool = False, 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. +//| +//| :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`. +//| """ +//| ... +//| +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 }; + static const mp_arg_t allowed_args[] = { + { MP_QSTR_id, MP_ARG_INT, {.u_obj = 0} }, + { MP_QSTR_data, MP_ARG_OBJ, {.u_obj = 0} }, + { MP_QSTR_size, MP_ARG_INT, {.u_int = -1} }, + { MP_QSTR_rtr, MP_ARG_BOOL, {.u_bool = false} }, + { MP_QSTR_extended, MP_ARG_BOOL, {.u_bool = false} }, + }; + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + MP_STATIC_ASSERT( MP_ARRAY_SIZE(allowed_args) == NUM_ARGS ); + + 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; + } + + if (data.len > 8) { + mp_raise_ValueError(translate("Messages limited to 8 bytes")); + } + + canio_message_obj_t *self = m_new_obj(canio_message_obj_t); + self->base.type = &canio_message_type; + common_hal_canio_message_construct(self, args[ARG_id].u_int, data.buf, data.len, rtr, extended); + return self; +} + +//| id: int +//| """The numeric ID of the message""" +//| +STATIC mp_obj_t canio_message_id_get(const mp_obj_t self_in) { + canio_message_obj_t *self = self_in; + return MP_OBJ_NEW_SMALL_INT(common_hal_canio_message_get_id(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_message_id_get_obj, canio_message_id_get); + +STATIC mp_obj_t canio_message_id_set(const mp_obj_t self_in, const mp_obj_t id) { + canio_message_obj_t *self = self_in; + common_hal_canio_message_set_id(self, mp_obj_get_int(id)); + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_2(canio_message_id_set_obj, canio_message_id_set); + +STATIC const mp_obj_property_t canio_message_id_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_message_id_get_obj, + (mp_obj_t)&canio_message_id_set_obj, + (mp_obj_t)&mp_const_none_obj}, +}; + +//| data: bytes +//| """The content of the message, or dummy content in the case of an rtr. +//| +//| Assigning to data also sets the length and clears the rtr flag.""" +//| +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)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_message_data_get_obj, canio_message_data_get); + +STATIC mp_obj_t canio_message_data_set(const mp_obj_t self_in, const mp_obj_t data_in) { + canio_message_obj_t *self = self_in; + mp_buffer_info_t data; + mp_get_buffer_raise(data_in, &data, MP_BUFFER_READ); + if (data.len > 8) { + mp_raise_ValueError(translate("Messages limited to 8 bytes")); + } + common_hal_canio_message_set_data(self, data.buf, data.len); + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_2(canio_message_data_set_obj, canio_message_data_set); + + +STATIC const mp_obj_property_t canio_message_data_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_message_data_get_obj, + (mp_obj_t)&canio_message_data_set_obj, + (mp_obj_t)&mp_const_none_obj}, +}; + + +//| extended: bool +//| """True if the message represents a remote transmission request (RTR)""" +//| +STATIC mp_obj_t canio_message_extended_get(const mp_obj_t self_in) { + canio_message_obj_t *self = self_in; + return mp_obj_new_bool(common_hal_canio_message_get_extended(self)); +} +MP_DEFINE_CONST_FUN_OBJ_1(canio_message_extended_get_obj, canio_message_extended_get); + +STATIC mp_obj_t canio_message_extended_set(const mp_obj_t self_in, const mp_obj_t extended) { + canio_message_obj_t *self = self_in; + common_hal_canio_message_set_extended(self, mp_obj_is_true(extended)); + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_2(canio_message_extended_set_obj, canio_message_extended_set); + + +STATIC const mp_obj_property_t canio_message_extended_obj = { + .base.type = &mp_type_property, + .proxy = {(mp_obj_t)&canio_message_extended_get_obj, + (mp_obj_t)&canio_message_extended_set_obj, + (mp_obj_t)&mp_const_none_obj}, +}; + + +//| rtr: bool +//| """True if the message represents a remote transmission request (RTR). 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); + +const mp_obj_type_t canio_message_type = { + { &mp_type_type }, + .name = MP_QSTR_Message, + .make_new = canio_message_make_new, + .locals_dict = (mp_obj_t)&canio_message_locals_dict, +}; diff --git a/shared-bindings/canio/Message.h b/shared-bindings/canio/Message.h new file mode 100644 index 000000000..34b632e84 --- /dev/null +++ b/shared-bindings/canio/Message.h @@ -0,0 +1,44 @@ +/* + * 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/Message.h" + +extern const mp_obj_type_t canio_message_type; + +void common_hal_canio_message_construct(canio_message_obj_t *self, int id, void *data, size_t size, bool rtr, 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); diff --git a/shared-bindings/canio/__init__.c b/shared-bindings/canio/__init__.c new file mode 100644 index 000000000..bc191913d --- /dev/null +++ b/shared-bindings/canio/__init__.c @@ -0,0 +1,124 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +//| """CAN bus access +//| +//| The `_canio` module contains low level classes to support the CAN bus +//| protocol. +//| +//| CAN and Listener classes change hardware state and should be deinitialized when they +//| are no longer needed if the program continues after use. To do so, either +//| call :py:meth:`!deinit` or use a context manager. See +//| :ref:`lifetime-and-contextmanagers` for more info. +//| +//| For example:: +//| +//| import _canio +//| from board import * +//| +//| can = _canio.CAN(board.CAN_RX, board.CAN_TX, baudrate=1000000) +//| message = _canio.Message(id=0x0408, data="adafruit" +//| can.write(message)) +//| can.deinit() +//| +//| This example will write the data 'adafruit' onto the CAN bus to any +//| device listening for message id 0x0408. +//| +//| A CAN bus involves a transceiver, which is often a separate chip with a "standby" pin. +//| If your board has a CAN_STANDBY pin, ensure to set it to an output with the value False +//| to enable the transceiver. +//| +//| Other implementations of the CAN device may exist (for instance, attached +//| via an SPI bus). If so their constructor arguments may differ, but +//| otherwise we encourage implementors to follow the API that the core uses. +//| """ +//| + +#include "py/obj.h" +#include "py/enum.h" + +#include "shared-bindings/canio/__init__.h" +#include "shared-bindings/canio/CAN.h" +#include "shared-bindings/canio/Match.h" +#include "shared-bindings/canio/Message.h" +#include "shared-bindings/canio/Listener.h" + +MAKE_ENUM_VALUE(canio_bus_state_type, bus_state, ERROR_ACTIVE, BUS_STATE_ERROR_ACTIVE); +MAKE_ENUM_VALUE(canio_bus_state_type, bus_state, ERROR_PASSIVE, BUS_STATE_ERROR_PASSIVE); +MAKE_ENUM_VALUE(canio_bus_state_type, bus_state, ERROR_WARNING, BUS_STATE_ERROR_WARNING); +MAKE_ENUM_VALUE(canio_bus_state_type, bus_state, BUS_OFF, BUS_STATE_OFF); + +//| class BusState: +//| """The state of the CAN bus""" +//| +//| ERROR_ACTIVE: object +//| """The bus is in the normal (active) state""" +//| +//| ERROR_WARNING: object +//| """The bus is in the normal (active) state, but a moderate number of errors have occurred recently. +//| +//| NOTE: Not all implementations may use ERROR_WARNING. Do not rely on seeing ERROR_WARNING before ERROR_PASSIVE.""" +//| +//| ERROR_PASSIVE: object +//| """The bus is in the passive state due to the number of errors that have occurred recently. +//| +//| This device will acknowledge packets it receives, but cannot transmit messages. +//| If additional errors occur, this device may progress to BUS_OFF. +//| If it successfully acknowledges other packets on the bus, it can return to ERROR_WARNING or ERROR_ACTIVE and transmit packets. +//| """ +//| +//| BUS_OFF: object +//| """The bus has turned off due to the number of errors that have +//| occurred recently. It must be restarted before it will send or receive +//| packets. This device will neither send or acknowledge packets on the bus.""" +//| +MAKE_ENUM_MAP(canio_bus_state) { + MAKE_ENUM_MAP_ENTRY(bus_state, ERROR_ACTIVE), + MAKE_ENUM_MAP_ENTRY(bus_state, ERROR_PASSIVE), + MAKE_ENUM_MAP_ENTRY(bus_state, ERROR_WARNING), + MAKE_ENUM_MAP_ENTRY(bus_state, BUS_OFF), +}; +STATIC MP_DEFINE_CONST_DICT(canio_bus_state_locals_dict, canio_bus_state_locals_table); + +MAKE_PRINTER(_canio, canio_bus_state); + +MAKE_ENUM_TYPE(_canio, BusState, canio_bus_state); + +STATIC const mp_rom_map_elem_t canio_module_globals_table[] = { + { MP_ROM_QSTR(MP_QSTR_BusState), MP_ROM_PTR(&canio_bus_state_type) }, + { MP_ROM_QSTR(MP_QSTR_CAN), MP_ROM_PTR(&canio_can_type) }, + { 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___name__), MP_ROM_QSTR(MP_QSTR__canio) }, +}; + +STATIC MP_DEFINE_CONST_DICT(canio_module_globals, canio_module_globals_table); + +const mp_obj_module_t canio_module = { + .base = { &mp_type_module }, + .globals = (mp_obj_dict_t*)&canio_module_globals, +}; diff --git a/shared-bindings/canio/__init__.h b/shared-bindings/canio/__init__.h new file mode 100644 index 000000000..e24eba92c --- /dev/null +++ b/shared-bindings/canio/__init__.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 + +typedef enum { + BUS_STATE_ERROR_ACTIVE, BUS_STATE_ERROR_PASSIVE, BUS_STATE_ERROR_WARNING, BUS_STATE_OFF +} canio_bus_state_t; + +extern const mp_obj_type_t canio_bus_state_type; diff --git a/shared-module/_canio/Match.c b/shared-module/_canio/Match.c deleted file mode 100644 index 3dcde18a7..000000000 --- a/shared-module/_canio/Match.c +++ /dev/null @@ -1,43 +0,0 @@ -/* - * This file is part of the MicroPython project, http://micropython.org/ - * - * The MIT License (MIT) - * - * Copyright (c) 2020 Jeff Epler for Adafruit Industries - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ - -#include "shared-module/_canio/Match.h" - -void common_hal_canio_match_construct(canio_match_obj_t *self, int address, int mask, bool extended) { - self->address = address; - self->mask = mask; - self->extended = extended; -} - -int common_hal_canio_match_get_address(const canio_match_obj_t *self) { - return self->address; -} -int common_hal_canio_match_get_mask(const canio_match_obj_t *self) { - return self->mask; -} -bool common_hal_canio_match_get_extended(const canio_match_obj_t *self) { - return self->extended; -} diff --git a/shared-module/_canio/Match.h b/shared-module/_canio/Match.h deleted file mode 100644 index 25f047f37..000000000 --- a/shared-module/_canio/Match.h +++ /dev/null @@ -1,36 +0,0 @@ -/* - * This file is part of the MicroPython project, http://micropython.org/ - * - * The MIT License (MIT) - * - * Copyright (c) 2020 Jeff Epler for Adafruit Industries - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ - -#pragma once - -#include "py/obj.h" - -typedef struct { - mp_obj_base_t base; - int address; - int mask; - bool extended; -} canio_match_obj_t; diff --git a/shared-module/_canio/Message.c b/shared-module/_canio/Message.c deleted file mode 100644 index a02bd0127..000000000 --- a/shared-module/_canio/Message.c +++ /dev/null @@ -1,101 +0,0 @@ -/* - * This file is part of the MicroPython project, http://micropython.org/ - * - * The MIT License (MIT) - * - * Copyright (c) 2020 Jeff Epler for Adafruit Industries - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ - -#include "shared-module/_canio/Message.h" - -#include - -void common_hal_canio_message_construct(canio_message_obj_t *self, int id, void *data, size_t size, bool rtr, bool extended) -{ - self->id = id; - self->size = size; - self->rtr = rtr; - self->extended = extended; - if (data) { - memcpy(self->data, data, size); - } else { - memset(self->data, 0, size); - } -} - -int common_hal_canio_message_get_id(const canio_message_obj_t *self) -{ - return self->id; -} - -void common_hal_canio_message_set_id(canio_message_obj_t *self, int id) -{ - self->id = id; -} - - -const void *common_hal_canio_message_get_data(const canio_message_obj_t *self) -{ - return self->data; -} - -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) -{ - 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; -} - -void common_hal_canio_message_set_extended(canio_message_obj_t *self, bool extended) -{ - self->extended = extended; -} diff --git a/shared-module/_canio/Message.h b/shared-module/_canio/Message.h deleted file mode 100644 index b99c5c48e..000000000 --- a/shared-module/_canio/Message.h +++ /dev/null @@ -1,38 +0,0 @@ -/* - * This file is part of the MicroPython project, http://micropython.org/ - * - * The MIT License (MIT) - * - * Copyright (c) 2020 Jeff Epler for Adafruit Industries - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ - -#pragma once - -#include "py/obj.h" - -typedef struct { - mp_obj_base_t base; - int id; - uint8_t data[8]; - size_t size:4; - bool rtr:1; - bool extended:1; -} canio_message_obj_t; diff --git a/shared-module/canio/Match.c b/shared-module/canio/Match.c new file mode 100644 index 000000000..9e33b956f --- /dev/null +++ b/shared-module/canio/Match.c @@ -0,0 +1,43 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#include "shared-module/canio/Match.h" + +void common_hal_canio_match_construct(canio_match_obj_t *self, int address, int mask, bool extended) { + self->address = address; + self->mask = mask; + self->extended = extended; +} + +int common_hal_canio_match_get_address(const canio_match_obj_t *self) { + return self->address; +} +int common_hal_canio_match_get_mask(const canio_match_obj_t *self) { + return self->mask; +} +bool common_hal_canio_match_get_extended(const canio_match_obj_t *self) { + return self->extended; +} diff --git a/shared-module/canio/Match.h b/shared-module/canio/Match.h new file mode 100644 index 000000000..25f047f37 --- /dev/null +++ b/shared-module/canio/Match.h @@ -0,0 +1,36 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#pragma once + +#include "py/obj.h" + +typedef struct { + mp_obj_base_t base; + int address; + int mask; + bool extended; +} canio_match_obj_t; diff --git a/shared-module/canio/Message.c b/shared-module/canio/Message.c new file mode 100644 index 000000000..b8ebb7859 --- /dev/null +++ b/shared-module/canio/Message.c @@ -0,0 +1,101 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#include "shared-module/canio/Message.h" + +#include + +void common_hal_canio_message_construct(canio_message_obj_t *self, int id, void *data, size_t size, bool rtr, bool extended) +{ + self->id = id; + self->size = size; + self->rtr = rtr; + self->extended = extended; + if (data) { + memcpy(self->data, data, size); + } else { + memset(self->data, 0, size); + } +} + +int common_hal_canio_message_get_id(const canio_message_obj_t *self) +{ + return self->id; +} + +void common_hal_canio_message_set_id(canio_message_obj_t *self, int id) +{ + self->id = id; +} + + +const void *common_hal_canio_message_get_data(const canio_message_obj_t *self) +{ + return self->data; +} + +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) +{ + 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; +} + +void common_hal_canio_message_set_extended(canio_message_obj_t *self, bool extended) +{ + self->extended = extended; +} diff --git a/shared-module/canio/Message.h b/shared-module/canio/Message.h new file mode 100644 index 000000000..b99c5c48e --- /dev/null +++ b/shared-module/canio/Message.h @@ -0,0 +1,38 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#pragma once + +#include "py/obj.h" + +typedef struct { + mp_obj_base_t base; + int id; + uint8_t data[8]; + size_t size:4; + bool rtr:1; + bool extended:1; +} canio_message_obj_t; -- cgit v1.2.3 From 28e80e47d708fe346be0ae8d430f1a86d5d3049b Mon Sep 17 00:00:00 2001 From: Jeff Epler Date: Tue, 22 Sep 2020 17:38:58 -0500 Subject: makeqstrdefs: don't make _and_, _or_ poisoned substrings for QSTRs MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit New contributor @mdroberts1243 encountered an interesting problem in which the argument they had named "column_underscore_and_page_addressing" simply couldn't be used; I discovered that internally this had been transformed into "column_underscore∧page_addressing", because QSTR makes _ENTITY_ stand for the same thing as &ENTITY; does in HTML. This might be nice for some things, but we don't want it here! I was unable to find a sensible way to "escape" and prevent this entity coding, so instead I ripped out support for the _and_ and _or_ escapes. --- py/makeqstrdefs.py | 4 ++++ 1 file changed, 4 insertions(+) (limited to 'py') diff --git a/py/makeqstrdefs.py b/py/makeqstrdefs.py index cb27ced35..d3e90ba48 100644 --- a/py/makeqstrdefs.py +++ b/py/makeqstrdefs.py @@ -57,6 +57,10 @@ name2codepoint['caret'] = ord('^') name2codepoint['pipe'] = ord('|') name2codepoint['tilde'] = ord('~') +# These are just vexing! +del name2codepoint['and'] +del name2codepoint['or'] + def write_out(fname, output): if output: for m, r in [("/", "__"), ("\\", "__"), (":", "@"), ("..", "@@")]: -- cgit v1.2.3 From a4cc3ad6cb75845e0dc75ede97b8287bb1af0317 Mon Sep 17 00:00:00 2001 From: Jeff Epler Date: Sat, 26 Sep 2020 09:44:11 -0500 Subject: canio: RemoteTransmissionRequest: Split implementation, keep one structure This already begins obscuring things, because now there are two sets of shared-module functions for manipulating the same structure, e.g., common_hal_canio_remote_transmission_request_get_id and common_hal_canio_message_get_id --- py/circuitpy_defns.mk | 1 + shared-bindings/canio/Message.c | 85 ----------- shared-bindings/canio/Message.h | 2 - shared-bindings/canio/RemoteTransmissionRequest.c | 164 ++++++++++++++++++++++ shared-bindings/canio/RemoteTransmissionRequest.h | 42 ++++++ shared-module/canio/Message.c | 20 --- shared-module/canio/RemoteTransmissionRequest.c | 68 +++++++++ shared-module/canio/RemoteTransmissionRequest.h | 33 +++++ 8 files changed, 308 insertions(+), 107 deletions(-) create mode 100644 shared-bindings/canio/RemoteTransmissionRequest.c create mode 100644 shared-bindings/canio/RemoteTransmissionRequest.h create mode 100644 shared-module/canio/RemoteTransmissionRequest.c create mode 100644 shared-module/canio/RemoteTransmissionRequest.h (limited to 'py') 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/Message.c b/shared-bindings/canio/Message.c index ae03c25e7..e47e997c7 100644 --- a/shared-bindings/canio/Message.c +++ b/shared-bindings/canio/Message.c @@ -144,77 +144,6 @@ STATIC const mp_obj_property_t canio_message_extended_obj = { (mp_obj_t)&mp_const_none_obj}, }; -//| class RemoteTransmissionRequest: -//| def __init__(self, id: int, length: int, *, extended: bool = False): -//| """Construct a Message 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("Messages limited to 8 bytes")); - } - - canio_message_obj_t *self = m_new_obj(canio_message_obj_t); - self->base.type = &canio_remote_transmission_request_type; - common_hal_canio_message_construct(self, args[ARG_id].u_int, NULL, length, args[ARG_extended].u_bool); - return self; -} - -//| extended: bool -//| """True if the message's id is an extended id""" -//| - -//| id: int -//| """The numeric ID of the message""" -//| - -//| 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_message_obj_t *self = self_in; - return MP_OBJ_NEW_SMALL_INT(common_hal_canio_message_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_message_obj_t *self = self_in; - int length = mp_obj_get_int(length_in); - if (length < 0 || length > 8) { - mp_raise_ValueError(translate("Messages 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_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) }, @@ -228,17 +157,3 @@ const mp_obj_type_t canio_message_type = { .make_new = canio_message_make_new, .locals_dict = (mp_obj_t)&canio_message_locals_dict, }; - -STATIC const mp_rom_map_elem_t canio_remote_transmission_request_locals_dict_table[] = { - { MP_ROM_QSTR(MP_QSTR_id), MP_ROM_PTR(&canio_message_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_message_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/Message.h b/shared-bindings/canio/Message.h index 96716864c..adcdb095c 100644 --- a/shared-bindings/canio/Message.h +++ b/shared-bindings/canio/Message.h @@ -39,7 +39,5 @@ 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_length(const canio_message_obj_t *self); void common_hal_canio_remote_transmission_request_set_length(canio_message_obj_t *self, size_t length); diff --git a/shared-bindings/canio/RemoteTransmissionRequest.c b/shared-bindings/canio/RemoteTransmissionRequest.c new file mode 100644 index 000000000..4e3f67417 --- /dev/null +++ b/shared-bindings/canio/RemoteTransmissionRequest.c @@ -0,0 +1,164 @@ +/* + * 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}, +}; + +//| extended: bool +//| """True if the message's id is an extended id""" +//| + +//| id: int +//| """The numeric ID of the message""" +//| + +//| 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-module/canio/Message.c b/shared-module/canio/Message.c index 86a3b7106..34c2e61f7 100644 --- a/shared-module/canio/Message.c +++ b/shared-module/canio/Message.c @@ -68,26 +68,6 @@ size_t common_hal_canio_message_get_length(const canio_message_obj_t *self) return self->size; } -void common_hal_canio_remote_transmission_request_set_length(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/RemoteTransmissionRequest.c b/shared-module/canio/RemoteTransmissionRequest.c new file mode 100644 index 000000000..00c9334b0 --- /dev/null +++ b/shared-module/canio/RemoteTransmissionRequest.c @@ -0,0 +1,68 @@ +/* + * 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 + +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->rtr = true; + 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; -- cgit v1.2.3 From 5e38bb98cbcc2d1ab607b19d11e628def4f48f4c Mon Sep 17 00:00:00 2001 From: Jeff Epler Date: Sat, 10 Oct 2020 14:30:37 -0500 Subject: rgbmatrix: update protomatter to 1.0.5 tag this is compile-tested on stm32f405 feather matrixportal nrf52840 feather but not actually tested-tested. --- lib/protomatter | 2 +- py/circuitpy_defns.mk | 4 ++-- shared-bindings/rgbmatrix/RGBMatrix.h | 2 +- shared-module/rgbmatrix/RGBMatrix.c | 12 ++++++------ shared-module/rgbmatrix/RGBMatrix.h | 2 +- shared-module/rgbmatrix/allocator.h | 4 ++-- 6 files changed, 13 insertions(+), 13 deletions(-) (limited to 'py') diff --git a/lib/protomatter b/lib/protomatter index 5f07ec618..de6b7704c 160000 --- a/lib/protomatter +++ b/lib/protomatter @@ -1 +1 @@ -Subproject commit 5f07ec6188852794a94138763e612844842f13e4 +Subproject commit de6b7704c530d886ad8dfa0fa1864764d86117ee diff --git a/py/circuitpy_defns.mk b/py/circuitpy_defns.mk index 76c0a4db6..525e0b2bf 100644 --- a/py/circuitpy_defns.mk +++ b/py/circuitpy_defns.mk @@ -528,10 +528,10 @@ SRC_MOD += $(addprefix lib/mp3/src/, \ $(BUILD)/lib/mp3/src/buffers.o: CFLAGS += -include "py/misc.h" -D'MPDEC_ALLOCATOR(x)=m_malloc(x,0)' -D'MPDEC_FREE(x)=m_free(x)' endif ifeq ($(CIRCUITPY_RGBMATRIX),1) -SRC_MOD += $(addprefix lib/protomatter/, \ +SRC_MOD += $(addprefix lib/protomatter/src/, \ core.c \ ) -$(BUILD)/lib/protomatter/core.o: CFLAGS += -include "shared-module/rgbmatrix/allocator.h" -DCIRCUITPY -Wno-missing-braces +$(BUILD)/lib/protomatter/src/core.o: CFLAGS += -include "shared-module/rgbmatrix/allocator.h" -DCIRCUITPY -Wno-missing-braces endif # All possible sources are listed here, and are filtered by SRC_PATTERNS. diff --git a/shared-bindings/rgbmatrix/RGBMatrix.h b/shared-bindings/rgbmatrix/RGBMatrix.h index 1dc5a406c..bfe37c340 100644 --- a/shared-bindings/rgbmatrix/RGBMatrix.h +++ b/shared-bindings/rgbmatrix/RGBMatrix.h @@ -27,7 +27,7 @@ #pragma once #include "shared-module/rgbmatrix/RGBMatrix.h" -#include "lib/protomatter/core.h" +#include "lib/protomatter/src/core.h" extern const mp_obj_type_t rgbmatrix_RGBMatrix_type; diff --git a/shared-module/rgbmatrix/RGBMatrix.c b/shared-module/rgbmatrix/RGBMatrix.c index 3007ca4db..a77518130 100644 --- a/shared-module/rgbmatrix/RGBMatrix.c +++ b/shared-module/rgbmatrix/RGBMatrix.c @@ -78,10 +78,10 @@ void common_hal_rgbmatrix_rgbmatrix_reconstruct(rgbmatrix_rgbmatrix_obj_t* self, // verify that the matrix is big enough mp_get_index(mp_obj_get_type(self->framebuffer), self->bufinfo.len, MP_OBJ_NEW_SMALL_INT(self->bufsize-1), false); } else { - _PM_FREE(self->bufinfo.buf); - _PM_FREE(self->protomatter.rgbPins); - _PM_FREE(self->protomatter.addr); - _PM_FREE(self->protomatter.screenData); + _PM_free(self->bufinfo.buf); + _PM_free(self->protomatter.rgbPins); + _PM_free(self->protomatter.addr); + _PM_free(self->protomatter.screenData); self->framebuffer = NULL; self->bufinfo.buf = common_hal_rgbmatrix_allocator_impl(self->bufsize); @@ -164,13 +164,13 @@ void common_hal_rgbmatrix_rgbmatrix_deinit(rgbmatrix_rgbmatrix_obj_t* self) { free_pin(&self->oe_pin); if (self->protomatter.rgbPins) { - _PM_free(&self->protomatter); + _PM_deallocate(&self->protomatter); } memset(&self->protomatter, 0, sizeof(self->protomatter)); // If it was supervisor-allocated, it is supervisor-freed and the pointer // is zeroed, otherwise the pointer is just zeroed - _PM_FREE(self->bufinfo.buf); + _PM_free(self->bufinfo.buf); self->base.type = NULL; // If a framebuffer was passed in to the constructor, NULL the reference diff --git a/shared-module/rgbmatrix/RGBMatrix.h b/shared-module/rgbmatrix/RGBMatrix.h index 19d7d5f2e..6dbc6fd41 100644 --- a/shared-module/rgbmatrix/RGBMatrix.h +++ b/shared-module/rgbmatrix/RGBMatrix.h @@ -26,7 +26,7 @@ #pragma once -#include "lib/protomatter/core.h" +#include "lib/protomatter/src/core.h" extern const mp_obj_type_t rgbmatrix_RGBMatrix_type; typedef struct { diff --git a/shared-module/rgbmatrix/allocator.h b/shared-module/rgbmatrix/allocator.h index 323fa5ec0..3431046d5 100644 --- a/shared-module/rgbmatrix/allocator.h +++ b/shared-module/rgbmatrix/allocator.h @@ -31,7 +31,7 @@ #include "py/misc.h" #include "supervisor/memory.h" -#define _PM_ALLOCATOR common_hal_rgbmatrix_allocator_impl -#define _PM_FREE(x) (common_hal_rgbmatrix_free_impl((x)), (x)=NULL, (void)0) +#define _PM_allocate common_hal_rgbmatrix_allocator_impl +#define _PM_free(x) (common_hal_rgbmatrix_free_impl((x)), (x)=NULL, (void)0) extern void *common_hal_rgbmatrix_allocator_impl(size_t sz); extern void common_hal_rgbmatrix_free_impl(void *); -- cgit v1.2.3 From d94d2d297552decfc1f02b84c898127eb14e96bf Mon Sep 17 00:00:00 2001 From: warriorofwire <3454741+WarriorOfWire@users.noreply.github.com> Date: Sun, 31 May 2020 13:09:45 -0700 Subject: Add async/await syntax to FULL_BUILD This adds the `async def` and `await` verbs to valid CircuitPython syntax using the Micropython implementation. Consider: ``` >>> class Awaitable: ... def __iter__(self): ... for i in range(3): ... print('awaiting', i) ... yield ... return 42 ... >>> async def wait_for_it(): ... a = Awaitable() ... result = await a ... return result ... >>> task = wait_for_it() >>> next(task) awaiting 0 >>> next(task) awaiting 1 >>> next(task) awaiting 2 >>> next(task) Traceback (most recent call last): File "", line 1, in StopIteration: 42 >>> ``` and more excitingly: ``` >>> async def it_awaits_a_subtask(): ... value = await wait_for_it() ... print('twice as good', value * 2) ... >>> task = it_awaits_a_subtask() >>> next(task) awaiting 0 >>> next(task) awaiting 1 >>> next(task) awaiting 2 >>> next(task) twice as good 84 Traceback (most recent call last): File "", line 1, in StopIteration: ``` Note that this is just syntax plumbing, not an all-encompassing implementation of an asynchronous task scheduler or asynchronous hardware apis. uasyncio might be a good module to bring in, or something else - but the standard Python syntax does not _strictly require_ deeper hardware support. Micropython implements the await verb via the __iter__ function rather than __await__. It's okay. The syntax being present will enable users to write clean and expressive multi-step state machines that are written serially and interleaved according to the rules provided by those users. Given that this does not include an all-encompassing C scheduler, this is expected to be an advanced functionality until the community settles on the future of deep hardware support for async/await in CircuitPython. Users will implement yield-based schedulers and tasks wrapping synchronous hardware APIs with polling to avoid blocking, while their application business logic gets simple `await` statements. --- py/circuitpy_mpconfig.h | 1 - py/circuitpy_mpconfig.mk | 3 +++ 2 files changed, 3 insertions(+), 1 deletion(-) (limited to 'py') diff --git a/py/circuitpy_mpconfig.h b/py/circuitpy_mpconfig.h index 0583ae1c9..5ffdd4c8f 100644 --- a/py/circuitpy_mpconfig.h +++ b/py/circuitpy_mpconfig.h @@ -79,7 +79,6 @@ #define MICROPY_PY_ARRAY (1) #define MICROPY_PY_ARRAY_SLICE_ASSIGN (1) -#define MICROPY_PY_ASYNC_AWAIT (0) #define MICROPY_PY_ATTRTUPLE (1) #define MICROPY_PY_BUILTINS_BYTEARRAY (1) diff --git a/py/circuitpy_mpconfig.mk b/py/circuitpy_mpconfig.mk index 9b9bd83b4..cab6d339e 100644 --- a/py/circuitpy_mpconfig.mk +++ b/py/circuitpy_mpconfig.mk @@ -290,3 +290,6 @@ CFLAGS += -DCIRCUITPY_WIFI=$(CIRCUITPY_WIFI) # Enabled micropython.native decorator (experimental) CIRCUITPY_ENABLE_MPY_NATIVE ?= 0 CFLAGS += -DCIRCUITPY_ENABLE_MPY_NATIVE=$(CIRCUITPY_ENABLE_MPY_NATIVE) + +# async/await language keyword support +MICROPY_PY_ASYNC_AWAIT ?= $(CIRCUITPY_FULL_BUILD) -- cgit v1.2.3 From 5cadf525bdf27ef4a3fab9b1c7242384f260003e Mon Sep 17 00:00:00 2001 From: warriorofwire <3454741+WarriorOfWire@users.noreply.github.com> Date: Sun, 31 May 2020 15:16:44 -0700 Subject: fix missing cflag defeating the board gating --- py/circuitpy_mpconfig.mk | 2 ++ 1 file changed, 2 insertions(+) (limited to 'py') diff --git a/py/circuitpy_mpconfig.mk b/py/circuitpy_mpconfig.mk index cab6d339e..ba75d29a5 100644 --- a/py/circuitpy_mpconfig.mk +++ b/py/circuitpy_mpconfig.mk @@ -32,6 +32,8 @@ CIRCUITPY_FULL_BUILD ?= 1 CFLAGS += -DCIRCUITPY_FULL_BUILD=$(CIRCUITPY_FULL_BUILD) +MICROPY_PY_ASYNC_AWAIT ?= $(CIRCUITPY_FULL_BUILD) +CFLAGS += -DMICROPY_PY_ASYNC_AWAIT=$(MICROPY_PY_ASYNC_AWAIT) CIRCUITPY_AESIO ?= 0 CFLAGS += -DCIRCUITPY_AESIO=$(CIRCUITPY_AESIO) -- cgit v1.2.3 From bf849ff674a953ea36dbffc856a05158b2350077 Mon Sep 17 00:00:00 2001 From: Kenny <3454741+WarriorOfWire@users.noreply.github.com> Date: Wed, 5 Aug 2020 19:55:40 -0700 Subject: async def syntax rigor and __await__ magic method Some examples of improved compliance with CPython that currently have divergent behavior in CircuitPython are listed below: * yield from is not allowed in async methods ``` >>> async def f(): ... yield from 'abc' ... Traceback (most recent call last): File "", line 2, in f SyntaxError: 'yield from' inside async function ``` * await only works on awaitable expressions ``` >>> async def f(): ... await 'not awaitable' ... >>> f().send(None) Traceback (most recent call last): File "", line 1, in File "", line 2, in f AttributeError: 'str' object has no attribute '__await__' ``` * only __await__()able expressions are awaitable Okay this one actually does not work in circuitpython at all today. This is how CPython works though and pretending __await__ does not exist will only bite users who write both. ``` >>> class c: ... pass ... >>> def f(self): ... yield ... yield ... return 'f to pay respects' ... >>> c.__await__ = f # could just as easily have put it on the class but this shows how it's wired >>> async def g(): ... awaitable_thing = c() ... partial = await awaitable_thing ... return 'press ' + partial ... >>> q = g() >>> q.send(None) >>> q.send(None) >>> q.send(None) Traceback (most recent call last): File "", line 1, in StopIteration: press f to pay respects ``` --- py/compile.c | 9 ++++++++- py/objgenerator.c | 22 ++++++++++++++++++++++ 2 files changed, 30 insertions(+), 1 deletion(-) (limited to 'py') diff --git a/py/compile.c b/py/compile.c index 653aae004..f19430298 100644 --- a/py/compile.c +++ b/py/compile.c @@ -2632,6 +2632,12 @@ STATIC void compile_yield_expr(compiler_t *comp, mp_parse_node_struct_t *pns) { EMIT_ARG(yield, MP_EMIT_YIELD_VALUE); } else if (MP_PARSE_NODE_IS_STRUCT_KIND(pns->nodes[0], PN_yield_arg_from)) { pns = (mp_parse_node_struct_t*)pns->nodes[0]; +#if MICROPY_PY_ASYNC_AWAIT + if(comp->scope_cur->scope_flags & MP_SCOPE_FLAG_ASYNC) { + compile_syntax_error(comp, (mp_parse_node_t)pns, translate("'yield from' inside async function")); + return; + } +#endif compile_node(comp, pns->nodes[0]); compile_yield_from(comp); } else { @@ -2648,7 +2654,8 @@ STATIC void compile_atom_expr_await(compiler_t *comp, mp_parse_node_struct_t *pn } compile_require_async_context(comp, pns); compile_atom_expr_normal(comp, pns); - compile_yield_from(comp); + + compile_await_object_method(comp, MP_QSTR___await__); } #endif diff --git a/py/objgenerator.c b/py/objgenerator.c index df421b60c..baa6a9849 100644 --- a/py/objgenerator.c +++ b/py/objgenerator.c @@ -225,6 +225,25 @@ STATIC mp_obj_t gen_instance_send(mp_obj_t self_in, mp_obj_t send_value) { STATIC MP_DEFINE_CONST_FUN_OBJ_2(gen_instance_send_obj, gen_instance_send); +#if MICROPY_PY_ASYNC_AWAIT +STATIC mp_obj_t gen_instance_await(mp_obj_t self_in) { + mp_obj_gen_instance_t *self = MP_OBJ_TO_PTR(self_in); + if ( !self->coroutine_generator ) { + // Pretend like a generator does not have this coroutine behavior. + // Pay no attention to the dir() behind the curtain + nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_AttributeError, + translate("type object 'generator' has no attribute '__await__'"))); + } + mp_obj_t ret = gen_resume_and_raise(self_in, mp_const_none, MP_OBJ_NULL); + if (ret == MP_OBJ_STOP_ITERATION) { + nlr_raise(mp_obj_new_exception(&mp_type_StopIteration)); + } else { + return ret; + } +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(gen_instance_await_obj, gen_instance_await); +#endif + STATIC mp_obj_t gen_instance_close(mp_obj_t self_in); STATIC mp_obj_t gen_instance_throw(size_t n_args, const mp_obj_t *args) { mp_obj_t exc = (n_args == 2) ? args[1] : args[2]; @@ -280,6 +299,9 @@ STATIC const mp_rom_map_elem_t gen_instance_locals_dict_table[] = { #if MICROPY_PY_GENERATOR_PEND_THROW { MP_ROM_QSTR(MP_QSTR_pend_throw), MP_ROM_PTR(&gen_instance_pend_throw_obj) }, #endif + #if MICROPY_PY_ASYNC_AWAIT + { MP_ROM_QSTR(MP_QSTR___await__), MP_ROM_PTR(&gen_instance_await_obj) }, + #endif }; STATIC MP_DEFINE_CONST_DICT(gen_instance_locals_dict, gen_instance_locals_dict_table); -- cgit v1.2.3 From 5d96afc5c2e4b4b6aa265a96a3921ac71f036980 Mon Sep 17 00:00:00 2001 From: Kenny <3454741+WarriorOfWire@users.noreply.github.com> Date: Sat, 10 Oct 2020 15:30:37 -0700 Subject: i do not know if this is needed but this is not the vm i use anymore --- py/compile.c | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) (limited to 'py') diff --git a/py/compile.c b/py/compile.c index f19430298..da31846e2 100644 --- a/py/compile.c +++ b/py/compile.c @@ -2655,7 +2655,11 @@ STATIC void compile_atom_expr_await(compiler_t *comp, mp_parse_node_struct_t *pn compile_require_async_context(comp, pns); compile_atom_expr_normal(comp, pns); - compile_await_object_method(comp, MP_QSTR___await__); + + EMIT_ARG(load_method, MP_QSTR___await__, false); + EMIT_ARG(call_method, 0, 0, 0); + // EMIT_ARG(load_const_tok, MP_TOKEN_KW_NONE); // don't yield anything from an awaitable; only return the final result. + // EMIT_ARG(yield, MP_EMIT_YIELD_FROM); } #endif -- cgit v1.2.3 From 98aa4b794346161e512d0fba913901021dd2cfbf Mon Sep 17 00:00:00 2001 From: Kenny <3454741+WarriorOfWire@users.noreply.github.com> Date: Sat, 10 Oct 2020 23:39:32 -0700 Subject: update async tests with less upython workaround and more cpython compatibility --- py/compile.c | 12 ++++++++---- py/objgenerator.c | 8 ++------ tests/basics/async_await2.py | 28 ++++++++++++++-------------- tests/basics/async_for2.py | 30 +++++++++++++++--------------- tests/basics/async_with2.py | 32 ++++++++++++++++---------------- 5 files changed, 55 insertions(+), 55 deletions(-) (limited to 'py') diff --git a/py/compile.c b/py/compile.c index da31846e2..45a586594 100644 --- a/py/compile.c +++ b/py/compile.c @@ -40,6 +40,8 @@ #if MICROPY_ENABLE_COMPILER +#define DEBUG_PRINT(...) mp_printf(&mp_plat_print __VA_OPT__(,) __VA_ARGS__) + // TODO need to mangle __attr names #define INVALID_LABEL (0xffff) @@ -853,7 +855,7 @@ STATIC void compile_decorated(compiler_t *comp, mp_parse_node_struct_t *pns) { mp_parse_node_struct_t *pns0 = (mp_parse_node_struct_t*)pns_body->nodes[0]; body_name = compile_funcdef_helper(comp, pns0, emit_options); scope_t *fscope = (scope_t*)pns0->nodes[4]; - fscope->scope_flags |= MP_SCOPE_FLAG_GENERATOR; + fscope->scope_flags |= MP_SCOPE_FLAG_GENERATOR | MP_SCOPE_FLAG_ASYNC; #endif } else { assert(MP_PARSE_NODE_STRUCT_KIND(pns_body) == PN_classdef); // should be @@ -2655,11 +2657,13 @@ STATIC void compile_atom_expr_await(compiler_t *comp, mp_parse_node_struct_t *pn compile_require_async_context(comp, pns); compile_atom_expr_normal(comp, pns); - + // If it's an awaitable thing, need to reach for the __await__ method for the coroutine. + // async def functions' __await__ return themselves, which are able to receive a send(), + // while other types with custom __await__ implementations return async generators. EMIT_ARG(load_method, MP_QSTR___await__, false); EMIT_ARG(call_method, 0, 0, 0); - // EMIT_ARG(load_const_tok, MP_TOKEN_KW_NONE); // don't yield anything from an awaitable; only return the final result. - // EMIT_ARG(yield, MP_EMIT_YIELD_FROM); + EMIT_ARG(load_const_tok, MP_TOKEN_KW_NONE); + EMIT_ARG(yield, MP_EMIT_YIELD_FROM); } #endif diff --git a/py/objgenerator.c b/py/objgenerator.c index baa6a9849..5e651ac26 100644 --- a/py/objgenerator.c +++ b/py/objgenerator.c @@ -234,12 +234,8 @@ STATIC mp_obj_t gen_instance_await(mp_obj_t self_in) { nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_AttributeError, translate("type object 'generator' has no attribute '__await__'"))); } - mp_obj_t ret = gen_resume_and_raise(self_in, mp_const_none, MP_OBJ_NULL); - if (ret == MP_OBJ_STOP_ITERATION) { - nlr_raise(mp_obj_new_exception(&mp_type_StopIteration)); - } else { - return ret; - } + // You can directly call send on a coroutine generator or you can __await__ then send on the return of that. + return self; } STATIC MP_DEFINE_CONST_FUN_OBJ_1(gen_instance_await_obj, gen_instance_await); #endif diff --git a/tests/basics/async_await2.py b/tests/basics/async_await2.py index 7097ce85a..2c5015fb4 100644 --- a/tests/basics/async_await2.py +++ b/tests/basics/async_await2.py @@ -1,22 +1,22 @@ # test await expression -import sys -if sys.implementation.name in ('micropython', 'circuitpython'): - # uPy allows normal generators to be awaitables - coroutine = lambda f: f -else: - import types - coroutine = types.coroutine +# uPy allows normal generators to be awaitables. +# CircuitPython does not. +# In CircuitPython you need to have an __await__ method on an awaitable like in CPython; +# and like in CPython, generators do not have __await__. -@coroutine -def wait(value): - print('wait value:', value) - msg = yield 'message from wait(%u)' % value - print('wait got back:', msg) - return 10 +class Awaitable: + def __init__(self, value): + self.value = value + + def __await__(self): + print('wait value:', self.value) + msg = yield 'message from wait(%u)' % self.value + print('wait got back:', msg) + return 10 async def f(): - x = await wait(1)**2 + x = await Awaitable(1)**2 print('x =', x) coro = f() diff --git a/tests/basics/async_for2.py b/tests/basics/async_for2.py index add74dd38..d7b97cb38 100644 --- a/tests/basics/async_for2.py +++ b/tests/basics/async_for2.py @@ -1,19 +1,19 @@ # test waiting within "async for" __anext__ function -import sys -if sys.implementation.name in ('micropython', 'circuitpython'): - # uPy allows normal generators to be awaitables - coroutine = lambda f: f -else: - import types - coroutine = types.coroutine - -@coroutine -def f(x): - print('f start:', x) - yield x + 1 - yield x + 2 - return x + 3 +# uPy allows normal generators to be awaitables. +# CircuitPython does not. +# In CircuitPython you need to have an __await__ method on an awaitable like in CPython; +# and like in CPython, generators do not have __await__. + +class Awaitable: + def __init__(self, x): + self.x = x + + def __await__(self): + print('f start:', self.x) + yield self.x + 1 + yield self.x + 2 + return self.x + 3 class ARange: def __init__(self, high): @@ -27,7 +27,7 @@ class ARange: async def __anext__(self): print('anext') - print('f returned:', await f(20)) + print('f returned:', await Awaitable(20)) if self.cur < self.high: val = self.cur self.cur += 1 diff --git a/tests/basics/async_with2.py b/tests/basics/async_with2.py index 5fb06ba60..2e9e9e5a7 100644 --- a/tests/basics/async_with2.py +++ b/tests/basics/async_with2.py @@ -1,32 +1,32 @@ # test waiting within async with enter/exit functions -import sys -if sys.implementation.name in ('micropython', 'circuitpython'): - # uPy allows normal generators to be awaitables - coroutine = lambda f: f -else: - import types - coroutine = types.coroutine +# uPy allows normal generators to be awaitables. +# CircuitPython does not. +# In CircuitPython you need to have an __await__ method on an awaitable like in CPython; +# and like in CPython, generators do not have __await__. -@coroutine -def f(x): - print('f start:', x) - yield x + 1 - yield x + 2 - return x + 3 +class Awaitable: + def __init__(self, x): + self.x = x + + def __await__(self): + print('f start:', self.x) + yield self.x + 1 + yield self.x + 2 + return self.x + 3 class AContext: async def __aenter__(self): print('enter') - print('f returned:', await f(10)) + print('f returned:', await Awaitable(10)) async def __aexit__(self, exc_type, exc, tb): print('exit', exc_type, exc) - print('f returned:', await f(20)) + print('f returned:', await Awaitable(20)) async def coro(): async with AContext(): print('body start') - print('body f returned:', await f(30)) + print('body f returned:', await Awaitable(30)) print('body end') o = coro() -- cgit v1.2.3 From c139eccc9271b8b81eb8ad3eb2dc09a68199a12c Mon Sep 17 00:00:00 2001 From: Jeff Epler Date: Sun, 11 Oct 2020 16:23:02 -0500 Subject: remove warning that seems unneeded now --- py/circuitpy_defns.mk | 3 --- 1 file changed, 3 deletions(-) (limited to 'py') diff --git a/py/circuitpy_defns.mk b/py/circuitpy_defns.mk index 76c0a4db6..e5debc8ea 100644 --- a/py/circuitpy_defns.mk +++ b/py/circuitpy_defns.mk @@ -45,7 +45,6 @@ BASE_CFLAGS = \ -Wnested-externs \ -Wunreachable-code \ -Wcast-align \ - -Wno-error=lto-type-mismatch \ -D__$(CHIP_VARIANT)__ \ -ffunction-sections \ -fdata-sections \ @@ -66,7 +65,6 @@ ifneq ($(FROZEN_DIR),) # To use frozen source modules, put your .py files in a subdirectory (eg scripts/) # and then invoke make with FROZEN_DIR=scripts (be sure to build from scratch). CFLAGS += -DMICROPY_MODULE_FROZEN_STR -CFLAGS += -Wno-error=lto-type-mismatch endif # To use frozen bytecode, put your .py files in a subdirectory (eg frozen/) and @@ -76,7 +74,6 @@ endif ifneq ($(FROZEN_MPY_DIRS),) CFLAGS += -DMICROPY_QSTR_EXTRA_POOL=mp_qstr_frozen_const_pool CFLAGS += -DMICROPY_MODULE_FROZEN_MPY -CFLAGS += -Wno-error=lto-type-mismatch endif -- cgit v1.2.3 From 607e4a905ae8654bd8450ae137ffa24367039277 Mon Sep 17 00:00:00 2001 From: Jeff Epler Date: Sun, 11 Oct 2020 15:19:55 -0500 Subject: build: parallelize the creation of qstr.i.last Rather than simply invoking gcc in preprocessor mode with a list of files, use a Python script with the (python3) ThreadPoolExecutor to invoke the preprocessor in parallel. The amount of concurrency is the number of system CPUs, not the makefile "-j" parallelism setting, because there is no simple and correct way for a Python program to correctly work together with make's idea of parallelism. This reduces the build time of stm32f405 feather (a non-LTO build) from 16s to 12s on my 16-thread Ryzen machine. --- py/genlast.py | 38 ++++++++++++++++++++++++++++++++++++++ py/mkrules.mk | 2 +- 2 files changed, 39 insertions(+), 1 deletion(-) create mode 100644 py/genlast.py (limited to 'py') diff --git a/py/genlast.py b/py/genlast.py new file mode 100644 index 000000000..e14e7ef1e --- /dev/null +++ b/py/genlast.py @@ -0,0 +1,38 @@ +#!/usr/bin/env python3 + +import sys +from concurrent.futures import ThreadPoolExecutor +import multiprocessing +import threading +import subprocess + + +def checkoutput1(args): + info = subprocess.run(args, check=True, stdout=subprocess.PIPE, input='') + return info.stdout + +idx1 = sys.argv.index('--') +idx2 = sys.argv.index('--', idx1+1) +check = sys.argv[1:idx1] +always = sys.argv[idx1+1:idx2] +command = sys.argv[idx2+1:] + +output_lock = threading.Lock() +def preprocess(fn): + output = checkoutput1(command + [fn]) + # Ensure our output doesn't interleave with others + # a threading.Lock is not a context manager object :( + try: + output_lock.acquire() + sys.stdout.buffer.write(output) + finally: + output_lock.release() + +def maybe_preprocess(fn): + if subprocess.call(["grep", "-lqE", "(MP_QSTR|translate)", fn]) == 0: + preprocess(fn) + +executor = ThreadPoolExecutor(max_workers=multiprocessing.cpu_count() + 1) +executor.map(maybe_preprocess, check) +executor.map(preprocess, always) +executor.shutdown() diff --git a/py/mkrules.mk b/py/mkrules.mk index 0b3ecc0e1..84e16ec96 100644 --- a/py/mkrules.mk +++ b/py/mkrules.mk @@ -78,7 +78,7 @@ $(OBJ): | $(HEADER_BUILD)/qstrdefs.enum.h $(HEADER_BUILD)/mpversion.h # - else, process all source files ($^) [this covers "make -B" which can set $? to empty] $(HEADER_BUILD)/qstr.i.last: $(SRC_QSTR) $(SRC_QSTR_PREPROCESSOR) $(QSTR_GLOBAL_DEPENDENCIES) | $(HEADER_BUILD)/mpversion.h $(STEPECHO) "GEN $@" - $(Q)grep -lE "(MP_QSTR|translate)" $(if $(filter $?,$(QSTR_GLOBAL_DEPENDENCIES)),$^,$(if $?,$?,$^)) | xargs $(CPP) $(QSTR_GEN_EXTRA_CFLAGS) $(CFLAGS) $(SRC_QSTR_PREPROCESSOR) >$(HEADER_BUILD)/qstr.i.last; + $(Q)$(PYTHON3) $(PY_SRC)/genlast.py $(if $(filter $?,$(QSTR_GLOBAL_DEPENDENCIES)),$^,$(if $?,$?,$^)) -- $(SRC_QSTR_PREPROCESSOR) -- $(CPP) $(QSTR_GEN_EXTRA_CFLAGS) $(CFLAGS) >$(HEADER_BUILD)/qstr.i.last; $(HEADER_BUILD)/qstr.split: $(HEADER_BUILD)/qstr.i.last $(PY_SRC)/makeqstrdefs.py $(STEPECHO) "GEN $@" -- cgit v1.2.3 From 479552ce564410f2d96855f5dbca223317c4cbe0 Mon Sep 17 00:00:00 2001 From: Jeff Epler Date: Sun, 11 Oct 2020 16:03:46 -0500 Subject: build: Make genlast write the "split" files This gets a further speedup of about 2s (12s -> 9.5s elapsed build time) for stm32f405_feather For what are probably historical reasons, the qstr process involves preprocessing a large number of source files into a single "qstr.i.last" file, then reading this and splitting it into one "qstr" file for each original source ("*.c") file. By eliminating the step of writing qstr.i.last as well as making the regular-expression-matching part be parallelized, build speed is further improved. Because the step to build QSTR_DEFS_COLLECTED does not access qstr.i.last, the path is replaced with "-" in the Makefile. --- py/genlast.py | 77 ++++++++++++++++++++++++++++++++++++++++++----------------- py/mkrules.mk | 10 +++----- 2 files changed, 58 insertions(+), 29 deletions(-) (limited to 'py') diff --git a/py/genlast.py b/py/genlast.py index e14e7ef1e..1df2a2482 100644 --- a/py/genlast.py +++ b/py/genlast.py @@ -1,38 +1,71 @@ #!/usr/bin/env python3 import sys -from concurrent.futures import ThreadPoolExecutor +import re +import os +import itertools +from concurrent.futures import ProcessPoolExecutor import multiprocessing import threading import subprocess +from makeqstrdefs import qstr_unescape, QSTRING_BLACK_LIST + +re_line = re.compile(r"#[line]*\s(\d+)\s\"([^\"]+)\"", re.DOTALL) +re_qstr = re.compile(r'MP_QSTR_[_a-zA-Z0-9]+', re.DOTALL) +re_translate = re.compile(r'translate\(\"((?:(?=(\\?))\2.)*?)\"\)', re.DOTALL) + +def write_out(fname, output_dir, output): + if output: + for m, r in [("/", "__"), ("\\", "__"), (":", "@"), ("..", "@@")]: + fname = fname.replace(m, r) + with open(output_dir + "/" + fname + ".qstr", "w") as f: + f.write("\n".join(output) + "\n") + +def process_file(fname, output_dir, content): + content = content.decode('utf-8', errors='ignore') + output = [] + for match in re_qstr.findall(content): + name = match.replace('MP_QSTR_', '') + if name not in QSTRING_BLACK_LIST: + output.append('Q(' + qstr_unescape(name) + ')') + for match in re_translate.findall(content): + output.append('TRANSLATE("' + match[0] + '")') + + write_out(fname, output_dir, output) + def checkoutput1(args): info = subprocess.run(args, check=True, stdout=subprocess.PIPE, input='') return info.stdout -idx1 = sys.argv.index('--') -idx2 = sys.argv.index('--', idx1+1) -check = sys.argv[1:idx1] -always = sys.argv[idx1+1:idx2] -command = sys.argv[idx2+1:] - -output_lock = threading.Lock() -def preprocess(fn): - output = checkoutput1(command + [fn]) - # Ensure our output doesn't interleave with others - # a threading.Lock is not a context manager object :( +def preprocess(command, output_dir, fn): try: - output_lock.acquire() - sys.stdout.buffer.write(output) - finally: - output_lock.release() + output = checkoutput1(command + [fn]) + process_file(fn, output_dir, output) + except Exception as e: + print(e, file=sys.stderr) -def maybe_preprocess(fn): +def maybe_preprocess(command, output_dir, fn): if subprocess.call(["grep", "-lqE", "(MP_QSTR|translate)", fn]) == 0: - preprocess(fn) + preprocess(command, output_dir, fn) + +if __name__ == '__main__': + + + idx1 = sys.argv.index('--') + idx2 = sys.argv.index('--', idx1+1) + output_dir = sys.argv[1] + check = sys.argv[2:idx1] + always = sys.argv[idx1+1:idx2] + command = sys.argv[idx2+1:] + + if not os.path.isdir(output_dir): + os.makedirs(output_dir) -executor = ThreadPoolExecutor(max_workers=multiprocessing.cpu_count() + 1) -executor.map(maybe_preprocess, check) -executor.map(preprocess, always) -executor.shutdown() + # Mac and Windows use 'spawn'. Uncomment this during testing to catch spawn-specific problems on Linux. + #multiprocessing.set_start_method("spawn") + executor = ProcessPoolExecutor(max_workers=multiprocessing.cpu_count() + 1) + executor.map(maybe_preprocess, itertools.repeat(command), itertools.repeat(output_dir), check) + executor.map(preprocess, itertools.repeat(command), itertools.repeat(output_dir), always) + executor.shutdown() diff --git a/py/mkrules.mk b/py/mkrules.mk index 84e16ec96..549b0e5e4 100644 --- a/py/mkrules.mk +++ b/py/mkrules.mk @@ -76,18 +76,14 @@ $(OBJ): | $(HEADER_BUILD)/qstrdefs.enum.h $(HEADER_BUILD)/mpversion.h # - if anything in QSTR_GLOBAL_DEPENDENCIES is newer, then process all source files ($^) # - else, if list of newer prerequisites ($?) is not empty, then process just these ($?) # - else, process all source files ($^) [this covers "make -B" which can set $? to empty] -$(HEADER_BUILD)/qstr.i.last: $(SRC_QSTR) $(SRC_QSTR_PREPROCESSOR) $(QSTR_GLOBAL_DEPENDENCIES) | $(HEADER_BUILD)/mpversion.h +$(HEADER_BUILD)/qstr.split: $(SRC_QSTR) $(SRC_QSTR_PREPROCESSOR) $(QSTR_GLOBAL_DEPENDENCIES) | $(HEADER_BUILD)/mpversion.h $(PY_SRC)/genlast.py $(STEPECHO) "GEN $@" - $(Q)$(PYTHON3) $(PY_SRC)/genlast.py $(if $(filter $?,$(QSTR_GLOBAL_DEPENDENCIES)),$^,$(if $?,$?,$^)) -- $(SRC_QSTR_PREPROCESSOR) -- $(CPP) $(QSTR_GEN_EXTRA_CFLAGS) $(CFLAGS) >$(HEADER_BUILD)/qstr.i.last; - -$(HEADER_BUILD)/qstr.split: $(HEADER_BUILD)/qstr.i.last $(PY_SRC)/makeqstrdefs.py - $(STEPECHO) "GEN $@" - $(Q)$(PYTHON3) $(PY_SRC)/makeqstrdefs.py split $(HEADER_BUILD)/qstr.i.last $(HEADER_BUILD)/qstr $(QSTR_DEFS_COLLECTED) + $(Q)$(PYTHON3) $(PY_SRC)/genlast.py $(HEADER_BUILD)/qstr $(if $(filter $?,$(QSTR_GLOBAL_DEPENDENCIES)),$^,$(if $?,$?,$^)) -- $(SRC_QSTR_PREPROCESSOR) -- $(CPP) $(QSTR_GEN_EXTRA_CFLAGS) $(CFLAGS) $(Q)touch $@ $(QSTR_DEFS_COLLECTED): $(HEADER_BUILD)/qstr.split $(PY_SRC)/makeqstrdefs.py $(STEPECHO) "GEN $@" - $(Q)$(PYTHON3) $(PY_SRC)/makeqstrdefs.py cat $(HEADER_BUILD)/qstr.i.last $(HEADER_BUILD)/qstr $(QSTR_DEFS_COLLECTED) + $(Q)$(PYTHON3) $(PY_SRC)/makeqstrdefs.py cat - $(HEADER_BUILD)/qstr $(QSTR_DEFS_COLLECTED) # $(sort $(var)) removes duplicates # -- cgit v1.2.3 From 94beeabc515986e366de569e85d395ab2678ee3d Mon Sep 17 00:00:00 2001 From: Kenny <3454741+WarriorOfWire@users.noreply.github.com> Date: Sun, 11 Oct 2020 22:42:21 -0700 Subject: remove unnecessary board configuration and address feedback --- ports/atmel-samd/boards/arduino_mkr1300/mpconfigboard.mk | 1 - ports/atmel-samd/boards/arduino_mkrzero/mpconfigboard.mk | 3 --- ports/atmel-samd/boards/arduino_nano_33_iot/mpconfigboard.mk | 3 --- ports/atmel-samd/boards/arduino_zero/mpconfigboard.mk | 3 --- ports/atmel-samd/boards/bast_pro_mini_m0/mpconfigboard.mk | 3 --- ports/atmel-samd/boards/catwan_usbstick/mpconfigboard.mk | 3 --- ports/atmel-samd/boards/circuitbrains_basic_m0/mpconfigboard.mk | 1 - ports/atmel-samd/boards/datum_distance/mpconfigboard.mk | 3 --- ports/atmel-samd/boards/datum_imu/mpconfigboard.mk | 3 --- ports/atmel-samd/boards/datum_light/mpconfigboard.mk | 3 --- ports/atmel-samd/boards/datum_weather/mpconfigboard.mk | 3 --- ports/atmel-samd/boards/feather_m0_adalogger/mpconfigboard.mk | 3 --- ports/atmel-samd/boards/feather_m0_basic/mpconfigboard.mk | 3 --- ports/atmel-samd/boards/feather_m0_rfm69/mpconfigboard.mk | 2 -- ports/atmel-samd/boards/feather_m0_rfm9x/mpconfigboard.mk | 2 -- ports/atmel-samd/boards/gemma_m0/mpconfigboard.mk | 1 - ports/atmel-samd/boards/pewpew10/mpconfigboard.mk | 3 --- ports/atmel-samd/boards/seeeduino_xiao/mpconfigboard.mk | 3 --- ports/atmel-samd/boards/shirtty/mpconfigboard.mk | 3 --- .../atmel-samd/boards/sparkfun_qwiic_micro_no_flash/mpconfigboard.mk | 3 --- ports/atmel-samd/boards/sparkfun_samd21_dev/mpconfigboard.mk | 3 --- ports/atmel-samd/boards/sparkfun_samd21_mini/mpconfigboard.mk | 3 --- ports/atmel-samd/boards/trinket_m0/mpconfigboard.mk | 1 - ports/atmel-samd/boards/trinket_m0_haxpress/mpconfigboard.mk | 1 - ports/atmel-samd/boards/uchip/mpconfigboard.mk | 1 - ports/atmel-samd/boards/xinabox_cs11/mpconfigboard.mk | 3 --- ports/nrf/boards/pca10100/mpconfigboard.mk | 3 +-- ports/nrf/boards/sparkfun_nrf52840_mini/mpconfigboard.mk | 1 - py/circuitpy_mpconfig.mk | 4 +--- py/compile.c | 2 -- 30 files changed, 2 insertions(+), 72 deletions(-) (limited to 'py') diff --git a/ports/atmel-samd/boards/arduino_mkr1300/mpconfigboard.mk b/ports/atmel-samd/boards/arduino_mkr1300/mpconfigboard.mk index 2c0056847..d31d1f54a 100644 --- a/ports/atmel-samd/boards/arduino_mkr1300/mpconfigboard.mk +++ b/ports/atmel-samd/boards/arduino_mkr1300/mpconfigboard.mk @@ -10,4 +10,3 @@ INTERNAL_FLASH_FILESYSTEM = 1 LONGINT_IMPL = NONE CIRCUITPY_FULL_BUILD = 0 SUPEROPT_GC = 0 -MICROPY_PY_ASYNC_AWAIT = 0 diff --git a/ports/atmel-samd/boards/arduino_mkrzero/mpconfigboard.mk b/ports/atmel-samd/boards/arduino_mkrzero/mpconfigboard.mk index 230bce4f2..7eb83a123 100644 --- a/ports/atmel-samd/boards/arduino_mkrzero/mpconfigboard.mk +++ b/ports/atmel-samd/boards/arduino_mkrzero/mpconfigboard.mk @@ -11,6 +11,3 @@ LONGINT_IMPL = NONE CIRCUITPY_FULL_BUILD = 0 SUPEROPT_GC = 0 - -MICROPY_PY_ASYNC_AWAIT = 0 - diff --git a/ports/atmel-samd/boards/arduino_nano_33_iot/mpconfigboard.mk b/ports/atmel-samd/boards/arduino_nano_33_iot/mpconfigboard.mk index 1d652737a..fd24edafa 100644 --- a/ports/atmel-samd/boards/arduino_nano_33_iot/mpconfigboard.mk +++ b/ports/atmel-samd/boards/arduino_nano_33_iot/mpconfigboard.mk @@ -11,6 +11,3 @@ LONGINT_IMPL = NONE CIRCUITPY_FULL_BUILD = 0 SUPEROPT_GC = 0 - -MICROPY_PY_ASYNC_AWAIT = 0 - diff --git a/ports/atmel-samd/boards/arduino_zero/mpconfigboard.mk b/ports/atmel-samd/boards/arduino_zero/mpconfigboard.mk index e4d0916fa..a5722c9ad 100644 --- a/ports/atmel-samd/boards/arduino_zero/mpconfigboard.mk +++ b/ports/atmel-samd/boards/arduino_zero/mpconfigboard.mk @@ -11,6 +11,3 @@ LONGINT_IMPL = NONE CIRCUITPY_FULL_BUILD = 0 SUPEROPT_GC = 0 - -MICROPY_PY_ASYNC_AWAIT = 0 - diff --git a/ports/atmel-samd/boards/bast_pro_mini_m0/mpconfigboard.mk b/ports/atmel-samd/boards/bast_pro_mini_m0/mpconfigboard.mk index 47a543450..055e6b19e 100644 --- a/ports/atmel-samd/boards/bast_pro_mini_m0/mpconfigboard.mk +++ b/ports/atmel-samd/boards/bast_pro_mini_m0/mpconfigboard.mk @@ -9,6 +9,3 @@ CHIP_FAMILY = samd21 INTERNAL_FLASH_FILESYSTEM = 1 LONGINT_IMPL = NONE CIRCUITPY_FULL_BUILD = 0 - -MICROPY_PY_ASYNC_AWAIT = 0 - diff --git a/ports/atmel-samd/boards/catwan_usbstick/mpconfigboard.mk b/ports/atmel-samd/boards/catwan_usbstick/mpconfigboard.mk index 201c9b142..892a5371e 100644 --- a/ports/atmel-samd/boards/catwan_usbstick/mpconfigboard.mk +++ b/ports/atmel-samd/boards/catwan_usbstick/mpconfigboard.mk @@ -11,6 +11,3 @@ LONGINT_IMPL = NONE CIRCUITPY_FULL_BUILD = 0 CIRCUITPY_COUNTIO = 0 CIRCUITPY_ROTARYIO = 0 - -MICROPY_PY_ASYNC_AWAIT = 0 - diff --git a/ports/atmel-samd/boards/circuitbrains_basic_m0/mpconfigboard.mk b/ports/atmel-samd/boards/circuitbrains_basic_m0/mpconfigboard.mk index fa437bf36..178258b6c 100755 --- a/ports/atmel-samd/boards/circuitbrains_basic_m0/mpconfigboard.mk +++ b/ports/atmel-samd/boards/circuitbrains_basic_m0/mpconfigboard.mk @@ -34,4 +34,3 @@ RELEASE_NEEDS_CLEAN_BUILD = 1 CFLAGS_INLINE_LIMIT = 35 SUPEROPT_VM = 0 endif - diff --git a/ports/atmel-samd/boards/datum_distance/mpconfigboard.mk b/ports/atmel-samd/boards/datum_distance/mpconfigboard.mk index 365b935ee..ae05d32f2 100644 --- a/ports/atmel-samd/boards/datum_distance/mpconfigboard.mk +++ b/ports/atmel-samd/boards/datum_distance/mpconfigboard.mk @@ -11,6 +11,3 @@ LONGINT_IMPL = NONE CIRCUITPY_FULL_BUILD = 0 SUPEROPT_GC = 0 - -MICROPY_PY_ASYNC_AWAIT = 0 - diff --git a/ports/atmel-samd/boards/datum_imu/mpconfigboard.mk b/ports/atmel-samd/boards/datum_imu/mpconfigboard.mk index f5900c8f7..6fd05f403 100644 --- a/ports/atmel-samd/boards/datum_imu/mpconfigboard.mk +++ b/ports/atmel-samd/boards/datum_imu/mpconfigboard.mk @@ -11,6 +11,3 @@ LONGINT_IMPL = NONE CIRCUITPY_FULL_BUILD = 0 SUPEROPT_GC = 0 - -MICROPY_PY_ASYNC_AWAIT = 0 - diff --git a/ports/atmel-samd/boards/datum_light/mpconfigboard.mk b/ports/atmel-samd/boards/datum_light/mpconfigboard.mk index 3cefa856f..d42a7869d 100644 --- a/ports/atmel-samd/boards/datum_light/mpconfigboard.mk +++ b/ports/atmel-samd/boards/datum_light/mpconfigboard.mk @@ -11,6 +11,3 @@ LONGINT_IMPL = NONE CIRCUITPY_FULL_BUILD = 0 SUPEROPT_GC = 0 - -MICROPY_PY_ASYNC_AWAIT = 0 - diff --git a/ports/atmel-samd/boards/datum_weather/mpconfigboard.mk b/ports/atmel-samd/boards/datum_weather/mpconfigboard.mk index 1293a5aaa..d92cbc71b 100644 --- a/ports/atmel-samd/boards/datum_weather/mpconfigboard.mk +++ b/ports/atmel-samd/boards/datum_weather/mpconfigboard.mk @@ -11,6 +11,3 @@ LONGINT_IMPL = NONE CIRCUITPY_FULL_BUILD = 0 SUPEROPT_GC = 0 - -MICROPY_PY_ASYNC_AWAIT = 0 - diff --git a/ports/atmel-samd/boards/feather_m0_adalogger/mpconfigboard.mk b/ports/atmel-samd/boards/feather_m0_adalogger/mpconfigboard.mk index 0f784be8a..143910318 100644 --- a/ports/atmel-samd/boards/feather_m0_adalogger/mpconfigboard.mk +++ b/ports/atmel-samd/boards/feather_m0_adalogger/mpconfigboard.mk @@ -11,6 +11,3 @@ LONGINT_IMPL = NONE CIRCUITPY_FULL_BUILD = 0 SUPEROPT_GC = 0 - -MICROPY_PY_ASYNC_AWAIT = 0 - diff --git a/ports/atmel-samd/boards/feather_m0_basic/mpconfigboard.mk b/ports/atmel-samd/boards/feather_m0_basic/mpconfigboard.mk index b53508570..69ebdfc23 100644 --- a/ports/atmel-samd/boards/feather_m0_basic/mpconfigboard.mk +++ b/ports/atmel-samd/boards/feather_m0_basic/mpconfigboard.mk @@ -11,6 +11,3 @@ LONGINT_IMPL = NONE CIRCUITPY_FULL_BUILD = 0 SUPEROPT_GC = 0 - -MICROPY_PY_ASYNC_AWAIT = 0 - diff --git a/ports/atmel-samd/boards/feather_m0_rfm69/mpconfigboard.mk b/ports/atmel-samd/boards/feather_m0_rfm69/mpconfigboard.mk index fe588b163..c33ab0740 100644 --- a/ports/atmel-samd/boards/feather_m0_rfm69/mpconfigboard.mk +++ b/ports/atmel-samd/boards/feather_m0_rfm69/mpconfigboard.mk @@ -21,7 +21,6 @@ CIRCUITPY_SAMD = 0 CIRCUITPY_USB_MIDI = 0 CIRCUITPY_USB_HID = 0 CIRCUITPY_TOUCHIO = 0 -MICROPY_PY_ASYNC_AWAIT = 0 CFLAGS_INLINE_LIMIT = 35 # Make more room. @@ -30,4 +29,3 @@ SUPEROPT_GC = 0 # Include these Python libraries in firmware. FROZEN_MPY_DIRS += $(TOP)/frozen/Adafruit_CircuitPython_BusDevice FROZEN_MPY_DIRS += $(TOP)/frozen/Adafruit_CircuitPython_RFM69 - diff --git a/ports/atmel-samd/boards/feather_m0_rfm9x/mpconfigboard.mk b/ports/atmel-samd/boards/feather_m0_rfm9x/mpconfigboard.mk index f2e27d1e2..49b0ef5e3 100644 --- a/ports/atmel-samd/boards/feather_m0_rfm9x/mpconfigboard.mk +++ b/ports/atmel-samd/boards/feather_m0_rfm9x/mpconfigboard.mk @@ -22,7 +22,6 @@ CIRCUITPY_SAMD = 0 CIRCUITPY_USB_MIDI = 0 CIRCUITPY_USB_HID = 0 CIRCUITPY_TOUCHIO = 0 -MICROPY_PY_ASYNC_AWAIT = 0 CFLAGS_INLINE_LIMIT = 35 # Make more room. @@ -31,4 +30,3 @@ SUPEROPT_GC = 0 # Include these Python libraries in firmware. FROZEN_MPY_DIRS += $(TOP)/frozen/Adafruit_CircuitPython_BusDevice FROZEN_MPY_DIRS += $(TOP)/frozen/Adafruit_CircuitPython_RFM9x - diff --git a/ports/atmel-samd/boards/gemma_m0/mpconfigboard.mk b/ports/atmel-samd/boards/gemma_m0/mpconfigboard.mk index 10705f280..e2604c89b 100644 --- a/ports/atmel-samd/boards/gemma_m0/mpconfigboard.mk +++ b/ports/atmel-samd/boards/gemma_m0/mpconfigboard.mk @@ -9,7 +9,6 @@ CHIP_FAMILY = samd21 INTERNAL_FLASH_FILESYSTEM = 1 LONGINT_IMPL = NONE CIRCUITPY_FULL_BUILD = 0 -MICROPY_PY_ASYNC_AWAIT = 0 SUPEROPT_GC = 0 diff --git a/ports/atmel-samd/boards/pewpew10/mpconfigboard.mk b/ports/atmel-samd/boards/pewpew10/mpconfigboard.mk index b5e1ce69a..1cc91a8df 100644 --- a/ports/atmel-samd/boards/pewpew10/mpconfigboard.mk +++ b/ports/atmel-samd/boards/pewpew10/mpconfigboard.mk @@ -24,6 +24,3 @@ SUPEROPT_GC = 0 FROZEN_MPY_DIRS += $(TOP)/frozen/pew-pewpew-standalone-10.x CFLAGS_BOARD = --param max-inline-insns-auto=15 - -MICROPY_PY_ASYNC_AWAIT = 0 - diff --git a/ports/atmel-samd/boards/seeeduino_xiao/mpconfigboard.mk b/ports/atmel-samd/boards/seeeduino_xiao/mpconfigboard.mk index b89bee482..bedec87f4 100644 --- a/ports/atmel-samd/boards/seeeduino_xiao/mpconfigboard.mk +++ b/ports/atmel-samd/boards/seeeduino_xiao/mpconfigboard.mk @@ -11,6 +11,3 @@ LONGINT_IMPL = NONE CIRCUITPY_FULL_BUILD = 0 SUPEROPT_GC = 0 - -MICROPY_PY_ASYNC_AWAIT = 0 - diff --git a/ports/atmel-samd/boards/shirtty/mpconfigboard.mk b/ports/atmel-samd/boards/shirtty/mpconfigboard.mk index ed4960cd8..a04e09769 100644 --- a/ports/atmel-samd/boards/shirtty/mpconfigboard.mk +++ b/ports/atmel-samd/boards/shirtty/mpconfigboard.mk @@ -13,6 +13,3 @@ CIRCUITPY_I2CPERIPHERAL = 1 CIRCUITPY_TOUCHIO = 0 SUPEROPT_GC = 0 - -MICROPY_PY_ASYNC_AWAIT = 0 - diff --git a/ports/atmel-samd/boards/sparkfun_qwiic_micro_no_flash/mpconfigboard.mk b/ports/atmel-samd/boards/sparkfun_qwiic_micro_no_flash/mpconfigboard.mk index 18b057a18..22e2059a9 100644 --- a/ports/atmel-samd/boards/sparkfun_qwiic_micro_no_flash/mpconfigboard.mk +++ b/ports/atmel-samd/boards/sparkfun_qwiic_micro_no_flash/mpconfigboard.mk @@ -11,6 +11,3 @@ LONGINT_IMPL = NONE CIRCUITPY_FULL_BUILD = 0 SUPEROPT_GC = 0 - -MICROPY_PY_ASYNC_AWAIT = 0 - diff --git a/ports/atmel-samd/boards/sparkfun_samd21_dev/mpconfigboard.mk b/ports/atmel-samd/boards/sparkfun_samd21_dev/mpconfigboard.mk index c97207b21..a2bd577cd 100644 --- a/ports/atmel-samd/boards/sparkfun_samd21_dev/mpconfigboard.mk +++ b/ports/atmel-samd/boards/sparkfun_samd21_dev/mpconfigboard.mk @@ -11,6 +11,3 @@ LONGINT_IMPL = NONE CIRCUITPY_FULL_BUILD = 0 SUPEROPT_GC = 0 - -MICROPY_PY_ASYNC_AWAIT = 0 - diff --git a/ports/atmel-samd/boards/sparkfun_samd21_mini/mpconfigboard.mk b/ports/atmel-samd/boards/sparkfun_samd21_mini/mpconfigboard.mk index d9bde8183..9460d0009 100644 --- a/ports/atmel-samd/boards/sparkfun_samd21_mini/mpconfigboard.mk +++ b/ports/atmel-samd/boards/sparkfun_samd21_mini/mpconfigboard.mk @@ -11,6 +11,3 @@ LONGINT_IMPL = NONE CIRCUITPY_FULL_BUILD = 0 SUPEROPT_GC = 0 - -MICROPY_PY_ASYNC_AWAIT = 0 - diff --git a/ports/atmel-samd/boards/trinket_m0/mpconfigboard.mk b/ports/atmel-samd/boards/trinket_m0/mpconfigboard.mk index a65c570c7..4cd50a030 100644 --- a/ports/atmel-samd/boards/trinket_m0/mpconfigboard.mk +++ b/ports/atmel-samd/boards/trinket_m0/mpconfigboard.mk @@ -9,7 +9,6 @@ CHIP_FAMILY = samd21 INTERNAL_FLASH_FILESYSTEM = 1 LONGINT_IMPL = NONE CIRCUITPY_FULL_BUILD = 0 -MICROPY_PY_ASYNC_AWAIT = 0 SUPEROPT_GC = 0 diff --git a/ports/atmel-samd/boards/trinket_m0_haxpress/mpconfigboard.mk b/ports/atmel-samd/boards/trinket_m0_haxpress/mpconfigboard.mk index 82d2768d8..7eda151f3 100644 --- a/ports/atmel-samd/boards/trinket_m0_haxpress/mpconfigboard.mk +++ b/ports/atmel-samd/boards/trinket_m0_haxpress/mpconfigboard.mk @@ -35,4 +35,3 @@ RELEASE_NEEDS_CLEAN_BUILD = 1 CFLAGS_INLINE_LIMIT = 35 SUPEROPT_VM = 0 endif - diff --git a/ports/atmel-samd/boards/uchip/mpconfigboard.mk b/ports/atmel-samd/boards/uchip/mpconfigboard.mk index 7270effde..d08690a15 100644 --- a/ports/atmel-samd/boards/uchip/mpconfigboard.mk +++ b/ports/atmel-samd/boards/uchip/mpconfigboard.mk @@ -14,4 +14,3 @@ CIRCUITPY_FULL_BUILD = 0 CFLAGS_INLINE_LIMIT = 45 SUPEROPT_GC = 0 -MICROPY_PY_ASYNC_AWAIT = 0 diff --git a/ports/atmel-samd/boards/xinabox_cs11/mpconfigboard.mk b/ports/atmel-samd/boards/xinabox_cs11/mpconfigboard.mk index b08d36b59..9309fdce0 100644 --- a/ports/atmel-samd/boards/xinabox_cs11/mpconfigboard.mk +++ b/ports/atmel-samd/boards/xinabox_cs11/mpconfigboard.mk @@ -28,6 +28,3 @@ CIRCUITPY_COUNTIO=0 # Include these Python libraries in firmware. FROZEN_MPY_DIRS += $(TOP)/frozen/Adafruit_CircuitPython_BusDevice FROZEN_MPY_DIRS += $(TOP)/frozen/Adafruit_CircuitPython_SD - -MICROPY_PY_ASYNC_AWAIT = 0 - diff --git a/ports/nrf/boards/pca10100/mpconfigboard.mk b/ports/nrf/boards/pca10100/mpconfigboard.mk index 6a6ca72ce..86ba65454 100644 --- a/ports/nrf/boards/pca10100/mpconfigboard.mk +++ b/ports/nrf/boards/pca10100/mpconfigboard.mk @@ -24,10 +24,9 @@ CIRCUITPY_RTC = 1 CIRCUITPY_SDCARDIO = 0 CIRCUITPY_TOUCHIO = 0 CIRCUITPY_ULAB = 0 +MICROPY_PY_ASYNC_AWAIT = 0 SUPEROPT_GC = 0 # Override optimization to keep binary small OPTIMIZATION_FLAGS = -Os -MICROPY_PY_ASYNC_AWAIT = 0 - diff --git a/ports/nrf/boards/sparkfun_nrf52840_mini/mpconfigboard.mk b/ports/nrf/boards/sparkfun_nrf52840_mini/mpconfigboard.mk index 7077766a3..eb28ef5ea 100644 --- a/ports/nrf/boards/sparkfun_nrf52840_mini/mpconfigboard.mk +++ b/ports/nrf/boards/sparkfun_nrf52840_mini/mpconfigboard.mk @@ -8,4 +8,3 @@ MCU_CHIP = nrf52840 INTERNAL_FLASH_FILESYSTEM = 1 MICROPY_PY_ASYNC_AWAIT = 0 - diff --git a/py/circuitpy_mpconfig.mk b/py/circuitpy_mpconfig.mk index ba75d29a5..91850448d 100644 --- a/py/circuitpy_mpconfig.mk +++ b/py/circuitpy_mpconfig.mk @@ -32,6 +32,7 @@ CIRCUITPY_FULL_BUILD ?= 1 CFLAGS += -DCIRCUITPY_FULL_BUILD=$(CIRCUITPY_FULL_BUILD) +# async/await language keyword support MICROPY_PY_ASYNC_AWAIT ?= $(CIRCUITPY_FULL_BUILD) CFLAGS += -DMICROPY_PY_ASYNC_AWAIT=$(MICROPY_PY_ASYNC_AWAIT) @@ -292,6 +293,3 @@ CFLAGS += -DCIRCUITPY_WIFI=$(CIRCUITPY_WIFI) # Enabled micropython.native decorator (experimental) CIRCUITPY_ENABLE_MPY_NATIVE ?= 0 CFLAGS += -DCIRCUITPY_ENABLE_MPY_NATIVE=$(CIRCUITPY_ENABLE_MPY_NATIVE) - -# async/await language keyword support -MICROPY_PY_ASYNC_AWAIT ?= $(CIRCUITPY_FULL_BUILD) diff --git a/py/compile.c b/py/compile.c index 45a586594..04bcf5bc1 100644 --- a/py/compile.c +++ b/py/compile.c @@ -40,8 +40,6 @@ #if MICROPY_ENABLE_COMPILER -#define DEBUG_PRINT(...) mp_printf(&mp_plat_print __VA_OPT__(,) __VA_ARGS__) - // TODO need to mangle __attr names #define INVALID_LABEL (0xffff) -- cgit v1.2.3 From 4270061db491bae1e7cca9ca2cbed5db70f9062e Mon Sep 17 00:00:00 2001 From: gamblor21 Date: Tue, 13 Oct 2020 18:52:27 -0500 Subject: Moved ORDEREDDICT define to central location --- ports/atmel-samd/mpconfigport.h | 2 -- ports/litex/mpconfigport.h | 1 - ports/mimxrt10xx/mpconfigport.h | 1 - ports/nrf/mpconfigport.h | 1 - ports/stm/mpconfigport.h | 1 - ports/unix/mpconfigport.h | 1 - py/circuitpy_mpconfig.h | 1 + 7 files changed, 1 insertion(+), 7 deletions(-) (limited to 'py') diff --git a/ports/atmel-samd/mpconfigport.h b/ports/atmel-samd/mpconfigport.h index f185142e4..afe1cc4c6 100644 --- a/ports/atmel-samd/mpconfigport.h +++ b/ports/atmel-samd/mpconfigport.h @@ -43,7 +43,6 @@ #define MICROPY_PY_SYS_PLATFORM "Atmel SAMD21" #define SPI_FLASH_MAX_BAUDRATE 8000000 #define MICROPY_PY_BUILTINS_NOTIMPLEMENTED (0) -#define MICROPY_PY_COLLECTIONS_ORDEREDDICT (0) #define MICROPY_PY_FUNCTION_ATTRS (0) // MICROPY_PY_UJSON depends on MICROPY_PY_IO #define MICROPY_PY_IO (0) @@ -81,7 +80,6 @@ #endif #define SPI_FLASH_MAX_BAUDRATE 24000000 #define MICROPY_PY_BUILTINS_NOTIMPLEMENTED (1) -#define MICROPY_PY_COLLECTIONS_ORDEREDDICT (1) #define MICROPY_PY_FUNCTION_ATTRS (1) // MICROPY_PY_UJSON depends on MICROPY_PY_IO #define MICROPY_PY_IO (1) diff --git a/ports/litex/mpconfigport.h b/ports/litex/mpconfigport.h index fcf9d3b73..a7caf8526 100644 --- a/ports/litex/mpconfigport.h +++ b/ports/litex/mpconfigport.h @@ -30,7 +30,6 @@ #define CIRCUITPY_INTERNAL_NVM_SIZE (0) #define MICROPY_NLR_THUMB (0) -#define MICROPY_PY_COLLECTIONS_ORDEREDDICT (1) #define MICROPY_PY_REVERSE_SPECIAL_METHODS (1) #define MICROPY_PY_UBINASCII (1) #define MICROPY_PY_UJSON (1) diff --git a/ports/mimxrt10xx/mpconfigport.h b/ports/mimxrt10xx/mpconfigport.h index 7e7df0123..7496256d0 100644 --- a/ports/mimxrt10xx/mpconfigport.h +++ b/ports/mimxrt10xx/mpconfigport.h @@ -40,7 +40,6 @@ extern uint8_t _ld_default_stack_size; // 20kiB stack #define CIRCUITPY_DEFAULT_STACK_SIZE ((uint32_t) &_ld_default_stack_size) #define MICROPY_PY_BUILTINS_NOTIMPLEMENTED (0) -#define MICROPY_PY_COLLECTIONS_ORDEREDDICT (0) #define MICROPY_PY_FUNCTION_ATTRS (0) #define MICROPY_PY_IO (1) #define MICROPY_PY_UJSON (1) diff --git a/ports/nrf/mpconfigport.h b/ports/nrf/mpconfigport.h index 36a9819dc..4ed42cd82 100644 --- a/ports/nrf/mpconfigport.h +++ b/ports/nrf/mpconfigport.h @@ -34,7 +34,6 @@ #include "nrf_sdm.h" // for SD_FLASH_SIZE #include "peripherals/nrf/nvm.h" // for FLASH_PAGE_SIZE -#define MICROPY_PY_COLLECTIONS_ORDEREDDICT (1) #define MICROPY_PY_FUNCTION_ATTRS (1) #define MICROPY_PY_IO (1) #define MICROPY_PY_REVERSE_SPECIAL_METHODS (1) diff --git a/ports/stm/mpconfigport.h b/ports/stm/mpconfigport.h index e054ffbb5..9489b4765 100644 --- a/ports/stm/mpconfigport.h +++ b/ports/stm/mpconfigport.h @@ -30,7 +30,6 @@ #include -#define MICROPY_PY_COLLECTIONS_ORDEREDDICT (1) #define MICROPY_PY_FUNCTION_ATTRS (1) #define MICROPY_PY_IO (1) #define MICROPY_PY_REVERSE_SPECIAL_METHODS (1) diff --git a/ports/unix/mpconfigport.h b/ports/unix/mpconfigport.h index 3ae4ff786..d6bbad9ce 100644 --- a/ports/unix/mpconfigport.h +++ b/ports/unix/mpconfigport.h @@ -99,7 +99,6 @@ #define MICROPY_PY_SYS_STDFILES (1) #define MICROPY_PY_SYS_EXC_INFO (1) #define MICROPY_PY_COLLECTIONS_DEQUE (1) -#define MICROPY_PY_COLLECTIONS_ORDEREDDICT (1) #ifndef MICROPY_PY_MATH_SPECIAL_FUNCTIONS #define MICROPY_PY_MATH_SPECIAL_FUNCTIONS (1) #endif diff --git a/py/circuitpy_mpconfig.h b/py/circuitpy_mpconfig.h index 0583ae1c9..a3ffe52f6 100644 --- a/py/circuitpy_mpconfig.h +++ b/py/circuitpy_mpconfig.h @@ -195,6 +195,7 @@ typedef long mp_off_t; #define MICROPY_PY_BUILTINS_STR_PARTITION (CIRCUITPY_FULL_BUILD) #define MICROPY_PY_BUILTINS_STR_SPLITLINES (CIRCUITPY_FULL_BUILD) #define MICROPY_PY_UERRNO (CIRCUITPY_FULL_BUILD) +#define MICROPY_PY_COLLECTIONS_ORDEREDDICT (CIRCUITPY_FULL_BUILD) // Opposite setting is deliberate. #define MICROPY_PY_UERRNO_ERRORCODE (!CIRCUITPY_FULL_BUILD) #ifndef MICROPY_PY_URE -- cgit v1.2.3 From e6d0b207ec0abaf69171578d0beb668b17aec4b8 Mon Sep 17 00:00:00 2001 From: gamblor21 Date: Wed, 14 Oct 2020 14:06:34 -0500 Subject: Removed MICROPY_PY_COLLECTIONS_NAMEDTUPLE__ASDICT from unix coverage --- ports/unix/mpconfigport_coverage.h | 1 - py/objnamedtuple.c | 2 +- 2 files changed, 1 insertion(+), 2 deletions(-) (limited to 'py') diff --git a/ports/unix/mpconfigport_coverage.h b/ports/unix/mpconfigport_coverage.h index 51015a587..468d69a73 100644 --- a/ports/unix/mpconfigport_coverage.h +++ b/ports/unix/mpconfigport_coverage.h @@ -49,7 +49,6 @@ #define MICROPY_VFS_FAT (1) #define MICROPY_FATFS_USE_LABEL (1) #define MICROPY_PY_FRAMEBUF (1) -#define MICROPY_PY_COLLECTIONS_NAMEDTUPLE__ASDICT (1) // TODO these should be generic, not bound to fatfs #define mp_type_fileio mp_type_vfs_posix_fileio diff --git a/py/objnamedtuple.c b/py/objnamedtuple.c index 6c36909e7..ab2f2f3c0 100644 --- a/py/objnamedtuple.c +++ b/py/objnamedtuple.c @@ -46,7 +46,7 @@ size_t mp_obj_namedtuple_find_field(const mp_obj_namedtuple_type_t *type, qstr n return (size_t)-1; } -#if MICROPY_PY_COLLECTIONS_NAMEDTUPLE__ASDICT +#if MICROPY_PY_COLLECTIONS_ORDEREDDICT STATIC mp_obj_t namedtuple_asdict(mp_obj_t self_in) { mp_obj_namedtuple_t *self = MP_OBJ_TO_PTR(self_in); const qstr *fields = ((mp_obj_namedtuple_type_t*)self->tuple.base.type)->fields; -- cgit v1.2.3 From f6f89565d83c0ac942496f29394ff59976aaa5b9 Mon Sep 17 00:00:00 2001 From: gamblor21 Date: Wed, 14 Oct 2020 20:18:49 -0500 Subject: Remove ordered dict from SAMD21 --- py/circuitpy_mpconfig.h | 2 ++ 1 file changed, 2 insertions(+) (limited to 'py') diff --git a/py/circuitpy_mpconfig.h b/py/circuitpy_mpconfig.h index a3ffe52f6..a0eb4fc07 100644 --- a/py/circuitpy_mpconfig.h +++ b/py/circuitpy_mpconfig.h @@ -195,7 +195,9 @@ typedef long mp_off_t; #define MICROPY_PY_BUILTINS_STR_PARTITION (CIRCUITPY_FULL_BUILD) #define MICROPY_PY_BUILTINS_STR_SPLITLINES (CIRCUITPY_FULL_BUILD) #define MICROPY_PY_UERRNO (CIRCUITPY_FULL_BUILD) +#ifndef MICROPY_PY_COLLECTIONS_ORDEREDDICT #define MICROPY_PY_COLLECTIONS_ORDEREDDICT (CIRCUITPY_FULL_BUILD) +#endif // Opposite setting is deliberate. #define MICROPY_PY_UERRNO_ERRORCODE (!CIRCUITPY_FULL_BUILD) #ifndef MICROPY_PY_URE -- cgit v1.2.3 From 82b49afe43494bb1d05bd7786a4f75a0288bf695 Mon Sep 17 00:00:00 2001 From: Dan Halbert Date: Thu, 15 Oct 2020 11:15:48 -0400 Subject: enable CIRCUITPY_BLEIO_HCI on non-nRF boards where it will fit --- ports/atmel-samd/boards/metro_m4_airlift_lite/mpconfigboard.mk | 4 ---- ports/atmel-samd/mpconfigport.mk | 3 +++ ports/nrf/mpconfigport.mk | 3 +++ py/circuitpy_mpconfig.mk | 10 +++++----- 4 files changed, 11 insertions(+), 9 deletions(-) (limited to 'py') diff --git a/ports/atmel-samd/boards/metro_m4_airlift_lite/mpconfigboard.mk b/ports/atmel-samd/boards/metro_m4_airlift_lite/mpconfigboard.mk index e999629c3..4895cda77 100644 --- a/ports/atmel-samd/boards/metro_m4_airlift_lite/mpconfigboard.mk +++ b/ports/atmel-samd/boards/metro_m4_airlift_lite/mpconfigboard.mk @@ -6,10 +6,6 @@ USB_MANUFACTURER = "Adafruit Industries LLC" CHIP_VARIANT = SAMD51J19A CHIP_FAMILY = samd51 -# Support _bleio via the on-board ESP32 module. -CIRCUITPY_BLEIO = 1 -CIRCUITPY_BLEIO_HCI = 1 - QSPI_FLASH_FILESYSTEM = 1 EXTERNAL_FLASH_DEVICE_COUNT = 3 EXTERNAL_FLASH_DEVICES = "S25FL116K, S25FL216K, GD25Q16C" diff --git a/ports/atmel-samd/mpconfigport.mk b/ports/atmel-samd/mpconfigport.mk index a16daf4b0..1929e146d 100644 --- a/ports/atmel-samd/mpconfigport.mk +++ b/ports/atmel-samd/mpconfigport.mk @@ -37,6 +37,9 @@ ifndef CIRCUITPY_TOUCHIO_USE_NATIVE CIRCUITPY_TOUCHIO_USE_NATIVE = 1 endif +# No room for HCI _bleio on SAMD21. +CIRCUITPY_BLEIO_HCI = 0 + CIRCUITPY_SDCARDIO ?= 0 # Not enough RAM for framebuffers diff --git a/ports/nrf/mpconfigport.mk b/ports/nrf/mpconfigport.mk index ed689545d..9560064fb 100644 --- a/ports/nrf/mpconfigport.mk +++ b/ports/nrf/mpconfigport.mk @@ -23,6 +23,9 @@ CIRCUITPY_AUDIOCORE ?= 1 CIRCUITPY_AUDIOMIXER ?= 1 CIRCUITPY_AUDIOPWMIO ?= 1 +# Native BLEIO is not compatible with HCI _bleio. +CIRCUITPY_BLEIO_HCI = 0 + CIRCUITPY_BLEIO ?= 1 # No I2CPeripheral implementation diff --git a/py/circuitpy_mpconfig.mk b/py/circuitpy_mpconfig.mk index 91850448d..a6aabec33 100644 --- a/py/circuitpy_mpconfig.mk +++ b/py/circuitpy_mpconfig.mk @@ -79,14 +79,14 @@ CFLAGS += -DCIRCUITPY_AUDIOMP3=$(CIRCUITPY_AUDIOMP3) CIRCUITPY_BITBANGIO ?= $(CIRCUITPY_FULL_BUILD) CFLAGS += -DCIRCUITPY_BITBANGIO=$(CIRCUITPY_BITBANGIO) -# Explicitly enabled for boards that support _bleio. -CIRCUITPY_BLEIO ?= 0 -CFLAGS += -DCIRCUITPY_BLEIO=$(CIRCUITPY_BLEIO) - # _bleio can be supported on most any board via HCI -CIRCUITPY_BLEIO_HCI ?= 0 +CIRCUITPY_BLEIO_HCI ?= $(CIRCUITPY_FULL_BUILD) CFLAGS += -DCIRCUITPY_BLEIO_HCI=$(CIRCUITPY_BLEIO_HCI) +# Explicitly enabled for boards that support _bleio. +CIRCUITPY_BLEIO ?= $(CIRCUITPY_BLEIO_HCI) +CFLAGS += -DCIRCUITPY_BLEIO=$(CIRCUITPY_BLEIO) + CIRCUITPY_BOARD ?= 1 CFLAGS += -DCIRCUITPY_BOARD=$(CIRCUITPY_BOARD) -- cgit v1.2.3 From 1eab0692b50f05f6b8194897386cda7720634fe6 Mon Sep 17 00:00:00 2001 From: Christian Walther Date: Tue, 20 Oct 2020 16:37:24 +0200 Subject: Fix missing `nproc` on macOS. 396979a breaks building on macOS: `nproc` is a Linux thing, use a cross-platform alternative. --- ports/atmel-samd/Makefile | 2 +- py/mkenv.mk | 2 ++ 2 files changed, 3 insertions(+), 1 deletion(-) (limited to 'py') diff --git a/ports/atmel-samd/Makefile b/ports/atmel-samd/Makefile index 2593377eb..111f12b4e 100644 --- a/ports/atmel-samd/Makefile +++ b/ports/atmel-samd/Makefile @@ -197,7 +197,7 @@ endif LDFLAGS = $(CFLAGS) -nostartfiles -Wl,-nostdlib -Wl,-T,$(GENERATED_LD_FILE) -Wl,-Map=$@.map -Wl,-cref -Wl,-gc-sections -specs=nano.specs -LDFLAGS += -flto=$(shell nproc) +LDFLAGS += -flto=$(shell $(NPROC)) LIBS := -lgcc -lc # Use toolchain libm if we're not using our own. diff --git a/py/mkenv.mk b/py/mkenv.mk index b76dd60f8..cb678e8e7 100644 --- a/py/mkenv.mk +++ b/py/mkenv.mk @@ -55,6 +55,8 @@ PYTHON3 ?= python3 RM = rm RSYNC = rsync SED = sed +# Linux has 'nproc', macOS has 'sysctl -n hw.logicalcpu', this is cross-platform +NPROC = $(PYTHON) -c 'import multiprocessing as mp; print(mp.cpu_count())' AS = $(CROSS_COMPILE)as CC = $(CROSS_COMPILE)gcc -- cgit v1.2.3 From 72b829dff02cb9b8ebe6e2b47354f06650dbe864 Mon Sep 17 00:00:00 2001 From: Dan Halbert Date: Sun, 1 Nov 2020 14:52:03 -0500 Subject: add binascii to most builds --- ports/atmel-samd/mpconfigport.h | 1 + py/circuitpy_mpconfig.h | 10 ++++++++++ py/objmodule.c | 7 ++++++- 3 files changed, 17 insertions(+), 1 deletion(-) (limited to 'py') diff --git a/ports/atmel-samd/mpconfigport.h b/ports/atmel-samd/mpconfigport.h index f7ccff4da..ed10da9b9 100644 --- a/ports/atmel-samd/mpconfigport.h +++ b/ports/atmel-samd/mpconfigport.h @@ -47,6 +47,7 @@ // MICROPY_PY_UJSON depends on MICROPY_PY_IO #define MICROPY_PY_IO (0) #define MICROPY_PY_REVERSE_SPECIAL_METHODS (0) +#define MICROPY_PY_UBINASCII (0) #define MICROPY_PY_UJSON (0) #define MICROPY_PY_COLLECTIONS_ORDEREDDICT (0) #define MICROPY_PY_UERRNO_LIST \ diff --git a/py/circuitpy_mpconfig.h b/py/circuitpy_mpconfig.h index 1e01bd9c5..08efabddb 100644 --- a/py/circuitpy_mpconfig.h +++ b/py/circuitpy_mpconfig.h @@ -197,6 +197,9 @@ typedef long mp_off_t; #ifndef MICROPY_PY_COLLECTIONS_ORDEREDDICT #define MICROPY_PY_COLLECTIONS_ORDEREDDICT (CIRCUITPY_FULL_BUILD) #endif +#ifndef MICROPY_PY_UBINASCII +#define MICROPY_PY_UBINASCII (CIRCUITPY_FULL_BUILD) +#endif // Opposite setting is deliberate. #define MICROPY_PY_UERRNO_ERRORCODE (!CIRCUITPY_FULL_BUILD) #ifndef MICROPY_PY_URE @@ -699,6 +702,12 @@ extern const struct _mp_obj_module_t ustack_module; #endif // These modules are not yet in shared-bindings, but we prefer the non-uxxx names. +#if MICROPY_PY_UBINASCII +#define BINASCII_MODULE { MP_ROM_QSTR(MP_QSTR_binascii), MP_ROM_PTR(&mp_module_ubinascii) }, +#else +#define BINASCII_MODULE +#endif + #if MICROPY_PY_UERRNO #define ERRNO_MODULE { MP_ROM_QSTR(MP_QSTR_errno), MP_ROM_PTR(&mp_module_uerrno) }, #else @@ -770,6 +779,7 @@ extern const struct _mp_obj_module_t wifi_module; AUDIOMIXER_MODULE \ AUDIOMP3_MODULE \ AUDIOPWMIO_MODULE \ + BINASCII_MODULE \ BITBANGIO_MODULE \ BLEIO_MODULE \ BOARD_MODULE \ diff --git a/py/objmodule.c b/py/objmodule.c index 757aece04..90796c535 100644 --- a/py/objmodule.c +++ b/py/objmodule.c @@ -239,7 +239,12 @@ STATIC const mp_rom_map_elem_t mp_builtin_module_table[] = { { MP_ROM_QSTR(MP_QSTR_hashlib), MP_ROM_PTR(&mp_module_uhashlib) }, #endif #if MICROPY_PY_UBINASCII - { MP_ROM_QSTR(MP_QSTR_binascii), MP_ROM_PTR(&mp_module_ubinascii) }, +#if CIRCUITPY +// CircuitPython: Defined in MICROPY_PORT_BUILTIN_MODULES, so not defined here. +// TODO: move to shared-bindings/ +#else + { MP_ROM_QSTR(MP_QSTR_ubinascii), MP_ROM_PTR(&mp_module_ubinascii) }, +#endif #endif #if MICROPY_PY_URANDOM { MP_ROM_QSTR(MP_QSTR_urandom), MP_ROM_PTR(&mp_module_urandom) }, -- cgit v1.2.3