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stm32/can: Factor CAN driver into low-level and Python bindings.

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can.c now contains the low-level C interface to the CAN peripheral, and
pyb_can.c the Python-level class/methods/constants.
This commit is contained in:
Damien George
2019-09-12 13:54:35 +10:00
parent bff2771da1
commit d06fd384c2
6 changed files with 867 additions and 881 deletions
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49
ports/stm32/can.h
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@@ -26,15 +26,58 @@
#ifndef MICROPY_INCLUDED_STM32_CAN_H
#define MICROPY_INCLUDED_STM32_CAN_H
#include "py/obj.h"
#define PYB_CAN_1 (1)
#define PYB_CAN_2 (2)
#define PYB_CAN_3 (3)
#define MASK16 (0)
#define LIST16 (1)
#define MASK32 (2)
#define LIST32 (3)
enum {
CAN_STATE_STOPPED,
CAN_STATE_ERROR_ACTIVE,
CAN_STATE_ERROR_WARNING,
CAN_STATE_ERROR_PASSIVE,
CAN_STATE_BUS_OFF,
};
typedef enum _rx_state_t {
RX_STATE_FIFO_EMPTY = 0,
RX_STATE_MESSAGE_PENDING,
RX_STATE_FIFO_FULL,
RX_STATE_FIFO_OVERFLOW,
} rx_state_t;
typedef struct _pyb_can_obj_t {
mp_obj_base_t base;
mp_obj_t rxcallback0;
mp_obj_t rxcallback1;
mp_uint_t can_id : 8;
bool is_enabled : 1;
bool extframe : 1;
byte rx_state0;
byte rx_state1;
uint16_t num_error_warning;
uint16_t num_error_passive;
uint16_t num_bus_off;
CAN_HandleTypeDef can;
} pyb_can_obj_t;
extern const mp_obj_type_t pyb_can_type;
void can_init0(void);
void can_deinit(void);
void can_rx_irq_handler(uint can_id, uint fifo_id);
void can_sce_irq_handler(uint can_id);
void can_deinit_all(void);
bool can_init(pyb_can_obj_t *can_obj, uint32_t mode, uint32_t prescaler, uint32_t sjw, uint32_t bs1, uint32_t bs2, bool auto_restart);
void can_deinit(pyb_can_obj_t *self);
void can_clearfilter(uint32_t f, uint8_t bank);
int can_receive(CAN_TypeDef *can, int fifo, CanRxMsgTypeDef *msg, uint32_t timeout_ms);
HAL_StatusTypeDef CAN_Transmit(CAN_HandleTypeDef *hcan, uint32_t Timeout);
void pyb_can_handle_callback(pyb_can_obj_t *self, uint fifo_id, mp_obj_t callback, mp_obj_t irq_reason);
#endif // MICROPY_INCLUDED_STM32_CAN_H