diff options
| -rw-r--r-- | stmhal/can.c | 32 | ||||
| -rw-r--r-- | stmhal/qstrdefsport.h | 1 |
2 files changed, 25 insertions, 8 deletions
diff --git a/stmhal/can.c b/stmhal/can.c index 5600bfae04..1afc6df3c3 100644 --- a/stmhal/can.c +++ b/stmhal/can.c @@ -60,13 +60,14 @@ /// /// from pyb import CAN /// can = pyb.CAN(1, pyb.CAN.LOOPBACK) -/// can.send('message!', 123) # send message to id 123 +/// can.send('message!', 123) # send message with id 123 /// can.recv(0) # receive message on FIFO 0 typedef struct _pyb_can_obj_t { mp_obj_base_t base; mp_uint_t can_id : 8; bool is_enabled : 1; + bool extframe : 1; CAN_HandleTypeDef can; } pyb_can_obj_t; @@ -151,6 +152,12 @@ STATIC void pyb_can_print(void (*print)(void *env, const char *fmt, ...), void * case CAN_MODE_SILENT: mode = MP_QSTR_SILENT; break; case CAN_MODE_SILENT_LOOPBACK: default: mode = MP_QSTR_SILENT_LOOPBACK; break; } + print(env, "%s, ", qstr_str(mode)); + if (self->extframe) { + mode = MP_QSTR_True; + } else { + mode = MP_QSTR_False; + } print(env, "%s)", qstr_str(mode)); } } @@ -162,8 +169,9 @@ STATIC void pyb_can_print(void (*print)(void *env, const char *fmt, ...), void * /// - `mode` is one of: NORMAL, LOOPBACK, SILENT, SILENT_LOOPBACK 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_prescaler, MP_ARG_INT, {.u_int = 100} }, + { 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} }, @@ -175,11 +183,12 @@ STATIC mp_obj_t pyb_can_init_helper(pyb_can_obj_t *self, mp_uint_t n_args, const 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[1].u_int; + init->Prescaler = args[2].u_int; init->SJW = CAN_SJW_1TQ; // TODO set from args init->BS1 = CAN_BS1_6TQ; // TODO set from args init->BS2 = CAN_BS2_8TQ; // TODO set from args @@ -317,13 +326,20 @@ STATIC mp_obj_t pyb_can_send(mp_uint_t n_args, const mp_obj_t *pos_args, mp_map_ mp_buffer_info_t bufinfo; uint8_t data[1]; pyb_buf_get_for_send(args[0].u_obj, &bufinfo, data); - // TODO check bufinfo.len <= 8 + + 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; - tx_msg.StdId = args[1].u_int & 0x7ff; - tx_msg.ExtId = 0; // TODO support extended ids - tx_msg.IDE = CAN_ID_STD; + 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; + } tx_msg.RTR = CAN_RTR_DATA; tx_msg.DLC = bufinfo.len; for (mp_uint_t i = 0; i < bufinfo.len; i++) { diff --git a/stmhal/qstrdefsport.h b/stmhal/qstrdefsport.h index 87020f4b8e..b43ddb02b8 100644 --- a/stmhal/qstrdefsport.h +++ b/stmhal/qstrdefsport.h @@ -167,6 +167,7 @@ Q(recv) Q(addr) Q(fifo) Q(timeout) +Q(extframe) Q(NORMAL) Q(LOOPBACK) Q(SILENT) |