micropython/ports/stm32/can.h

90 lines
3.0 KiB
C

/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2014 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.
*/
#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)
#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,
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_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(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