#include <stdio.h>

#include <string.h>

#include <stdarg.h>

#include <errno.h>

#include "py/nlr.h"

#include "py/objtuple.h"

#include "py/runtime.h"

#include "py/gc.h"

#include "py/mphal.h"

#include "bufhelper.h"

#include "can.h"

#include "pybioctl.h"

#include "irq.h"

#if MICROPY_HW_ENABLE_CAN

#define MASK16 (0)

#define LIST16 (1)

#define MASK32 (2)

#define LIST32 (3)

typedef enum _rx_state_t {

} rx_state_t;

typedef struct _pyb_can_obj_t {

} pyb_can_obj_t;

STATIC mp_obj_t pyb_can_deinit(mp_obj_t self_in);

STATIC uint8_t can2_start_bank = 14;

STATIC bool can_init(pyb_can_obj_t *can_obj) {

CAN_TypeDef *CANx = NULL;

uint32_t GPIO_Pin = 0;

uint8_t GPIO_AF_CANx = 0;

GPIO_TypeDef* GPIO_Port = NULL;

switch (can_obj->can_id) {

// CAN1 is on RX,TX = Y3,Y4 = PB9,PB9

case PYB_CAN_1:

CANx = CAN1;

GPIO_AF_CANx = GPIO_AF9_CAN1;

GPIO_Port = GPIOB;

GPIO_Pin = GPIO_PIN_8 | GPIO_PIN_9;

__CAN1_CLK_ENABLE();

break;

// CAN2 is on RX,TX = Y5,Y6 = PB12,PB13

case PYB_CAN_2:

CANx = CAN2;

GPIO_AF_CANx = GPIO_AF9_CAN2;

GPIO_Port = GPIOB;

GPIO_Pin = GPIO_PIN_12 | GPIO_PIN_13;

__CAN1_CLK_ENABLE(); // CAN2 is a "slave" and needs CAN1 enabled as well

__CAN2_CLK_ENABLE();

break;

default:

return false;

}

// init GPIO

GPIO_InitTypeDef GPIO_InitStructure;

GPIO_InitStructure.Pin = GPIO_Pin;

GPIO_InitStructure.Speed = GPIO_SPEED_HIGH;

GPIO_InitStructure.Mode = GPIO_MODE_AF_PP;

GPIO_InitStructure.Pull = GPIO_PULLUP;

GPIO_InitStructure.Alternate = GPIO_AF_CANx;

HAL_GPIO_Init(GPIO_Port, &GPIO_InitStructure);

// init CANx

can_obj->can.Instance = CANx;

HAL_CAN_Init(&can_obj->can);

can_obj->is_enabled = true;

return true;

}

void can_init0(void) {

for (uint i = 0; i < MP_ARRAY_SIZE(MP_STATE_PORT(pyb_can_obj_all)); i++) {

MP_STATE_PORT(pyb_can_obj_all)[i] = NULL;

}

}

void can_deinit(void) {

for (int i = 0; i < MP_ARRAY_SIZE(MP_STATE_PORT(pyb_can_obj_all)); i++) {

pyb_can_obj_t *can_obj = MP_STATE_PORT(pyb_can_obj_all)[i];

if (can_obj != NULL) {

pyb_can_deinit(can_obj);

}

}

}

STATIC void can_clearfilter(uint32_t f) {

CAN_FilterConfTypeDef filter;

filter.FilterIdHigh = 0;

filter.FilterIdLow = 0;

filter.FilterMaskIdHigh = 0;

filter.FilterMaskIdLow = 0;

filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;

filter.FilterNumber = f;

filter.FilterMode = CAN_FILTERMODE_IDMASK;

filter.FilterScale = CAN_FILTERSCALE_16BIT;

filter.FilterActivation = DISABLE;

filter.BankNumber = can2_start_bank;

HAL_CAN_ConfigFilter(NULL, &filter);

}

STATIC HAL_StatusTypeDef CAN_Transmit(CAN_HandleTypeDef *hcan, uint32_t Timeout) {

uint32_t transmitmailbox;

uint32_t tickstart;

uint32_t rqcpflag;

uint32_t txokflag;

// Check the parameters

assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE));

assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR));

assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC));

// Select one empty transmit mailbox

if ((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0) {

transmitmailbox = CAN_TXMAILBOX_0;

rqcpflag = CAN_FLAG_RQCP0;

txokflag = CAN_FLAG_TXOK0;

} else if ((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1) {

transmitmailbox = CAN_TXMAILBOX_1;

rqcpflag = CAN_FLAG_RQCP1;

txokflag = CAN_FLAG_TXOK1;

} else if ((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2) {

transmitmailbox = CAN_TXMAILBOX_2;

rqcpflag = CAN_FLAG_RQCP2;

txokflag = CAN_FLAG_TXOK2;

} else {

transmitmailbox = CAN_TXSTATUS_NOMAILBOX;

}

if (transmitmailbox != CAN_TXSTATUS_NOMAILBOX) {

// Set up the Id

hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;

if (hcan->pTxMsg->IDE == CAN_ID_STD) {

assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId));

hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->StdId << 21) | \

hcan->pTxMsg->RTR);

} else {

assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId));

hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->ExtId << 3) | \

hcan->pTxMsg->IDE | \

hcan->pTxMsg->RTR);

}

// Set up the DLC

hcan->pTxMsg->DLC &= (uint8_t)0x0000000F;

hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;

hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC;

// Set up the data field

hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3] << 24) |

((uint32_t)hcan->pTxMsg->Data[2] << 16) |

((uint32_t)hcan->pTxMsg->Data[1] << 8) |

((uint32_t)hcan->pTxMsg->Data[0]));

hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7] << 24) |

((uint32_t)hcan->pTxMsg->Data[6] << 16) |

((uint32_t)hcan->pTxMsg->Data[5] << 8) |

((uint32_t)hcan->pTxMsg->Data[4]));

// Request transmission

hcan->Instance->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;

if (Timeout == 0) {

return HAL_OK;

}

// Get tick

tickstart = HAL_GetTick();

// Check End of transmission flag

while (!(__HAL_CAN_TRANSMIT_STATUS(hcan, transmitmailbox))) {

// Check for the Timeout

if (Timeout != HAL_MAX_DELAY) {

if ((HAL_GetTick() - tickstart) > Timeout) {

// When the timeout expires, we try to abort the transmission of the packet

__HAL_CAN_CANCEL_TRANSMIT(hcan, transmitmailbox);

while (!__HAL_CAN_GET_FLAG(hcan, rqcpflag)) {

}

if (__HAL_CAN_GET_FLAG(hcan, txokflag)) {

// The abort attempt failed and the message was sent properly

return HAL_OK;

} else {

return HAL_TIMEOUT;

}

}

}

}

return HAL_OK;

} else {

return HAL_BUSY;

}

}

STATIC void pyb_can_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {

pyb_can_obj_t *self = self_in;

if (!self->is_enabled) {

mp_printf(print, "CAN(%u)", self->can_id);

} else {

mp_printf(print, "CAN(%u, CAN.", self->can_id);

qstr mode;

switch (self->can.Init.Mode) {

case CAN_MODE_NORMAL: mode = MP_QSTR_NORMAL; break;

case CAN_MODE_LOOPBACK: mode = MP_QSTR_LOOPBACK; break;

case CAN_MODE_SILENT: mode = MP_QSTR_SILENT; break;

case CAN_MODE_SILENT_LOOPBACK: default: mode = MP_QSTR_SILENT_LOOPBACK; break;

}

mp_printf(print, "%q, extframe=", mode);

if (self->extframe) {

mode = MP_QSTR_True;

} else {

mode = MP_QSTR_False;

}

mp_printf(print, "%q)", mode);

}

}

STATIC mp_obj_t pyb_can_init_helper(pyb_can_obj_t *self, mp_uint_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {

static const mp_arg_t allowed_args[] = {

{ MP_QSTR_mode, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = CAN_MODE_NORMAL} },

{ MP_QSTR_extframe, MP_ARG_BOOL, {.u_bool = false} },

{ MP_QSTR_prescaler, MP_ARG_INT, {.u_int = 100} },

{ MP_QSTR_sjw, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 1} },

{ MP_QSTR_bs1, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 6} },

{ MP_QSTR_bs2, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 8} },

};

// parse args

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);

self->extframe = args[1].u_bool;

// set the CAN configuration values

memset(&self->can, 0, sizeof(self->can));

CAN_InitTypeDef *init = &self->can.Init;

init->Mode = args[0].u_int << 4; // shift-left so modes fit in a small-int

init->Prescaler = args[2].u_int;

init->SJW = ((args[3].u_int - 1) & 3) << 24;

init->BS1 = ((args[4].u_int - 1) & 0xf) << 16;

init->BS2 = ((args[5].u_int - 1) & 7) << 20;

init->TTCM = DISABLE;

init->ABOM = DISABLE;

init->AWUM = DISABLE;

init->NART = DISABLE;

init->RFLM = DISABLE;

init->TXFP = DISABLE;

// init CAN (if it fails, it's because the port doesn't exist)

if (!can_init(self)) {

nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "CAN port %d does not exist", self->can_id));

}

return mp_const_none;

}

STATIC mp_obj_t pyb_can_make_new(const mp_obj_type_t *type, mp_uint_t n_args, mp_uint_t n_kw, const mp_obj_t *args) {

// check arguments

mp_arg_check_num(n_args, n_kw, 1, MP_OBJ_FUN_ARGS_MAX, true);

// create object

pyb_can_obj_t *o = m_new_obj(pyb_can_obj_t);

o->base.type = &pyb_can_type;

o->is_enabled = false;

// work out port

o->can_id = 0;

if (MP_OBJ_IS_STR(args[0])) {

const char *port = mp_obj_str_get_str(args[0]);

if (0) {

#ifdef MICROPY_HW_CAN1_NAME

} else if (strcmp(port, MICROPY_HW_CAN1_NAME) == 0) {

o->can_id = PYB_CAN_1;

#endif

#ifdef MICROPY_HW_CAN2_NAME

} else if (strcmp(port, MICROPY_HW_CAN2_NAME) == 0) {

o->can_id = PYB_CAN_2;

#endif

} else {

nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "CAN port %s does not exist", port));

}

} else {

o->can_id = mp_obj_get_int(args[0]);

}

o->rxcallback0 = mp_const_none;

o->rxcallback1 = mp_const_none;

MP_STATE_PORT(pyb_can_obj_all)[o->can_id - 1] = o;

o->rx_state0 = RX_STATE_FIFO_EMPTY;

o->rx_state1 = RX_STATE_FIFO_EMPTY;

if (n_args > 1 || n_kw > 0) {

// start the peripheral

mp_map_t kw_args;

mp_map_init_fixed_table(&kw_args, n_kw, args + n_args);

pyb_can_init_helper(o, n_args - 1, args + 1, &kw_args);

}

return o;

}

STATIC mp_obj_t pyb_can_init(mp_uint_t n_args, const mp_obj_t *args, mp_map_t *kw_args) {

return pyb_can_init_helper(args[0], n_args - 1, args + 1, kw_args);

}

STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_can_init_obj, 1, pyb_can_init);

STATIC mp_obj_t pyb_can_deinit(mp_obj_t self_in) {

pyb_can_obj_t *self = self_in;

self->is_enabled = false;

HAL_CAN_DeInit(&self->can);

if (self->can.Instance == CAN1) {

HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);

HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn);

__CAN1_FORCE_RESET();

__CAN1_RELEASE_RESET();

__CAN1_CLK_DISABLE();

} else if (self->can.Instance == CAN2) {

HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn);

HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn);

__CAN2_FORCE_RESET();

__CAN2_RELEASE_RESET();

__CAN2_CLK_DISABLE();

}

return mp_const_none;

}

STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_can_deinit_obj, pyb_can_deinit);

STATIC mp_obj_t pyb_can_any(mp_obj_t self_in, mp_obj_t fifo_in) {

pyb_can_obj_t *self = self_in;

mp_int_t fifo = mp_obj_get_int(fifo_in);

if (fifo == 0) {

if (__HAL_CAN_MSG_PENDING(&self->can, CAN_FIFO0) != 0) {

return mp_const_true;

}

} else {

if (__HAL_CAN_MSG_PENDING(&self->can, CAN_FIFO1) != 0) {

return mp_const_true;

}

}

return mp_const_false;

}

STATIC MP_DEFINE_CONST_FUN_OBJ_2(pyb_can_any_obj, pyb_can_any);

STATIC mp_obj_t pyb_can_send(mp_uint_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {

static const mp_arg_t allowed_args[] = {

{ MP_QSTR_data, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} },

{ MP_QSTR_id, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = 0} },

{ MP_QSTR_timeout, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} },

{ MP_QSTR_rtr, MP_ARG_KW_ONLY | MP_ARG_BOOL, {.u_bool = false} },

};

// parse args

pyb_can_obj_t *self = pos_args[0];

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);

// get the buffer to send from

mp_buffer_info_t bufinfo;

uint8_t data[1];

pyb_buf_get_for_send(args[0].u_obj, &bufinfo, data);

if (bufinfo.len > 8) {

nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "CAN data field too long"));

}

// send the data

CanTxMsgTypeDef tx_msg;

if (self->extframe) {

tx_msg.ExtId = args[1].u_int & 0x1FFFFFFF;

tx_msg.IDE = CAN_ID_EXT;

} else {

tx_msg.StdId = args[1].u_int & 0x7FF;

tx_msg.IDE = CAN_ID_STD;

}

if (args[3].u_bool == false) {

tx_msg.RTR = CAN_RTR_DATA;

} else {

tx_msg.RTR = CAN_RTR_REMOTE;

}

tx_msg.DLC = bufinfo.len;

for (mp_uint_t i = 0; i < bufinfo.len; i++) {

tx_msg.Data[i] = ((byte*)bufinfo.buf)[i]; // Data is uint32_t but holds only 1 byte

}

self->can.pTxMsg = &tx_msg;

HAL_StatusTypeDef status = CAN_Transmit(&self->can, args[2].u_int);

if (status != HAL_OK) {

mp_hal_raise(status);

}

return mp_const_none;

}

STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_can_send_obj, 1, pyb_can_send);

STATIC mp_obj_t pyb_can_recv(mp_uint_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {

static const mp_arg_t allowed_args[] = {

{ MP_QSTR_fifo, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = 0} },

{ MP_QSTR_timeout, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 5000} },

};

// parse args

pyb_can_obj_t *self = pos_args[0];

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);

// receive the data

CanRxMsgTypeDef rx_msg;

self->can.pRxMsg = &rx_msg;

HAL_StatusTypeDef status = HAL_CAN_Receive(&self->can, args[0].u_int, args[1].u_int);

if (status != HAL_OK) {

mp_hal_raise(status);

}

// Manage the rx state machine

if ((args[0].u_int == CAN_FIFO0 && self->rxcallback0 != mp_const_none) ||

(args[0].u_int == CAN_FIFO1 && self->rxcallback1 != mp_const_none)) {

byte *state = (args[0].u_int == CAN_FIFO0) ? &self->rx_state0 : &self->rx_state1;

switch (*state) {

case RX_STATE_FIFO_EMPTY:

break;

case RX_STATE_MESSAGE_PENDING:

if (__HAL_CAN_MSG_PENDING(&self->can, args[0].u_int) == 0) {

// Fifo is empty

__HAL_CAN_ENABLE_IT(&self->can, (args[0].u_int == CAN_FIFO0) ? CAN_IT_FMP0 : CAN_IT_FMP1);

*state = RX_STATE_FIFO_EMPTY;

}

break;

case RX_STATE_FIFO_FULL:

__HAL_CAN_ENABLE_IT(&self->can, (args[0].u_int == CAN_FIFO0) ? CAN_IT_FF0 : CAN_IT_FF1);

*state = RX_STATE_MESSAGE_PENDING;

break;

case RX_STATE_FIFO_OVERFLOW:

__HAL_CAN_ENABLE_IT(&self->can, (args[0].u_int == CAN_FIFO0) ? CAN_IT_FOV0 : CAN_IT_FOV1);

__HAL_CAN_ENABLE_IT(&self->can, (args[0].u_int == CAN_FIFO0) ? CAN_IT_FF0 : CAN_IT_FF1);

*state = RX_STATE_MESSAGE_PENDING;

break;

}

}

// return the received data

// TODO use a namedtuple (when namedtuple types can be stored in ROM)

mp_obj_tuple_t *tuple = mp_obj_new_tuple(4, NULL);

if (rx_msg.IDE == CAN_ID_STD) {

tuple->items[0] = MP_OBJ_NEW_SMALL_INT(rx_msg.StdId);

} else {

tuple->items[0] = MP_OBJ_NEW_SMALL_INT(rx_msg.ExtId);

}

tuple->items[1] = rx_msg.RTR == CAN_RTR_REMOTE ? mp_const_true : mp_const_false;

tuple->items[2] = MP_OBJ_NEW_SMALL_INT(rx_msg.FMI);

vstr_t vstr;

vstr_init_len(&vstr, rx_msg.DLC);

for (mp_uint_t i = 0; i < rx_msg.DLC; i++) {

vstr.buf[i] = rx_msg.Data[i]; // Data is uint32_t but holds only 1 byte

}

tuple->items[3] = mp_obj_new_str_from_vstr(&mp_type_bytes, &vstr);

return tuple;

}

STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_can_recv_obj, 1, pyb_can_recv);

STATIC mp_obj_t pyb_can_initfilterbanks(mp_obj_t self, mp_obj_t bank_in) {

can2_start_bank = mp_obj_get_int(bank_in);

for (int f = 0; f < 28; f++) {

can_clearfilter(f);

}

return mp_const_none;

}

STATIC MP_DEFINE_CONST_FUN_OBJ_2(pyb_can_initfilterbanks_fun_obj, pyb_can_initfilterbanks);

STATIC MP_DEFINE_CONST_CLASSMETHOD_OBJ(pyb_can_initfilterbanks_obj, (const mp_obj_t)&pyb_can_initfilterbanks_fun_obj);

STATIC mp_obj_t pyb_can_clearfilter(mp_obj_t self_in, mp_obj_t bank_in) {

pyb_can_obj_t *self = self_in;

mp_int_t f = mp_obj_get_int(bank_in);

if (self->can_id == 2) {

f += can2_start_bank;

}

can_clearfilter(f);

return mp_const_none;

}

STATIC MP_DEFINE_CONST_FUN_OBJ_2(pyb_can_clearfilter_obj, pyb_can_clearfilter);

#define EXTENDED_ID_TO_16BIT_FILTER(id) (((id & 0xC00000) >> 13) | ((id & 0x38000) >> 15)) | 8

STATIC mp_obj_t pyb_can_setfilter(mp_uint_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {

static const mp_arg_t allowed_args[] = {

{ MP_QSTR_bank, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = 0} },

{ MP_QSTR_mode, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = 0} },

{ MP_QSTR_fifo, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = CAN_FILTER_FIFO0} },

{ MP_QSTR_params, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} },

{ MP_QSTR_rtr, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} },

};

// parse args

pyb_can_obj_t *self = pos_args[0];

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);

mp_uint_t len;

mp_uint_t rtr_len;

mp_uint_t rtr_masks[4] = {0, 0, 0, 0};

mp_obj_t *rtr_flags;

mp_obj_t *params;

mp_obj_get_array(args[3].u_obj, &len, &params);

if (args[4].u_obj != MP_OBJ_NULL){

mp_obj_get_array(args[4].u_obj, &rtr_len, &rtr_flags);

}

CAN_FilterConfTypeDef filter;

if (args[1].u_int == MASK16 || args[1].u_int == LIST16) {

if (len != 4) {

goto error;

}

filter.FilterScale = CAN_FILTERSCALE_16BIT;

if (self->extframe) {

if (args[4].u_obj != MP_OBJ_NULL) {

if (args[1].u_int == MASK16) {

rtr_masks[0] = mp_obj_get_int(rtr_flags[0]) ? 0x02 : 0;

rtr_masks[1] = 0x02;

rtr_masks[2] = mp_obj_get_int(rtr_flags[1]) ? 0x02 : 0;

rtr_masks[3] = 0x02;

} else { // LIST16

rtr_masks[0] = mp_obj_get_int(rtr_flags[0]) ? 0x02 : 0;

rtr_masks[1] = mp_obj_get_int(rtr_flags[1]) ? 0x02 : 0;

rtr_masks[2] = mp_obj_get_int(rtr_flags[2]) ? 0x02 : 0;

rtr_masks[3] = mp_obj_get_int(rtr_flags[3]) ? 0x02 : 0;

}

}

filter.FilterIdLow = EXTENDED_ID_TO_16BIT_FILTER(mp_obj_get_int(params[0])) | rtr_masks[0]; // id1

filter.FilterMaskIdLow = EXTENDED_ID_TO_16BIT_FILTER(mp_obj_get_int(params[1])) | rtr_masks[1]; // mask1

filter.FilterIdHigh = EXTENDED_ID_TO_16BIT_FILTER(mp_obj_get_int(params[2])) | rtr_masks[2]; // id2

filter.FilterMaskIdHigh = EXTENDED_ID_TO_16BIT_FILTER(mp_obj_get_int(params[3])) | rtr_masks[3]; // mask2

} else { // Basic frames

if (args[4].u_obj != MP_OBJ_NULL) {

if (args[1].u_int == MASK16) {

rtr_masks[0] = mp_obj_get_int(rtr_flags[0]) ? 0x10 : 0;

rtr_masks[1] = 0x10;

rtr_masks[2] = mp_obj_get_int(rtr_flags[1]) ? 0x10 : 0;

rtr_masks[3] = 0x10;

} else { // LIST16

rtr_masks[0] = mp_obj_get_int(rtr_flags[0]) ? 0x10 : 0;

rtr_masks[1] = mp_obj_get_int(rtr_flags[1]) ? 0x10 : 0;

rtr_masks[2] = mp_obj_get_int(rtr_flags[2]) ? 0x10 : 0;

rtr_masks[3] = mp_obj_get_int(rtr_flags[3]) ? 0x10 : 0;

}

}

filter.FilterIdLow = (mp_obj_get_int(params[0]) << 5) | rtr_masks[0]; // id1

filter.FilterMaskIdLow = (mp_obj_get_int(params[1]) << 5) | rtr_masks[1]; // mask1

filter.FilterIdHigh = (mp_obj_get_int(params[2]) << 5) | rtr_masks[2]; // id2

filter.FilterMaskIdHigh = (mp_obj_get_int(params[3]) << 5) | rtr_masks[3]; // mask2

}

if (args[1].u_int == MASK16) {

filter.FilterMode = CAN_FILTERMODE_IDMASK;

}

if (args[1].u_int == LIST16) {

filter.FilterMode = CAN_FILTERMODE_IDLIST;

}

}

else if (args[1].u_int == MASK32 || args[1].u_int == LIST32) {

if (len != 2) {

goto error;

}

filter.FilterScale = CAN_FILTERSCALE_32BIT;

if (args[4].u_obj != MP_OBJ_NULL) {

if (args[1].u_int == MASK32) {

rtr_masks[0] = mp_obj_get_int(rtr_flags[0]) ? 0x02 : 0;

rtr_masks[1] = 0x02;

} else { // LIST32

rtr_masks[0] = mp_obj_get_int(rtr_flags[0]) ? 0x02 : 0;

rtr_masks[1] = mp_obj_get_int(rtr_flags[1]) ? 0x02 : 0;

}

}

filter.FilterIdHigh = (mp_obj_get_int(params[0]) & 0x1FFFE000) >> 13;

filter.FilterIdLow = (((mp_obj_get_int(params[0]) & 0x00001FFF) << 3) | 4) | rtr_masks[0];

filter.FilterMaskIdHigh = (mp_obj_get_int(params[1]) & 0x1FFFE000 ) >> 13;

filter.FilterMaskIdLow = (((mp_obj_get_int(params[1]) & 0x00001FFF) << 3) | 4) | rtr_masks[1];

if (args[1].u_int == MASK32) {

filter.FilterMode = CAN_FILTERMODE_IDMASK;

}

if (args[1].u_int == LIST32) {

filter.FilterMode = CAN_FILTERMODE_IDLIST;

}

} else {

goto error;

}

filter.FilterFIFOAssignment = args[2].u_int; // fifo

filter.FilterNumber = args[0].u_int; // bank

if (self->can_id == 1) {

if (filter.FilterNumber >= can2_start_bank) {

goto error;

}

} else {

filter.FilterNumber = filter.FilterNumber + can2_start_bank;

if (filter.FilterNumber > 27) {

goto error;

}

}

filter.FilterActivation = ENABLE;

filter.BankNumber = can2_start_bank;

HAL_CAN_ConfigFilter(&self->can, &filter);

return mp_const_none;

error:

nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "CAN filter parameter error"));

}

STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_can_setfilter_obj, 1, pyb_can_setfilter);

STATIC mp_obj_t pyb_can_rxcallback(mp_obj_t self_in, mp_obj_t fifo_in, mp_obj_t callback_in) {

pyb_can_obj_t *self = self_in;

mp_int_t fifo = mp_obj_get_int(fifo_in);

mp_obj_t *callback;

callback = (fifo == 0) ? &self->rxcallback0 : &self->rxcallback1;

if (callback_in == mp_const_none) {

__HAL_CAN_DISABLE_IT(&self->can, (fifo == 0) ? CAN_IT_FMP0 : CAN_IT_FMP1);

__HAL_CAN_DISABLE_IT(&self->can, (fifo == 0) ? CAN_IT_FF0 : CAN_IT_FF1);

__HAL_CAN_DISABLE_IT(&self->can, (fifo == 0) ? CAN_IT_FOV0 : CAN_IT_FOV1);

*callback = mp_const_none;

} else if (*callback != mp_const_none) {

// Rx call backs has already been initialized

// only the callback function should be changed

*callback = callback_in;

} else if (mp_obj_is_callable(callback_in)) {

*callback = callback_in;

uint32_t irq;

if (self->can_id == PYB_CAN_1) {

irq = (fifo == 0) ? CAN1_RX0_IRQn : CAN1_RX1_IRQn;

} else {

irq = (fifo == 0) ? CAN2_RX0_IRQn : CAN2_RX1_IRQn;

}

HAL_NVIC_SetPriority(irq, IRQ_PRI_CAN, IRQ_SUBPRI_CAN);

HAL_NVIC_EnableIRQ(irq);

__HAL_CAN_ENABLE_IT(&self->can, (fifo == 0) ? CAN_IT_FMP0 : CAN_IT_FMP1);

__HAL_CAN_ENABLE_IT(&self->can, (fifo == 0) ? CAN_IT_FF0 : CAN_IT_FF1);

__HAL_CAN_ENABLE_IT(&self->can, (fifo == 0) ? CAN_IT_FOV0 : CAN_IT_FOV1);

}

return mp_const_none;

}

STATIC MP_DEFINE_CONST_FUN_OBJ_3(pyb_can_rxcallback_obj, pyb_can_rxcallback);

STATIC const mp_map_elem_t pyb_can_locals_dict_table[] = {

// instance methods

{ MP_OBJ_NEW_QSTR(MP_QSTR_init), (mp_obj_t)&pyb_can_init_obj },

{ MP_OBJ_NEW_QSTR(MP_QSTR_deinit), (mp_obj_t)&pyb_can_deinit_obj },

{ MP_OBJ_NEW_QSTR(MP_QSTR_any), (mp_obj_t)&pyb_can_any_obj },

{ MP_OBJ_NEW_QSTR(MP_QSTR_send), (mp_obj_t)&pyb_can_send_obj },

{ MP_OBJ_NEW_QSTR(MP_QSTR_recv), (mp_obj_t)&pyb_can_recv_obj },

{ MP_OBJ_NEW_QSTR(MP_QSTR_initfilterbanks), (mp_obj_t)&pyb_can_initfilterbanks_obj },

{ MP_OBJ_NEW_QSTR(MP_QSTR_setfilter), (mp_obj_t)&pyb_can_setfilter_obj },

{ MP_OBJ_NEW_QSTR(MP_QSTR_clearfilter), (mp_obj_t)&pyb_can_clearfilter_obj },

{ MP_OBJ_NEW_QSTR(MP_QSTR_rxcallback), (mp_obj_t)&pyb_can_rxcallback_obj },

// class constants

// Note: we use the ST constants >> 4 so they fit in a small-int. The

// right-shift is undone when the constants are used in the init function.

{ MP_OBJ_NEW_QSTR(MP_QSTR_NORMAL), MP_OBJ_NEW_SMALL_INT(CAN_MODE_NORMAL >> 4) },

{ MP_OBJ_NEW_QSTR(MP_QSTR_LOOPBACK), MP_OBJ_NEW_SMALL_INT(CAN_MODE_LOOPBACK >> 4) },

{ MP_OBJ_NEW_QSTR(MP_QSTR_SILENT), MP_OBJ_NEW_SMALL_INT(CAN_MODE_SILENT >> 4) },

{ MP_OBJ_NEW_QSTR(MP_QSTR_SILENT_LOOPBACK), MP_OBJ_NEW_SMALL_INT(CAN_MODE_SILENT_LOOPBACK >> 4) },

{ MP_OBJ_NEW_QSTR(MP_QSTR_MASK16), MP_OBJ_NEW_SMALL_INT(MASK16) },

{ MP_OBJ_NEW_QSTR(MP_QSTR_LIST16), MP_OBJ_NEW_SMALL_INT(LIST16) },

{ MP_OBJ_NEW_QSTR(MP_QSTR_MASK32), MP_OBJ_NEW_SMALL_INT(MASK32) },

{ MP_OBJ_NEW_QSTR(MP_QSTR_LIST32), MP_OBJ_NEW_SMALL_INT(LIST32) },

};

STATIC MP_DEFINE_CONST_DICT(pyb_can_locals_dict, pyb_can_locals_dict_table);

mp_uint_t can_ioctl(mp_obj_t self_in, mp_uint_t request, mp_uint_t arg, int *errcode) {

pyb_can_obj_t *self = self_in;

mp_uint_t ret;

if (request == MP_IOCTL_POLL) {

mp_uint_t flags = arg;

ret = 0;

if ((flags & MP_IOCTL_POLL_RD)

&& ((__HAL_CAN_MSG_PENDING(&self->can, CAN_FIFO0) != 0)

|| (__HAL_CAN_MSG_PENDING(&self->can, CAN_FIFO1) != 0))) {

ret |= MP_IOCTL_POLL_RD;

}

if ((flags & MP_IOCTL_POLL_WR) && (self->can.Instance->TSR & CAN_TSR_TME)) {

ret |= MP_IOCTL_POLL_WR;

}

} else {

*errcode = EINVAL;

ret = -1;

}

return ret;

}

void can_rx_irq_handler(uint can_id, uint fifo_id) {

mp_obj_t callback;

pyb_can_obj_t *self;

mp_obj_t irq_reason = MP_OBJ_NEW_SMALL_INT(0);

byte *state;

self = MP_STATE_PORT(pyb_can_obj_all)[can_id - 1];

if (fifo_id == CAN_FIFO0) {

callback = self->rxcallback0;

state = &self->rx_state0;

} else {

callback = self->rxcallback1;

state = &self->rx_state1;

}

switch (*state) {

case RX_STATE_FIFO_EMPTY:

__HAL_CAN_DISABLE_IT(&self->can, (fifo_id == CAN_FIFO0) ? CAN_IT_FMP0 : CAN_IT_FMP1);

irq_reason = MP_OBJ_NEW_SMALL_INT(0);

*state = RX_STATE_MESSAGE_PENDING;

break;

case RX_STATE_MESSAGE_PENDING:

__HAL_CAN_DISABLE_IT(&self->can, (fifo_id == CAN_FIFO0) ? CAN_IT_FF0 : CAN_IT_FF1);

irq_reason = MP_OBJ_NEW_SMALL_INT(1);

*state = RX_STATE_FIFO_FULL;

break;

case RX_STATE_FIFO_FULL:

__HAL_CAN_DISABLE_IT(&self->can, (fifo_id == CAN_FIFO0) ? CAN_IT_FOV0 : CAN_IT_FOV1);

irq_reason = MP_OBJ_NEW_SMALL_INT(2);

*state = RX_STATE_FIFO_OVERFLOW;

break;

case RX_STATE_FIFO_OVERFLOW:

// This should never happen

break;

}

if (callback != mp_const_none) {

gc_lock();

nlr_buf_t nlr;

if (nlr_push(&nlr) == 0) {

mp_call_function_2(callback, self, irq_reason);

nlr_pop();

} else {

// Uncaught exception; disable the callback so it doesn't run again.

pyb_can_rxcallback(self, MP_OBJ_NEW_SMALL_INT(fifo_id), mp_const_none);

printf("uncaught exception in CAN(%u) rx interrupt handler\n", self->can_id);

mp_obj_print_exception(&mp_plat_print, (mp_obj_t)nlr.ret_val);

}

gc_unlock();

}

}

STATIC const mp_stream_p_t can_stream_p = {

//.read = can_read, // is read sensible for CAN?

//.write = can_write, // is write sensible for CAN?

.ioctl = can_ioctl,

.is_text = false,

};

const mp_obj_type_t pyb_can_type = {

{ &mp_type_type },

.name = MP_QSTR_CAN,

.print = pyb_can_print,

.make_new = pyb_can_make_new,

.stream_p = &can_stream_p,

.locals_dict = (mp_obj_t)&pyb_can_locals_dict,

};

#endif // MICROPY_HW_ENABLE_CAN