From 79ca430ddf25a71c73d6219fb68160fb405c3777 Mon Sep 17 00:00:00 2001
From: Jeff Epler <jepler@gmail.com>
Date: Thu, 24 Sep 2020 13:58:45 -0500
Subject: Match: address -> id

---
 shared-module/canio/Match.c | 8 ++++----
 shared-module/canio/Match.h | 2 +-
 2 files changed, 5 insertions(+), 5 deletions(-)

(limited to 'shared-module')

diff --git a/shared-module/canio/Match.c b/shared-module/canio/Match.c
index 9e33b956f..b4e8616e9 100644
--- a/shared-module/canio/Match.c
+++ b/shared-module/canio/Match.c
@@ -26,14 +26,14 @@
 
 #include "shared-module/canio/Match.h"
 
-void common_hal_canio_match_construct(canio_match_obj_t *self, int address, int mask, bool extended) {
-    self->address = address;
+void common_hal_canio_match_construct(canio_match_obj_t *self, int id, int mask, bool extended) {
+    self->id = id;
     self->mask = mask;
     self->extended = extended;
 }
 
-int common_hal_canio_match_get_address(const canio_match_obj_t *self) {
-    return self->address;
+int common_hal_canio_match_get_id(const canio_match_obj_t *self) {
+    return self->id;
 }
 int common_hal_canio_match_get_mask(const canio_match_obj_t *self) {
     return self->mask;
diff --git a/shared-module/canio/Match.h b/shared-module/canio/Match.h
index 25f047f37..b52191d7c 100644
--- a/shared-module/canio/Match.h
+++ b/shared-module/canio/Match.h
@@ -30,7 +30,7 @@
 
 typedef struct {
     mp_obj_base_t base;
-    int address;
+    int id;
     int mask;
     bool extended;
 } canio_match_obj_t;
-- 
cgit v1.2.3


From 8d45be1cd99c6fbfcb69877ab335e010810c54fd Mon Sep 17 00:00:00 2001
From: Jeff Epler <jepler@gmail.com>
Date: Thu, 24 Sep 2020 15:25:06 -0500
Subject: canio: Split RemoteTransmissionRequest to its own class

It reuses most of canio.Message's implementation, and structure
---
 shared-bindings/canio/CAN.c      |   6 +-
 shared-bindings/canio/Listener.c |   6 +-
 shared-bindings/canio/Message.c  | 132 ++++++++++++++++++++++++---------------
 shared-bindings/canio/Message.h  |   7 ++-
 shared-bindings/canio/__init__.c |   1 +
 shared-module/canio/Message.c    |  10 ++-
 6 files changed, 99 insertions(+), 63 deletions(-)

(limited to 'shared-module')

diff --git a/shared-bindings/canio/CAN.c b/shared-bindings/canio/CAN.c
index ff27bb204..6b7a3878e 100644
--- a/shared-bindings/canio/CAN.c
+++ b/shared-bindings/canio/CAN.c
@@ -265,7 +265,7 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_can_restart_obj, canio_can_restart);
 //|
 //|         An empty filter list causes all messages to be accepted.
 //|
-//|         Timeout dictates how long readinto, read and next() will block."""
+//|         Timeout dictates how long receive() and next() will block."""
 //|         ...
 //|
 STATIC mp_obj_t canio_can_listen(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
@@ -334,8 +334,8 @@ STATIC mp_obj_t canio_can_send(mp_obj_t self_in, mp_obj_t message_in) {
     canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in);
     common_hal_canio_can_check_for_deinit(self);
     mp_obj_type_t *message_type = mp_obj_get_type(message_in);
-    if (message_type != &canio_message_type) {
-        mp_raise_TypeError_varg(translate("expected '%q' but got '%q'"), MP_QSTR_Message, message_type->name);
+    if (message_type != &canio_message_type && message_type != &canio_remote_transmission_request_type) {
+        mp_raise_TypeError_varg(translate("expected '%q' or '%q' but got '%q'"), MP_QSTR_Message, MP_QSTR_RemoteTransmissionRequest, message_type->name);
     }
 
     canio_message_obj_t *message = message_in;
diff --git a/shared-bindings/canio/Listener.c b/shared-bindings/canio/Listener.c
index 5159c8481..9f3fe05c5 100644
--- a/shared-bindings/canio/Listener.c
+++ b/shared-bindings/canio/Listener.c
@@ -50,9 +50,13 @@ STATIC mp_obj_t canio_listener_receive(mp_obj_t self_in) {
     common_hal_canio_listener_check_for_deinit(self);
 
     canio_message_obj_t *message = m_new_obj(canio_message_obj_t);
-    message->base.type = &canio_message_type;
 
     if (common_hal_canio_listener_receiveinto(self, message)) {
+        if (message->rtr) {
+            message->base.type = &canio_remote_transmission_request_type;
+        } else {
+            message->base.type = &canio_message_type;
+        }
         return message;
     } else {
         m_free(message); // message did not escape into vm
diff --git a/shared-bindings/canio/Message.c b/shared-bindings/canio/Message.c
index 8d1828fba..ae03c25e7 100644
--- a/shared-bindings/canio/Message.c
+++ b/shared-bindings/canio/Message.c
@@ -31,28 +31,22 @@
 #include "py/runtime.h"
 
 //| class Message:
-//|     def __init__(self, id: int=0, data: Optional[bytes] = None, *, size: Optional[int] = None, rtr: bool = False, extended: bool = False):
-//|         """Construct a Message to use with a CAN bus.  Provide arguments to create a message to send.  Otherwise, use Listener.readinto() to read a message.
+//|     def __init__(self, id: int, data: bytes, *, extended: bool = False):
+//|         """Construct a Message to send on a CAN bus.
 //|
 //|         :param int id: The numeric ID of the message
 //|         :param bytes data: The content of the message
-//|         :param int size: The amount of data requested, for an rtr
-//|         :param bool rtr: True if the message represents an rtr (Remote Transmission Request)
 //|         :param bool extended: True if the message has an extended identifier, False if it has a standard identifier
 //|
-//|         In CAN, messages can have a size from 0 to 8 bytes.
-//|
-//|         For a non-rtr message, specify ``data``.  For an rtr-message, specify either ``data`` (a dummy buffer of the requested size) or ``size``.
+//|         In CAN, messages can have a length from 0 to 8 bytes.
 //|         """
 //|         ...
 //|
 STATIC mp_obj_t canio_message_make_new(const mp_obj_type_t *type, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
-    enum { ARG_id, ARG_data, ARG_size, ARG_rtr, ARG_extended, NUM_ARGS };
+    enum { ARG_id, ARG_data, ARG_extended, NUM_ARGS };
     static const mp_arg_t allowed_args[] = {
-        { MP_QSTR_id, MP_ARG_INT, {.u_obj = 0} },
-        { MP_QSTR_data, MP_ARG_OBJ, {.u_obj = 0} },
-        { MP_QSTR_size, MP_ARG_INT, {.u_int = -1} },
-        { MP_QSTR_rtr, MP_ARG_BOOL, {.u_bool = false} },
+        { MP_QSTR_id, MP_ARG_INT | MP_ARG_REQUIRED },
+        { MP_QSTR_data, MP_ARG_OBJ | MP_ARG_REQUIRED },
         { MP_QSTR_extended, MP_ARG_BOOL, {.u_bool = false} },
     };
     mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
@@ -60,26 +54,8 @@ STATIC mp_obj_t canio_message_make_new(const mp_obj_type_t *type, size_t n_args,
 
     mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
 
-    bool rtr = args[ARG_rtr].u_bool;
-    bool extended = args[ARG_extended].u_bool;
-    size_t size = (size_t)args[ARG_size].u_int;
-    bool specified_size = (size != (size_t)-1);
-    bool specified_data = (args[ARG_data].u_obj != NULL);
-
-    if (specified_size && specified_data) {
-        mp_raise_TypeError(translate("specify size or data, but not both"));
-    }
-
     mp_buffer_info_t data;
-    if (specified_data) {
-        mp_get_buffer_raise(args[ARG_data].u_obj, &data, MP_BUFFER_READ);
-    } else if (specified_size) {
-        data.buf = 0;
-        data.len = size;
-    } else {
-        data.buf = 0;
-        data.len = 0;
-    }
+    mp_get_buffer_raise(args[ARG_data].u_obj, &data, MP_BUFFER_READ);
 
     if (data.len > 8) {
         mp_raise_ValueError(translate("Messages limited to 8 bytes"));
@@ -87,7 +63,7 @@ STATIC mp_obj_t canio_message_make_new(const mp_obj_type_t *type, size_t n_args,
 
     canio_message_obj_t *self = m_new_obj(canio_message_obj_t);
     self->base.type = &canio_message_type;
-    common_hal_canio_message_construct(self, args[ARG_id].u_int, data.buf, data.len, rtr, extended);
+    common_hal_canio_message_construct(self, args[ARG_id].u_int, data.buf, data.len, args[ARG_extended].u_bool);
     return self;
 }
 
@@ -115,13 +91,11 @@ STATIC const mp_obj_property_t canio_message_id_obj = {
 };
 
 //|     data: bytes
-//|     """The content of the message, or dummy content in the case of an rtr.
-//|
-//|     Assigning to data also clears the rtr flag, if it was set."""
+//|     """The content of the message"""
 //|
 STATIC mp_obj_t canio_message_data_get(const mp_obj_t self_in) {
     canio_message_obj_t *self = self_in;
-    return mp_obj_new_bytes((const byte*)common_hal_canio_message_get_data(self), common_hal_canio_message_get_size(self));
+    return mp_obj_new_bytes((const byte*)common_hal_canio_message_get_data(self), common_hal_canio_message_get_length(self));
 }
 MP_DEFINE_CONST_FUN_OBJ_1(canio_message_data_get_obj, canio_message_data_get);
 
@@ -147,7 +121,7 @@ STATIC const mp_obj_property_t canio_message_data_obj = {
 
 
 //|     extended: bool
-//|     """True if the message represents a remote transmission request (RTR)"""
+//|     """True if the message's id is an extended id"""
 //|
 STATIC mp_obj_t canio_message_extended_get(const mp_obj_t self_in) {
     canio_message_obj_t *self = self_in;
@@ -170,36 +144,80 @@ 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"));
+    }
 
-//|     rtr: bool
-//|     """True if the message represents a remote transmission request (RTR).  Setting rtr to true zeros out data"""
+    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_message_rtr_get(const mp_obj_t self_in) {
+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_bool(common_hal_canio_message_get_rtr(self));
+    return MP_OBJ_NEW_SMALL_INT(common_hal_canio_message_get_length(self));
 }
-MP_DEFINE_CONST_FUN_OBJ_1(canio_message_rtr_get_obj, canio_message_rtr_get);
+MP_DEFINE_CONST_FUN_OBJ_1(canio_remote_transmission_request_length_get_obj, canio_remote_transmission_request_length_get);
 
-STATIC mp_obj_t canio_message_rtr_set(const mp_obj_t self_in, const mp_obj_t rtr) {
+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;
-    common_hal_canio_message_set_rtr(self, mp_obj_is_true(rtr));
+    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_message_rtr_set_obj, canio_message_rtr_set);
+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_message_rtr_obj = {
+STATIC const mp_obj_property_t canio_remote_transmission_request_length_obj = {
     .base.type = &mp_type_property,
-    .proxy = {(mp_obj_t)&canio_message_rtr_get_obj,
-              (mp_obj_t)&canio_message_rtr_set_obj,
+    .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) },
-    { 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);
@@ -210,3 +228,17 @@ 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 34b632e84..96716864c 100644
--- a/shared-bindings/canio/Message.h
+++ b/shared-bindings/canio/Message.h
@@ -30,8 +30,9 @@
 #include "shared-module/canio/Message.h"
 
 extern const mp_obj_type_t canio_message_type;
+extern const mp_obj_type_t canio_remote_transmission_request_type;
 
-void common_hal_canio_message_construct(canio_message_obj_t *self, int id, void *data, size_t size, bool rtr, bool extended);
+void common_hal_canio_message_construct(canio_message_obj_t *self, int id, void *data, size_t size, bool extended);
 const void *common_hal_canio_message_get_data(const canio_message_obj_t *self);
 void common_hal_canio_message_set_data(canio_message_obj_t *self, const void *data, size_t size);
 bool common_hal_canio_message_get_extended(const canio_message_obj_t *self);
@@ -40,5 +41,5 @@ int common_hal_canio_message_get_id(const canio_message_obj_t *self);
 void common_hal_canio_message_set_id(canio_message_obj_t *self, int id);
 bool common_hal_canio_message_get_rtr(const canio_message_obj_t *self);
 void common_hal_canio_message_set_rtr(canio_message_obj_t *self, bool rtr);
-size_t common_hal_canio_message_get_size(const canio_message_obj_t *self);
-void common_hal_canio_message_set_size(canio_message_obj_t *self, size_t size);
+size_t common_hal_canio_message_get_length(const canio_message_obj_t *self);
+void common_hal_canio_remote_transmission_request_set_length(canio_message_obj_t *self, size_t length);
diff --git a/shared-bindings/canio/__init__.c b/shared-bindings/canio/__init__.c
index 409cc20cf..f29d3ab8a 100644
--- a/shared-bindings/canio/__init__.c
+++ b/shared-bindings/canio/__init__.c
@@ -113,6 +113,7 @@ STATIC const mp_rom_map_elem_t canio_module_globals_table[] = {
     { MP_ROM_QSTR(MP_QSTR_Listener), MP_ROM_PTR(&canio_listener_type) },
     { MP_ROM_QSTR(MP_QSTR_Match), MP_ROM_PTR(&canio_match_type) },
     { MP_ROM_QSTR(MP_QSTR_Message), MP_ROM_PTR(&canio_message_type) },
+    { MP_ROM_QSTR(MP_QSTR_RemoteTransmissionRequest), MP_ROM_PTR(&canio_remote_transmission_request_type) },
     { MP_ROM_QSTR(MP_QSTR___name__), MP_ROM_QSTR(MP_QSTR__canio) },
 };
 
diff --git a/shared-module/canio/Message.c b/shared-module/canio/Message.c
index b8ebb7859..86a3b7106 100644
--- a/shared-module/canio/Message.c
+++ b/shared-module/canio/Message.c
@@ -28,16 +28,14 @@
 
 #include <string.h>
 
-void common_hal_canio_message_construct(canio_message_obj_t *self, int id, void *data, size_t size, bool rtr, bool extended)
+void common_hal_canio_message_construct(canio_message_obj_t *self, int id, void *data, size_t size, bool extended)
 {
     self->id = id;
     self->size = size;
-    self->rtr = rtr;
+    self->rtr = !data;
     self->extended = extended;
     if (data) {
         memcpy(self->data, data, size);
-    } else {
-        memset(self->data, 0, size);
     }
 }
 
@@ -65,12 +63,12 @@ const void common_hal_canio_message_set_data(canio_message_obj_t *self, const vo
 }
 
 
-size_t common_hal_canio_message_get_size(const canio_message_obj_t *self)
+size_t common_hal_canio_message_get_length(const canio_message_obj_t *self)
 {
     return self->size;
 }
 
-void common_hal_canio_message_set_size(canio_message_obj_t *self, size_t size)
+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;
-- 
cgit v1.2.3


From a4cc3ad6cb75845e0dc75ede97b8287bb1af0317 Mon Sep 17 00:00:00 2001
From: Jeff Epler <jepler@gmail.com>
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 'shared-module')

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 <string.h>
+
+void common_hal_canio_remote_transmission_request_construct(canio_remote_transmission_request_obj_t *self, int id, size_t size, bool extended)
+{
+    self->id = id;
+    self->size = size;
+    self->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 f4e36fc7f6719cb938b6e11b3e5242b149600d7d Mon Sep 17 00:00:00 2001
From: Jeff Epler <jepler@gmail.com>
Date: Mon, 28 Sep 2020 17:14:39 -0500
Subject: CAN: Use mp_obj_t insteaed of canio_message_obj_t, get rid of rtr
 field

---
 ports/atmel-samd/common-hal/canio/CAN.c         |  8 +++++---
 ports/atmel-samd/common-hal/canio/Listener.c    | 12 +++++++-----
 shared-bindings/canio/CAN.h                     |  2 +-
 shared-bindings/canio/Listener.c                | 14 ++++----------
 shared-bindings/canio/Listener.h                |  2 +-
 shared-module/canio/Message.c                   |  2 --
 shared-module/canio/Message.h                   |  1 -
 shared-module/canio/RemoteTransmissionRequest.c |  1 -
 8 files changed, 18 insertions(+), 24 deletions(-)

(limited to 'shared-module')

diff --git a/ports/atmel-samd/common-hal/canio/CAN.c b/ports/atmel-samd/common-hal/canio/CAN.c
index 4f28698fb..ec6b75951 100644
--- a/ports/atmel-samd/common-hal/canio/CAN.c
+++ b/ports/atmel-samd/common-hal/canio/CAN.c
@@ -328,16 +328,18 @@ static void maybe_auto_restart(canio_can_obj_t *self) {
     }
 }
 
-void common_hal_canio_can_send(canio_can_obj_t *self, canio_message_obj_t *message)
+void common_hal_canio_can_send(canio_can_obj_t *self, mp_obj_t message_in)
 {
     maybe_auto_restart(self);
 
+    canio_message_obj_t *message = message_in;;
     // We have just one dedicated TX buffer, use it!
     canio_can_tx_buffer_t *ent = &self->state->tx_buffer[0];
 
+    bool rtr = message->base.type == &canio_remote_transmission_request_type;
     ent->txb0.bit.ESI = false;
     ent->txb0.bit.XTD = message->extended;
-    ent->txb0.bit.RTR = message->rtr;
+    ent->txb0.bit.RTR = rtr;
     if (message->extended) {
         ent->txb0.bit.ID = message->id;
     } else {
@@ -350,7 +352,7 @@ void common_hal_canio_can_send(canio_can_obj_t *self, canio_message_obj_t *messa
     ent->txb1.bit.BRS = 0; // No bit rate switching
     ent->txb1.bit.DLC = message->size;
 
-    if (!message->rtr) {
+    if (!rtr) {
         memcpy(ent->data, message->data, message->size);
     }
 
diff --git a/ports/atmel-samd/common-hal/canio/Listener.c b/ports/atmel-samd/common-hal/canio/Listener.c
index 483802fa4..b27c8cd1b 100644
--- a/ports/atmel-samd/common-hal/canio/Listener.c
+++ b/ports/atmel-samd/common-hal/canio/Listener.c
@@ -349,30 +349,32 @@ int common_hal_canio_listener_in_waiting(canio_listener_obj_t *self) {
     return self->hw->RXFS.bit.F0FL;
 }
 
-bool common_hal_canio_listener_receiveinto(canio_listener_obj_t *self, canio_message_obj_t *message) {
+mp_obj_t common_hal_canio_listener_receive(canio_listener_obj_t *self) {
     if (!common_hal_canio_listener_in_waiting(self)) {
         uint64_t deadline = supervisor_ticks_ms64() + self->timeout_ms;
         do {
             if (supervisor_ticks_ms64() > deadline) {
-                return false;
+                return NULL;
             }
         } while (!common_hal_canio_listener_in_waiting(self));
     }
     int index = self->hw->RXFS.bit.F0GI;
     canio_can_rx_fifo_t *hw_message = &self->fifo[index];
+    bool rtr = hw_message->rxf0.bit.RTR;
+    canio_message_obj_t *message = m_new_obj(canio_message_obj_t);
+    message->base.type = rtr ? &canio_remote_transmission_request_type : &canio_message_type;
     message->extended = hw_message->rxf0.bit.XTD;
     if (message->extended) {
         message->id = hw_message->rxf0.bit.ID;
     } else {
         message->id = hw_message->rxf0.bit.ID >> 18; // short ids are left-justified
     }
-    message->rtr = hw_message->rxf0.bit.RTR;
     message->size = hw_message->rxf1.bit.DLC;
-    if (!message->rtr) {
+    if (!rtr) {
         memcpy(message->data, hw_message->data, message->size);
     }
     self->hw->RXFA.bit.F0AI = index;
-    return true;
+    return message;
 }
 
 void common_hal_canio_listener_deinit(canio_listener_obj_t *self) {
diff --git a/shared-bindings/canio/CAN.h b/shared-bindings/canio/CAN.h
index 08166dfd4..8d61bc8ed 100644
--- a/shared-bindings/canio/CAN.h
+++ b/shared-bindings/canio/CAN.h
@@ -51,5 +51,5 @@ void common_hal_canio_can_auto_restart_set(canio_can_obj_t *self, bool auto_rest
 void common_hal_canio_can_check_for_deinit(canio_can_obj_t *self);
 void common_hal_canio_can_deinit(canio_can_obj_t *self);
 void common_hal_canio_can_restart(canio_can_obj_t *self);
-void common_hal_canio_can_send(canio_can_obj_t *self, canio_message_obj_t *message);
+void common_hal_canio_can_send(canio_can_obj_t *self, mp_obj_t message);
 void common_hal_canio_reset(void);
diff --git a/shared-bindings/canio/Listener.c b/shared-bindings/canio/Listener.c
index 7b0e59063..e5a9a2f83 100644
--- a/shared-bindings/canio/Listener.c
+++ b/shared-bindings/canio/Listener.c
@@ -49,17 +49,11 @@ STATIC mp_obj_t canio_listener_receive(mp_obj_t self_in) {
     canio_listener_obj_t *self = MP_OBJ_TO_PTR(self_in);
     common_hal_canio_listener_check_for_deinit(self);
 
-    canio_message_obj_t *message = m_new_obj(canio_message_obj_t);
-
-    if (common_hal_canio_listener_receiveinto(self, message)) {
-        if (message->rtr) {
-            message->base.type = &canio_remote_transmission_request_type;
-        } else {
-            message->base.type = &canio_message_type;
-        }
+    mp_obj_t message = common_hal_canio_listener_receive(self);
+    // note: receive fills out the type field of the message
+
+    if (message) {
         return message;
-    } else {
-        m_free(message); // message did not escape into vm
     }
     return mp_const_none;
 }
diff --git a/shared-bindings/canio/Listener.h b/shared-bindings/canio/Listener.h
index d925fa265..527ffe4cb 100644
--- a/shared-bindings/canio/Listener.h
+++ b/shared-bindings/canio/Listener.h
@@ -37,7 +37,7 @@ typedef struct canio_listener_obj canio_listener_obj_t;
 void common_hal_canio_listener_construct(canio_listener_obj_t *self, canio_can_obj_t *can, size_t nmatch, canio_match_obj_t **matches, float timeout);
 void common_hal_canio_listener_check_for_deinit(canio_listener_obj_t *self);
 void common_hal_canio_listener_deinit(canio_listener_obj_t *self);
-bool common_hal_canio_listener_receiveinto(canio_listener_obj_t *self, canio_message_obj_t *message);
+mp_obj_t common_hal_canio_listener_receive(canio_listener_obj_t *self);
 int common_hal_canio_listener_in_waiting(canio_listener_obj_t *self);
 float common_hal_canio_listener_get_timeout(canio_listener_obj_t *self);
 void common_hal_canio_listener_set_timeout(canio_listener_obj_t *self, float timeout);
diff --git a/shared-module/canio/Message.c b/shared-module/canio/Message.c
index 34c2e61f7..a1df4f693 100644
--- a/shared-module/canio/Message.c
+++ b/shared-module/canio/Message.c
@@ -32,7 +32,6 @@ void common_hal_canio_message_construct(canio_message_obj_t *self, int id, void
 {
     self->id = id;
     self->size = size;
-    self->rtr = !data;
     self->extended = extended;
     if (data) {
         memcpy(self->data, data, size);
@@ -57,7 +56,6 @@ const void *common_hal_canio_message_get_data(const canio_message_obj_t *self)
 
 const void common_hal_canio_message_set_data(canio_message_obj_t *self, const void *data, size_t size)
 {
-    self->rtr = false;
     self->size = size;
     memcpy(self->data, data, size);
 }
diff --git a/shared-module/canio/Message.h b/shared-module/canio/Message.h
index b99c5c48e..1ca0d42e2 100644
--- a/shared-module/canio/Message.h
+++ b/shared-module/canio/Message.h
@@ -33,6 +33,5 @@ typedef struct {
     int id;
     uint8_t data[8];
     size_t size:4;
-    bool rtr:1;
     bool extended:1;
 } canio_message_obj_t;
diff --git a/shared-module/canio/RemoteTransmissionRequest.c b/shared-module/canio/RemoteTransmissionRequest.c
index 00c9334b0..9b4d5632f 100644
--- a/shared-module/canio/RemoteTransmissionRequest.c
+++ b/shared-module/canio/RemoteTransmissionRequest.c
@@ -33,7 +33,6 @@ void common_hal_canio_remote_transmission_request_construct(canio_remote_transmi
 {
     self->id = id;
     self->size = size;
-    self->rtr = true;
     self->extended = extended;
 }
 
-- 
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