jebbatime
/
micropython
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

stm32: Add support for FDCAN peripheral, exposed as pyb.CAN. 

The new fdcan.c file provides the low-level C interface to the FDCAN
peripheral, and pyb_can.c is updated to support both traditional CAN and
FDCAN, depending on the MCU being compiled for.
pull/1/head
iabdalkader 2019-09-16 01:56:38 +02:00 committed by Damien George
parent d06fd384c2
commit f7a07b3605
7 changed files with 604 additions and 52 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
ports/stm32/Makefile
View File

@ -256,6 +256,7 @@ SRC_C = \
qspi.c \
uart.c \
can.c \
fdcan.c \
pyb_can.c \
usb.c \
wdt.c \

30
ports/stm32/can.c
View File

@ -47,6 +47,8 @@ void can_deinit_all(void) {
}
}
#if !MICROPY_HW_ENABLE_FDCAN
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) {
CAN_InitTypeDef *init = &can_obj->can.Init;
init->Mode = mode << 4; // shift-left so modes fit in a small-int
@ -158,7 +160,7 @@ void can_deinit(pyb_can_obj_t *self) {
}
}
void can_clearfilter(uint32_t f, uint8_t bank) {
void can_clearfilter(pyb_can_obj_t *self, uint32_t f, uint8_t bank) {
CAN_FilterConfTypeDef filter;
filter.FilterIdHigh = 0;
@ -175,12 +177,12 @@ void can_clearfilter(uint32_t f, uint8_t bank) {
HAL_CAN_ConfigFilter(NULL, &filter);
}
int can_receive(CAN_TypeDef *can, int fifo, CanRxMsgTypeDef *msg, uint32_t timeout_ms) {
int can_receive(CAN_HandleTypeDef *can, int fifo, CanRxMsgTypeDef *msg, uint8_t *data, uint32_t timeout_ms) {
volatile uint32_t *rfr;
if (fifo == CAN_FIFO0) {
rfr = &can->RF0R;
rfr = &can->Instance->RF0R;
} else {
rfr = &can->RF1R;
rfr = &can->Instance->RF1R;
}
// Wait for a message to become available, with timeout
@ -193,7 +195,7 @@ int can_receive(CAN_TypeDef *can, int fifo, CanRxMsgTypeDef *msg, uint32_t timeo
}
// Read message data
CAN_FIFOMailBox_TypeDef *box = &can->sFIFOMailBox[fifo];
CAN_FIFOMailBox_TypeDef *box = &can->Instance->sFIFOMailBox[fifo];
msg->IDE = box->RIR & 4;
if (msg->IDE == CAN_ID_STD) {
msg->StdId = box->RIR >> 21;
@ -204,15 +206,15 @@ int can_receive(CAN_TypeDef *can, int fifo, CanRxMsgTypeDef *msg, uint32_t timeo
msg->DLC = box->RDTR & 0xf;
msg->FMI = box->RDTR >> 8 & 0xff;
uint32_t rdlr = box->RDLR;
msg->Data[0] = rdlr;
msg->Data[1] = rdlr >> 8;
msg->Data[2] = rdlr >> 16;
msg->Data[3] = rdlr >> 24;
data[0] = rdlr;
data[1] = rdlr >> 8;
data[2] = rdlr >> 16;
data[3] = rdlr >> 24;
uint32_t rdhr = box->RDHR;
msg->Data[4] = rdhr;
msg->Data[5] = rdhr >> 8;
msg->Data[6] = rdhr >> 16;
msg->Data[7] = rdhr >> 24;
data[4] = rdhr;
data[5] = rdhr >> 8;
data[6] = rdhr >> 16;
data[7] = rdhr >> 24;
// Release (free) message from FIFO
*rfr |= CAN_RF0R_RFOM0;
@ -427,4 +429,6 @@ void CAN3_SCE_IRQHandler(void) {
}
#endif
#endif // !MICROPY_HW_ENABLE_FDCAN
#endif // MICROPY_HW_ENABLE_CAN

12
ports/stm32/can.h
View File

@ -37,6 +37,13 @@
#define MASK32 (2)
#define LIST32 (3)
#if MICROPY_HW_ENABLE_FDCAN
#define CAN_TypeDef FDCAN_GlobalTypeDef
#define CAN_HandleTypeDef FDCAN_HandleTypeDef
#define CanTxMsgTypeDef FDCAN_TxHeaderTypeDef
#define CanRxMsgTypeDef FDCAN_RxHeaderTypeDef
#endif
enum {
CAN_STATE_STOPPED,
CAN_STATE_ERROR_ACTIVE,
@ -74,10 +81,9 @@ 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);
void can_clearfilter(pyb_can_obj_t *self, uint32_t f, uint8_t bank);
int can_receive(CAN_HandleTypeDef *can, int fifo, CanRxMsgTypeDef *msg, uint8_t *data, 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

325
ports/stm32/fdcan.c 100644
View File

@ -0,0 +1,325 @@
/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2014-2018 Damien P. George
*
* 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/runtime.h"
#include "py/mperrno.h"
#include "py/mphal.h"
#include "can.h"
#include "irq.h"
#if MICROPY_HW_ENABLE_CAN && MICROPY_HW_ENABLE_FDCAN
#define FDCAN_ELEMENT_MASK_STDID (0x1ffc0000) // Standard Identifier
#define FDCAN_ELEMENT_MASK_EXTID (0x1fffffff) // Extended Identifier
#define FDCAN_ELEMENT_MASK_RTR (0x20000000) // Remote Transmission Request
#define FDCAN_ELEMENT_MASK_XTD (0x40000000) // Extended Identifier
#define FDCAN_ELEMENT_MASK_ESI (0x80000000) // Error State Indicator
#define FDCAN_ELEMENT_MASK_TS (0x0000ffff) // Timestamp
#define FDCAN_ELEMENT_MASK_DLC (0x000f0000) // Data Length Code
#define FDCAN_ELEMENT_MASK_BRS (0x00100000) // Bit Rate Switch
#define FDCAN_ELEMENT_MASK_FDF (0x00200000) // FD Format
#define FDCAN_ELEMENT_MASK_FIDX (0x7f000000) // Filter Index
#define FDCAN_ELEMENT_MASK_ANMF (0x80000000) // Accepted Non-matching Frame
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)auto_restart;
FDCAN_InitTypeDef *init = &can_obj->can.Init;
init->FrameFormat = FDCAN_FRAME_CLASSIC;
init->Mode = mode;
init->NominalPrescaler = prescaler; // tq = NominalPrescaler x (1/fdcan_ker_ck)
init->NominalSyncJumpWidth = sjw;
init->NominalTimeSeg1 = bs1; // NominalTimeSeg1 = Propagation_segment + Phase_segment_1
init->NominalTimeSeg2 = bs2;
init->AutoRetransmission = ENABLE;
init->TransmitPause = DISABLE;
init->ProtocolException = ENABLE;
// The Message RAM is shared between CAN1 and CAN2. Setting the offset to half
// the Message RAM for the second CAN and using half the resources for each CAN.
if (can_obj->can_id == PYB_CAN_1) {
init->MessageRAMOffset = 0;
} else {
init->MessageRAMOffset = 2560/2;
}
init->StdFiltersNbr = 64; // 128 / 2
init->ExtFiltersNbr = 0; // Not used
init->TxEventsNbr = 16; // 32 / 2
init->RxBuffersNbr = 32; // 64 / 2
init->TxBuffersNbr = 16; // 32 / 2
init->RxFifo0ElmtsNbr = 64; // 128 / 2
init->RxFifo0ElmtSize = FDCAN_DATA_BYTES_8;
init->RxFifo1ElmtsNbr = 64; // 128 / 2
init->RxFifo1ElmtSize = FDCAN_DATA_BYTES_8;
init->TxFifoQueueElmtsNbr = 16; // Tx fifo elements
init->TxElmtSize = FDCAN_DATA_BYTES_8;
init->TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
FDCAN_GlobalTypeDef *CANx = NULL;
const pin_obj_t *pins[2];
switch (can_obj->can_id) {
#if defined(MICROPY_HW_CAN1_TX)
case PYB_CAN_1:
CANx = FDCAN1;
pins[0] = MICROPY_HW_CAN1_TX;
pins[1] = MICROPY_HW_CAN1_RX;
break;
#endif
#if defined(MICROPY_HW_CAN2_TX)
case PYB_CAN_2:
CANx = FDCAN2;
pins[0] = MICROPY_HW_CAN2_TX;
pins[1] = MICROPY_HW_CAN2_RX;
break;
#endif
default:
return false;
}
// Enable FDCAN clock
__HAL_RCC_FDCAN_CLK_ENABLE();
// init GPIO
uint32_t pin_mode = MP_HAL_PIN_MODE_ALT;
uint32_t pin_pull = MP_HAL_PIN_PULL_UP;
for (int i = 0; i < 2; ++i) {
if (!mp_hal_pin_config_alt(pins[i], pin_mode, pin_pull, AF_FN_CAN, can_obj->can_id)) {
return false;
}
}
// init CANx
can_obj->can.Instance = CANx;
HAL_FDCAN_Init(&can_obj->can);
// Disable acceptance of non-matching frames (enabled by default)
HAL_FDCAN_ConfigGlobalFilter(&can_obj->can, FDCAN_REJECT, FDCAN_REJECT, DISABLE, DISABLE);
// The configuration registers are locked after CAN is started.
HAL_FDCAN_Start(&can_obj->can);
// Reset all filters
for (int f = 0; f < 64; ++f) {
can_clearfilter(can_obj, f, 0);
}
can_obj->is_enabled = true;
can_obj->num_error_warning = 0;
can_obj->num_error_passive = 0;
can_obj->num_bus_off = 0;
switch (can_obj->can_id) {
case PYB_CAN_1:
NVIC_SetPriority(FDCAN1_IT0_IRQn, IRQ_PRI_CAN);
HAL_NVIC_EnableIRQ(FDCAN1_IT0_IRQn);
NVIC_SetPriority(FDCAN1_IT1_IRQn, IRQ_PRI_CAN);
HAL_NVIC_EnableIRQ(FDCAN1_IT1_IRQn);
break;
case PYB_CAN_2:
NVIC_SetPriority(FDCAN2_IT0_IRQn, IRQ_PRI_CAN);
HAL_NVIC_EnableIRQ(FDCAN2_IT0_IRQn);
NVIC_SetPriority(FDCAN2_IT1_IRQn, IRQ_PRI_CAN);
HAL_NVIC_EnableIRQ(FDCAN2_IT1_IRQn);
break;
default:
return false;
}
__HAL_FDCAN_ENABLE_IT(&can_obj->can, FDCAN_IT_BUS_OFF | FDCAN_IT_ERROR_WARNING | FDCAN_IT_ERROR_PASSIVE);
__HAL_FDCAN_ENABLE_IT(&can_obj->can, FDCAN_IT_RX_FIFO0_NEW_MESSAGE | FDCAN_IT_RX_FIFO1_NEW_MESSAGE);
__HAL_FDCAN_ENABLE_IT(&can_obj->can, FDCAN_IT_RX_FIFO0_MESSAGE_LOST | FDCAN_IT_RX_FIFO1_MESSAGE_LOST);
__HAL_FDCAN_ENABLE_IT(&can_obj->can, FDCAN_IT_RX_FIFO0_FULL | FDCAN_IT_RX_FIFO1_FULL);
return true;
}
void can_deinit(pyb_can_obj_t *self) {
self->is_enabled = false;
HAL_FDCAN_DeInit(&self->can);
if (self->can.Instance == FDCAN1) {
HAL_NVIC_DisableIRQ(FDCAN1_IT0_IRQn);
HAL_NVIC_DisableIRQ(FDCAN1_IT1_IRQn);
// TODO check if FDCAN2 is used.
__HAL_RCC_FDCAN_FORCE_RESET();
__HAL_RCC_FDCAN_RELEASE_RESET();
__HAL_RCC_FDCAN_CLK_DISABLE();
#if defined(MICROPY_HW_CAN2_TX)
} else if (self->can.Instance == FDCAN2) {
HAL_NVIC_DisableIRQ(FDCAN2_IT0_IRQn);
HAL_NVIC_DisableIRQ(FDCAN2_IT1_IRQn);
// TODO check if FDCAN2 is used.
__HAL_RCC_FDCAN_FORCE_RESET();
__HAL_RCC_FDCAN_RELEASE_RESET();
__HAL_RCC_FDCAN_CLK_DISABLE();
#endif
}
}
void can_clearfilter(pyb_can_obj_t *self, uint32_t f, uint8_t bank) {
if (self && self->can.Instance) {
FDCAN_FilterTypeDef filter = {0};
filter.IdType = FDCAN_STANDARD_ID;
filter.FilterIndex = f;
filter.FilterConfig = FDCAN_FILTER_DISABLE;
HAL_FDCAN_ConfigFilter(&self->can, &filter);
}
}
int can_receive(FDCAN_HandleTypeDef *can, int fifo, FDCAN_RxHeaderTypeDef *hdr, uint8_t *data, uint32_t timeout_ms) {
volatile uint32_t *rxf, *rxa;
if (fifo == FDCAN_RX_FIFO0) {
rxf = &can->Instance->RXF0S;
rxa = &can->Instance->RXF0A;
} else {
rxf = &can->Instance->RXF1S;
rxa = &can->Instance->RXF1A;
}
// Wait for a message to become available, with timeout
uint32_t start = HAL_GetTick();
while ((*rxf & 7) == 0) {
MICROPY_EVENT_POLL_HOOK
if (HAL_GetTick() - start >= timeout_ms) {
return -MP_ETIMEDOUT;
}
}
// Get pointer to incoming message
uint32_t index = (can->Instance->RXF0S & FDCAN_RXF0S_F0GI) >> 8;
uint32_t *address = (uint32_t*)(can->msgRam.RxFIFO0SA + (index * can->Init.RxFifo0ElmtSize * 4));
// Parse header of message
hdr->IdType = *address & FDCAN_ELEMENT_MASK_XTD;
if(hdr->IdType == FDCAN_STANDARD_ID) {
hdr->Identifier = (*address & FDCAN_ELEMENT_MASK_STDID) >> 18;
} else {
hdr->Identifier = *address & FDCAN_ELEMENT_MASK_EXTID;
}
hdr->RxFrameType = *address & FDCAN_ELEMENT_MASK_RTR;
hdr->ErrorStateIndicator = *address++ & FDCAN_ELEMENT_MASK_ESI;
hdr->RxTimestamp = *address & FDCAN_ELEMENT_MASK_TS;
hdr->DataLength = (*address & FDCAN_ELEMENT_MASK_DLC) >> 16;
hdr->BitRateSwitch = *address & FDCAN_ELEMENT_MASK_BRS;
hdr->FDFormat = *address & FDCAN_ELEMENT_MASK_FDF;
hdr->FilterIndex = (*address & FDCAN_ELEMENT_MASK_FIDX) >> 24;
hdr->IsFilterMatchingFrame = (*address++ & FDCAN_ELEMENT_MASK_ANMF) >> 31;
// Copy data
uint8_t *pdata = (uint8_t*)address;
for(uint32_t i = 0; i < 8; ++i) { // TODO use DLCtoBytes[hdr->DataLength] for length > 8
*data++ = *pdata++;
}
// Release (free) message from FIFO
*rxa = index;
return 0; // success
}
STATIC 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 == FDCAN_RX_FIFO0) {
callback = self->rxcallback0;
state = &self->rx_state0;
} else {
callback = self->rxcallback1;
state = &self->rx_state1;
}
switch (*state) {
case RX_STATE_FIFO_EMPTY:
__HAL_FDCAN_DISABLE_IT(&self->can, (fifo_id == FDCAN_RX_FIFO0) ?
FDCAN_IT_RX_FIFO0_NEW_MESSAGE : FDCAN_IT_RX_FIFO1_NEW_MESSAGE);
irq_reason = MP_OBJ_NEW_SMALL_INT(0);
*state = RX_STATE_MESSAGE_PENDING;
break;
case RX_STATE_MESSAGE_PENDING:
__HAL_FDCAN_DISABLE_IT(&self->can, (fifo_id == FDCAN_RX_FIFO0) ? FDCAN_IT_RX_FIFO0_FULL : FDCAN_IT_RX_FIFO1_FULL);
__HAL_FDCAN_CLEAR_FLAG(&self->can, (fifo_id == FDCAN_RX_FIFO0) ? FDCAN_FLAG_RX_FIFO0_FULL : FDCAN_FLAG_RX_FIFO1_FULL);
irq_reason = MP_OBJ_NEW_SMALL_INT(1);
*state = RX_STATE_FIFO_FULL;
break;
case RX_STATE_FIFO_FULL:
__HAL_FDCAN_DISABLE_IT(&self->can, (fifo_id == FDCAN_RX_FIFO0) ?
FDCAN_IT_RX_FIFO0_MESSAGE_LOST : FDCAN_IT_RX_FIFO1_MESSAGE_LOST);
__HAL_FDCAN_CLEAR_FLAG(&self->can, (fifo_id == FDCAN_RX_FIFO0) ?
FDCAN_FLAG_RX_FIFO0_MESSAGE_LOST : FDCAN_FLAG_RX_FIFO1_MESSAGE_LOST);
irq_reason = MP_OBJ_NEW_SMALL_INT(2);
*state = RX_STATE_FIFO_OVERFLOW;
break;
case RX_STATE_FIFO_OVERFLOW:
// This should never happen
break;
}
pyb_can_handle_callback(self, fifo_id, callback, irq_reason);
}
#if defined(MICROPY_HW_CAN1_TX)
void FDCAN1_IT0_IRQHandler(void) {
IRQ_ENTER(FDCAN1_IT0_IRQn);
can_rx_irq_handler(PYB_CAN_1, FDCAN_RX_FIFO0);
IRQ_EXIT(FDCAN1_IT0_IRQn);
}
void FDCAN1_IT1_IRQHandler(void) {
IRQ_ENTER(FDCAN1_IT1_IRQn);
can_rx_irq_handler(PYB_CAN_1, FDCAN_RX_FIFO1);
IRQ_EXIT(FDCAN1_IT1_IRQn);
}
#endif
#if defined(MICROPY_HW_CAN2_TX)
void FDCAN2_IT0_IRQHandler(void) {
IRQ_ENTER(FDCAN2_IT0_IRQn);
can_rx_irq_handler(PYB_CAN_2, FDCAN_RX_FIFO0);
IRQ_EXIT(FDCAN2_IT0_IRQn);
}
void FDCAN2_IT1_IRQHandler(void) {
IRQ_ENTER(FDCAN2_IT1_IRQn);
can_rx_irq_handler(PYB_CAN_2, FDCAN_RX_FIFO1);
IRQ_EXIT(FDCAN2_IT1_IRQn);
}
#endif
#endif // MICROPY_HW_ENABLE_CAN && MICROPY_HW_ENABLE_FDCAN

3
ports/stm32/mpconfigboard_common.h
View File

@ -275,6 +275,9 @@
// Enable CAN if there are any peripherals defined
#if defined(MICROPY_HW_CAN1_TX) || defined(MICROPY_HW_CAN2_TX) || defined(MICROPY_HW_CAN3_TX)
#define MICROPY_HW_ENABLE_CAN (1)
#if defined(STM32H7)
#define MICROPY_HW_ENABLE_FDCAN (1) // define for MCUs with FDCAN
#endif
#else
#define MICROPY_HW_ENABLE_CAN (0)
#define MICROPY_HW_MAX_CAN (0)

8
ports/stm32/pin_defs_stm32.h
View File

@ -114,6 +114,14 @@ enum {
#define I2S2 SPI2
#define I2S3 SPI3
#if defined(STM32H7)
// Make H7 FDCAN more like CAN
#define CAN1 FDCAN1
#define CAN2 FDCAN2
#define GPIO_AF9_CAN1 GPIO_AF9_FDCAN1
#define GPIO_AF9_CAN2 GPIO_AF9_FDCAN2
#endif
enum {
PIN_ADC1 = (1 << 0),
PIN_ADC2 = (1 << 1),

277
ports/stm32/pyb_can.c
View File

@ -40,8 +40,73 @@
#if MICROPY_HW_ENABLE_CAN
#if MICROPY_HW_ENABLE_FDCAN
#define CAN_MAX_FILTER (64)
#define CAN_FIFO0 FDCAN_RX_FIFO0
#define CAN_FIFO1 FDCAN_RX_FIFO1
#define CAN_FILTER_FIFO0 (0)
// Default timings; 125Kbps assuming 48MHz clock
#define CAN_DEFAULT_PRESCALER (32)
#define CAN_DEFAULT_SJW (1)
#define CAN_DEFAULT_BS1 (8)
#define CAN_DEFAULT_BS2 (3)
#define CAN_MODE_NORMAL FDCAN_MODE_NORMAL
#define CAN_MODE_LOOPBACK FDCAN_MODE_EXTERNAL_LOOPBACK
#define CAN_MODE_SILENT FDCAN_MODE_BUS_MONITORING
#define CAN_MODE_SILENT_LOOPBACK FDCAN_MODE_INTERNAL_LOOPBACK
#define CAN1_RX0_IRQn FDCAN1_IT0_IRQn
#define CAN1_RX1_IRQn FDCAN1_IT1_IRQn
#define CAN2_RX0_IRQn FDCAN2_IT0_IRQn
#define CAN2_RX1_IRQn FDCAN2_IT1_IRQn
#define CAN_IT_FIFO0_FULL FDCAN_IT_RX_FIFO0_FULL
#define CAN_IT_FIFO1_FULL FDCAN_IT_RX_FIFO1_FULL
#define CAN_IT_FIFO0_OVRF FDCAN_IT_RX_FIFO0_MESSAGE_LOST
#define CAN_IT_FIFO1_OVRF FDCAN_IT_RX_FIFO1_MESSAGE_LOST
#define CAN_IT_FIFO0_PENDING FDCAN_IT_RX_FIFO0_NEW_MESSAGE
#define CAN_IT_FIFO1_PENDING FDCAN_IT_RX_FIFO1_NEW_MESSAGE
#define CAN_FLAG_FIFO0_FULL FDCAN_FLAG_RX_FIFO0_FULL
#define CAN_FLAG_FIFO1_FULL FDCAN_FLAG_RX_FIFO1_FULL
#define CAN_FLAG_FIFO0_OVRF FDCAN_FLAG_RX_FIFO0_MESSAGE_LOST
#define CAN_FLAG_FIFO1_OVRF FDCAN_FLAG_RX_FIFO1_MESSAGE_LOST
#define __HAL_CAN_ENABLE_IT __HAL_FDCAN_ENABLE_IT
#define __HAL_CAN_DISABLE_IT __HAL_FDCAN_DISABLE_IT
#define __HAL_CAN_CLEAR_FLAG __HAL_FDCAN_CLEAR_FLAG
#define __HAL_CAN_MSG_PENDING HAL_FDCAN_GetRxFifoFillLevel
// Both banks start at 0
STATIC uint8_t can2_start_bank = 0;
#else
#define CAN_MAX_FILTER (28)
#define CAN_DEFAULT_PRESCALER (100)
#define CAN_DEFAULT_SJW (1)
#define CAN_DEFAULT_BS1 (6)
#define CAN_DEFAULT_BS2 (8)
#define CAN_IT_FIFO0_FULL CAN_IT_FF0
#define CAN_IT_FIFO1_FULL CAN_IT_FF1
#define CAN_IT_FIFO0_OVRF CAN_IT_FOV0
#define CAN_IT_FIFO1_OVRF CAN_IT_FOV1
#define CAN_IT_FIFO0_PENDING CAN_IT_FMP0
#define CAN_IT_FIFO1_PENDING CAN_IT_FMP1
#define CAN_FLAG_FIFO0_FULL CAN_FLAG_FF0
#define CAN_FLAG_FIFO1_FULL CAN_FLAG_FF1
#define CAN_FLAG_FIFO0_OVRF CAN_FLAG_FOV0
#define CAN_FLAG_FIFO1_OVRF CAN_FLAG_FOV1
STATIC uint8_t can2_start_bank = 14;
#endif
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 = MP_OBJ_TO_PTR(self_in);
if (!self->is_enabled) {
@ -58,7 +123,12 @@ STATIC void pyb_can_print(const mp_print_t *print, mp_obj_t self_in, mp_print_ki
self->can_id,
mode,
self->extframe ? MP_QSTR_True : MP_QSTR_False,
(self->can.Instance->MCR & CAN_MCR_ABOM) ? MP_QSTR_True : MP_QSTR_False);
#if MICROPY_HW_ENABLE_FDCAN
(self->can.Instance->CCCR & FDCAN_CCCR_DAR) ? MP_QSTR_True : MP_QSTR_False
#else
(self->can.Instance->MCR & CAN_MCR_ABOM) ? MP_QSTR_True : MP_QSTR_False
#endif
);
}
}
@ -68,10 +138,10 @@ STATIC mp_obj_t pyb_can_init_helper(pyb_can_obj_t *self, size_t n_args, const mp
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} },
{ MP_QSTR_prescaler, MP_ARG_INT, {.u_int = CAN_DEFAULT_PRESCALER} },
{ MP_QSTR_sjw, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = CAN_DEFAULT_SJW} },
{ MP_QSTR_bs1, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = CAN_DEFAULT_BS1} },
{ MP_QSTR_bs2, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = CAN_DEFAULT_BS2} },
{ MP_QSTR_auto_restart, MP_ARG_KW_ONLY | MP_ARG_BOOL, {.u_bool = false} },
};
@ -179,12 +249,21 @@ STATIC mp_obj_t pyb_can_restart(mp_obj_t self_in) {
mp_raise_ValueError(NULL);
}
CAN_TypeDef *can = self->can.Instance;
#if MICROPY_HW_ENABLE_FDCAN
can->CCCR |= FDCAN_CCCR_INIT;
while ((can->CCCR & FDCAN_CCCR_INIT) == 0) {
}
can->CCCR &= ~FDCAN_CCCR_INIT;
while ((can->CCCR & FDCAN_CCCR_INIT)) {
}
#else
can->MCR |= CAN_MCR_INRQ;
while ((can->MSR & CAN_MSR_INAK) == 0) {
}
can->MCR &= ~CAN_MCR_INRQ;
while ((can->MSR & CAN_MSR_INAK)) {
}
#endif
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_can_restart_obj, pyb_can_restart);
@ -195,6 +274,17 @@ STATIC mp_obj_t pyb_can_state(mp_obj_t self_in) {
mp_int_t state = CAN_STATE_STOPPED;
if (self->is_enabled) {
CAN_TypeDef *can = self->can.Instance;
#if MICROPY_HW_ENABLE_FDCAN
if (can->PSR & FDCAN_PSR_BO) {
state = CAN_STATE_BUS_OFF;
} else if (can->PSR & FDCAN_PSR_EP) {
state = CAN_STATE_ERROR_PASSIVE;
} else if (can->PSR & FDCAN_PSR_EW) {
state = CAN_STATE_ERROR_WARNING;
} else {
state = CAN_STATE_ERROR_ACTIVE;
}
#else
if (can->ESR & CAN_ESR_BOFF) {
state = CAN_STATE_BUS_OFF;
} else if (can->ESR & CAN_ESR_EPVF) {
@ -204,6 +294,7 @@ STATIC mp_obj_t pyb_can_state(mp_obj_t self_in) {
} else {
state = CAN_STATE_ERROR_ACTIVE;
}
#endif
}
return MP_OBJ_NEW_SMALL_INT(state);
}
@ -211,6 +302,10 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_can_state_obj, pyb_can_state);
// Get info about error states and TX/RX buffers
STATIC mp_obj_t pyb_can_info(size_t n_args, const mp_obj_t *args) {
#if MICROPY_HW_ENABLE_FDCAN
// TODO implement for FDCAN
return mp_const_none;
#else
pyb_can_obj_t *self = MP_OBJ_TO_PTR(args[0]);
mp_obj_list_t *list;
if (n_args == 1) {
@ -236,6 +331,7 @@ STATIC mp_obj_t pyb_can_info(size_t n_args, const mp_obj_t *args) {
list->items[6] = MP_OBJ_NEW_SMALL_INT(can->RF0R >> CAN_RF0R_FMP0_Pos & 3);
list->items[7] = MP_OBJ_NEW_SMALL_INT(can->RF1R >> CAN_RF1R_FMP1_Pos & 3);
return MP_OBJ_FROM_PTR(list);
#endif
}
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_can_info_obj, 1, 2, pyb_can_info);
@ -282,6 +378,32 @@ STATIC mp_obj_t pyb_can_send(size_t n_args, const mp_obj_t *pos_args, mp_map_t *
// send the data
CanTxMsgTypeDef tx_msg;
#if MICROPY_HW_ENABLE_FDCAN
uint8_t tx_data[8];
tx_msg.MessageMarker = 0;
tx_msg.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
tx_msg.BitRateSwitch = FDCAN_BRS_OFF;
tx_msg.FDFormat = FDCAN_CLASSIC_CAN;
tx_msg.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
tx_msg.DataLength = (bufinfo.len << 16); // TODO DLC for len > 8
if (self->extframe) {
tx_msg.Identifier = args[ARG_id].u_int & 0x1FFFFFFF;
tx_msg.IdType = FDCAN_EXTENDED_ID;
} else {
tx_msg.Identifier = args[ARG_id].u_int & 0x7FF;
tx_msg.IdType = FDCAN_STANDARD_ID;
}
if (args[ARG_rtr].u_bool == false) {
tx_msg.TxFrameType = FDCAN_DATA_FRAME;
} else {
tx_msg.TxFrameType = FDCAN_REMOTE_FRAME;
}
#else
tx_msg.DLC = bufinfo.len;
uint8_t *tx_data = tx_msg.Data; // Data is uint32_t but holds only 1 byte
if (self->extframe) {
tx_msg.ExtId = args[ARG_id].u_int & 0x1FFFFFFF;
tx_msg.IDE = CAN_ID_EXT;
@ -294,13 +416,19 @@ STATIC mp_obj_t pyb_can_send(size_t n_args, const mp_obj_t *pos_args, mp_map_t *
} else {
tx_msg.RTR = CAN_RTR_REMOTE;
}
tx_msg.DLC = bufinfo.len;
#endif
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
tx_data[i] = ((byte*)bufinfo.buf)[i];
}
HAL_StatusTypeDef status;
#if MICROPY_HW_ENABLE_FDCAN
status = HAL_FDCAN_AddMessageToTxFifoQ(&self->can, &tx_msg, tx_data);
#else
self->can.pTxMsg = &tx_msg;
HAL_StatusTypeDef status = CAN_Transmit(&self->can, args[ARG_timeout].u_int);
status = CAN_Transmit(&self->can, args[ARG_timeout].u_int);
#endif
if (status != HAL_OK) {
mp_hal_raise(status);
@ -326,13 +454,33 @@ STATIC mp_obj_t pyb_can_recv(size_t n_args, const mp_obj_t *pos_args, mp_map_t *
// receive the data
CanRxMsgTypeDef rx_msg;
int ret = can_receive(self->can.Instance, args[ARG_fifo].u_int, &rx_msg, args[ARG_timeout].u_int);
#if MICROPY_HW_ENABLE_FDCAN
uint8_t rx_data[8];
#else
uint8_t *rx_data = rx_msg.Data;
#endif
mp_uint_t fifo = args[ARG_fifo].u_int;
if (fifo == 0) {
fifo = CAN_FIFO0;
} else if (fifo == 1) {
fifo = CAN_FIFO1;
} else {
mp_raise_TypeError(NULL);
}
int ret = can_receive(&self->can, fifo, &rx_msg, rx_data, args[ARG_timeout].u_int);
if (ret < 0) {
mp_raise_OSError(-ret);
}
#if MICROPY_HW_ENABLE_FDCAN
uint32_t rx_dlc = rx_msg.DataLength;
#else
uint32_t rx_dlc = rx_msg.DLC;
#endif
// Manage the rx state machine
mp_int_t fifo = args[ARG_fifo].u_int;
if ((fifo == CAN_FIFO0 && self->rxcallback0 != mp_const_none) ||
(fifo == CAN_FIFO1 && self->rxcallback1 != mp_const_none)) {
byte *state = (fifo == CAN_FIFO0) ? &self->rx_state0 : &self->rx_state1;
@ -343,17 +491,17 @@ STATIC mp_obj_t pyb_can_recv(size_t n_args, const mp_obj_t *pos_args, mp_map_t *
case RX_STATE_MESSAGE_PENDING:
if (__HAL_CAN_MSG_PENDING(&self->can, fifo) == 0) {
// Fifo is empty
__HAL_CAN_ENABLE_IT(&self->can, (fifo == CAN_FIFO0) ? CAN_IT_FMP0 : CAN_IT_FMP1);
__HAL_CAN_ENABLE_IT(&self->can, (fifo == CAN_FIFO0) ? CAN_IT_FIFO0_PENDING : CAN_IT_FIFO1_PENDING);
*state = RX_STATE_FIFO_EMPTY;
}
break;
case RX_STATE_FIFO_FULL:
__HAL_CAN_ENABLE_IT(&self->can, (fifo == CAN_FIFO0) ? CAN_IT_FF0 : CAN_IT_FF1);
__HAL_CAN_ENABLE_IT(&self->can, (fifo == CAN_FIFO0) ? CAN_IT_FIFO0_FULL : CAN_IT_FIFO1_FULL);
*state = RX_STATE_MESSAGE_PENDING;
break;
case RX_STATE_FIFO_OVERFLOW:
__HAL_CAN_ENABLE_IT(&self->can, (fifo == CAN_FIFO0) ? CAN_IT_FOV0 : CAN_IT_FOV1);
__HAL_CAN_ENABLE_IT(&self->can, (fifo == CAN_FIFO0) ? CAN_IT_FF0 : CAN_IT_FF1);
__HAL_CAN_ENABLE_IT(&self->can, (fifo == CAN_FIFO0) ? CAN_IT_FIFO0_OVRF : CAN_IT_FIFO1_OVRF);
__HAL_CAN_ENABLE_IT(&self->can, (fifo == CAN_FIFO0) ? CAN_IT_FIFO0_FULL : CAN_IT_FIFO1_FULL);
*state = RX_STATE_MESSAGE_PENDING;
break;
}
@ -366,7 +514,7 @@ STATIC mp_obj_t pyb_can_recv(size_t n_args, const mp_obj_t *pos_args, mp_map_t *
if (ret_obj == mp_const_none) {
ret_obj = mp_obj_new_tuple(4, NULL);
items = ((mp_obj_tuple_t*)MP_OBJ_TO_PTR(ret_obj))->items;
items[3] = mp_obj_new_bytes(&rx_msg.Data[0], rx_msg.DLC);
items[3] = mp_obj_new_bytes(rx_data, rx_dlc);
} else {
// User should provide a list of length at least 4 to hold the values
if (!mp_obj_is_type(ret_obj, &mp_type_list)) {
@ -387,18 +535,20 @@ STATIC mp_obj_t pyb_can_recv(size_t n_args, const mp_obj_t *pos_args, mp_map_t *
|| (mv->typecode | 0x20) == (MP_OBJ_ARRAY_TYPECODE_FLAG_RW | 'b'))) {
mp_raise_ValueError(NULL);
}
mv->len = rx_msg.DLC;
memcpy(mv->items, &rx_msg.Data[0], rx_msg.DLC);
mv->len = rx_dlc;
memcpy(mv->items, rx_data, rx_dlc);
}
// Populate the first 3 values of the tuple/list
if (rx_msg.IDE == CAN_ID_STD) {
items[0] = MP_OBJ_NEW_SMALL_INT(rx_msg.StdId);
} else {
items[0] = MP_OBJ_NEW_SMALL_INT(rx_msg.ExtId);
}
#if MICROPY_HW_ENABLE_FDCAN
items[0] = MP_OBJ_NEW_SMALL_INT(rx_msg.Identifier);
items[1] = rx_msg.RxFrameType == FDCAN_REMOTE_FRAME ? mp_const_true : mp_const_false;
items[2] = MP_OBJ_NEW_SMALL_INT(rx_msg.FilterIndex);
#else
items[0] = MP_OBJ_NEW_SMALL_INT((rx_msg.IDE == CAN_ID_STD ? rx_msg.StdId : rx_msg.ExtId));
items[1] = rx_msg.RTR == CAN_RTR_REMOTE ? mp_const_true : mp_const_false;
items[2] = MP_OBJ_NEW_SMALL_INT(rx_msg.FMI);
#endif
// Return the result
return ret_obj;
@ -407,12 +557,15 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_can_recv_obj, 1, pyb_can_recv);
// initfilterbanks(n)
STATIC mp_obj_t pyb_can_initfilterbanks(mp_obj_t self, mp_obj_t bank_in) {
#if MICROPY_HW_ENABLE_FDCAN
can2_start_bank = 0;
#else
can2_start_bank = mp_obj_get_int(bank_in);
#endif
for (int f = 0; f < 28; f++) {
can_clearfilter(f, can2_start_bank);
for (int f = 0; f < CAN_MAX_FILTER; f++) {
can_clearfilter(self, f, can2_start_bank);
}
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_2(pyb_can_initfilterbanks_fun_obj, pyb_can_initfilterbanks);
@ -424,7 +577,7 @@ STATIC mp_obj_t pyb_can_clearfilter(mp_obj_t self_in, mp_obj_t bank_in) {
if (self->can_id == 2) {
f += can2_start_bank;
}
can_clearfilter(f, can2_start_bank);
can_clearfilter(self, f, can2_start_bank);
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_2(pyb_can_clearfilter_obj, pyb_can_clearfilter);
@ -446,6 +599,41 @@ STATIC mp_obj_t pyb_can_setfilter(size_t n_args, const mp_obj_t *pos_args, mp_ma
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);
#if MICROPY_HW_ENABLE_FDCAN
FDCAN_FilterTypeDef filter = {0};
filter.IdType = FDCAN_STANDARD_ID;
// TODO check filter index
filter.FilterIndex = args[ARG_bank].u_int;
// Check filter mode
if (((args[ARG_mode].u_int != FDCAN_FILTER_RANGE) &&
(args[ARG_mode].u_int != FDCAN_FILTER_DUAL) &&
(args[ARG_mode].u_int != FDCAN_FILTER_MASK))) {
goto error;
}
// Check FIFO index.
if (args[ARG_fifo].u_int == 0) {
filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
} else if (args[ARG_fifo].u_int == 1) {
filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO1;
} else {
goto error;
}
size_t len;
mp_obj_t *params;
mp_obj_get_array(args[ARG_params].u_obj, &len, &params);
if (len != 2) { // Check params len
goto error;
}
filter.FilterID1 = mp_obj_get_int(params[0]);
filter.FilterID2 = mp_obj_get_int(params[1]);
filter.FilterType = args[ARG_mode].u_int;
HAL_FDCAN_ConfigFilter(&self->can, &filter);
#else
size_t len;
size_t rtr_len;
mp_uint_t rtr_masks[4] = {0, 0, 0, 0};
@ -553,9 +741,9 @@ STATIC mp_obj_t pyb_can_setfilter(size_t n_args, const mp_obj_t *pos_args, mp_ma
filter.FilterActivation = ENABLE;
filter.BankNumber = can2_start_bank;
HAL_CAN_ConfigFilter(&self->can, &filter);
#endif
return mp_const_none;
error:
mp_raise_ValueError("CAN filter parameter error");
}
@ -568,11 +756,11 @@ STATIC mp_obj_t pyb_can_rxcallback(mp_obj_t self_in, mp_obj_t fifo_in, mp_obj_t
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);
__HAL_CAN_CLEAR_FLAG(&self->can, (fifo == CAN_FIFO0) ? CAN_FLAG_FF0 : CAN_FLAG_FF1);
__HAL_CAN_CLEAR_FLAG(&self->can, (fifo == CAN_FIFO0) ? CAN_FLAG_FOV0 : CAN_FLAG_FOV1);
__HAL_CAN_DISABLE_IT(&self->can, (fifo == 0) ? CAN_IT_FIFO0_PENDING : CAN_IT_FIFO1_PENDING);
__HAL_CAN_DISABLE_IT(&self->can, (fifo == 0) ? CAN_IT_FIFO0_FULL : CAN_IT_FIFO1_FULL);
__HAL_CAN_DISABLE_IT(&self->can, (fifo == 0) ? CAN_IT_FIFO0_OVRF : CAN_IT_FIFO1_OVRF);
__HAL_CAN_CLEAR_FLAG(&self->can, (fifo == CAN_FIFO0) ? CAN_FLAG_FIFO0_FULL : CAN_FLAG_FIFO1_FULL);
__HAL_CAN_CLEAR_FLAG(&self->can, (fifo == CAN_FIFO0) ? CAN_FLAG_FIFO0_OVRF : CAN_FLAG_FIFO1_OVRF);
*callback = mp_const_none;
} else if (*callback != mp_const_none) {
// Rx call backs has already been initialized
@ -594,9 +782,9 @@ STATIC mp_obj_t pyb_can_rxcallback(mp_obj_t self_in, mp_obj_t fifo_in, mp_obj_t
}
NVIC_SetPriority(irq, IRQ_PRI_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);
__HAL_CAN_ENABLE_IT(&self->can, (fifo == 0) ? CAN_IT_FIFO0_PENDING : CAN_IT_FIFO1_PENDING);
__HAL_CAN_ENABLE_IT(&self->can, (fifo == 0) ? CAN_IT_FIFO0_FULL : CAN_IT_FIFO1_FULL);
__HAL_CAN_ENABLE_IT(&self->can, (fifo == 0) ? CAN_IT_FIFO0_OVRF : CAN_IT_FIFO1_OVRF);
}
return mp_const_none;
}
@ -617,6 +805,16 @@ STATIC const mp_rom_map_elem_t pyb_can_locals_dict_table[] = {
{ MP_ROM_QSTR(MP_QSTR_clearfilter), MP_ROM_PTR(&pyb_can_clearfilter_obj) },
{ MP_ROM_QSTR(MP_QSTR_rxcallback), MP_ROM_PTR(&pyb_can_rxcallback_obj) },
#if MICROPY_HW_ENABLE_FDCAN
{ MP_ROM_QSTR(MP_QSTR_NORMAL), MP_ROM_INT(CAN_MODE_NORMAL) },
{ MP_ROM_QSTR(MP_QSTR_LOOPBACK), MP_ROM_INT(CAN_MODE_LOOPBACK) },
{ MP_ROM_QSTR(MP_QSTR_SILENT), MP_ROM_INT(CAN_MODE_SILENT) },
{ MP_ROM_QSTR(MP_QSTR_SILENT_LOOPBACK), MP_ROM_INT(CAN_MODE_SILENT_LOOPBACK) },
{ MP_ROM_QSTR(MP_QSTR_RANGE), MP_ROM_INT(FDCAN_FILTER_RANGE) },
{ MP_ROM_QSTR(MP_QSTR_DUAL), MP_ROM_INT(FDCAN_FILTER_DUAL) },
{ MP_ROM_QSTR(MP_QSTR_MASK), MP_ROM_INT(FDCAN_FILTER_MASK) },
#else
// 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.
@ -624,10 +822,12 @@ STATIC const mp_rom_map_elem_t pyb_can_locals_dict_table[] = {
{ MP_ROM_QSTR(MP_QSTR_LOOPBACK), MP_ROM_INT(CAN_MODE_LOOPBACK >> 4) },
{ MP_ROM_QSTR(MP_QSTR_SILENT), MP_ROM_INT(CAN_MODE_SILENT >> 4) },
{ MP_ROM_QSTR(MP_QSTR_SILENT_LOOPBACK), MP_ROM_INT(CAN_MODE_SILENT_LOOPBACK >> 4) },
{ MP_ROM_QSTR(MP_QSTR_MASK16), MP_ROM_INT(MASK16) },
{ MP_ROM_QSTR(MP_QSTR_LIST16), MP_ROM_INT(LIST16) },
{ MP_ROM_QSTR(MP_QSTR_MASK32), MP_ROM_INT(MASK32) },
{ MP_ROM_QSTR(MP_QSTR_LIST32), MP_ROM_INT(LIST32) },
#endif
// values for CAN.state()
{ MP_ROM_QSTR(MP_QSTR_STOPPED), MP_ROM_INT(CAN_STATE_STOPPED) },
@ -649,7 +849,12 @@ STATIC mp_uint_t can_ioctl(mp_obj_t self_in, mp_uint_t request, uintptr_t arg, i
|| (__HAL_CAN_MSG_PENDING(&self->can, CAN_FIFO1) != 0))) {
ret |= MP_STREAM_POLL_RD;
}
if ((flags & MP_STREAM_POLL_WR) && (self->can.Instance->TSR & CAN_TSR_TME)) {
#if MICROPY_HW_ENABLE_FDCAN
if ((flags & MP_STREAM_POLL_WR) && (self->can.Instance->IR & FDCAN_IR_TFE))
#else
if ((flags & MP_STREAM_POLL_WR) && (self->can.Instance->TSR & CAN_TSR_TME))
#endif
{
ret |= MP_STREAM_POLL_WR;
}
} else {