diff options
| -rw-r--r-- | stmhal/can.c | 59 | ||||
| -rw-r--r-- | tests/pyb/can.py | 1 |
2 files changed, 39 insertions, 21 deletions
diff --git a/stmhal/can.c b/stmhal/can.c index b2330cd9c1..6d582d44f3 100644 --- a/stmhal/can.c +++ b/stmhal/can.c @@ -343,44 +343,61 @@ STATIC mp_obj_t pyb_can_make_new(const mp_obj_type_t *type, mp_uint_t n_args, mp // 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; + mp_uint_t can_idx; 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; + can_idx = PYB_CAN_1; #endif #ifdef MICROPY_HW_CAN2_NAME } else if (strcmp(port, MICROPY_HW_CAN2_NAME) == 0) { - o->can_id = PYB_CAN_2; + can_idx = PYB_CAN_2; #endif } else { - nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "CAN port %s does not exist", port)); + nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "CAN(%s) does not exist", port)); } } else { - o->can_id = mp_obj_get_int(args[0]); + can_idx = mp_obj_get_int(args[0]); + } + if (can_idx < 1 || can_idx > MP_ARRAY_SIZE(MP_STATE_PORT(pyb_can_obj_all))) { + nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "CAN(%d) does not exist", can_idx)); + } + + pyb_can_obj_t *self; + if (MP_STATE_PORT(pyb_can_obj_all)[can_idx - 1] == NULL) { + self = m_new_obj(pyb_can_obj_t); + self->base.type = &pyb_can_type; + self->can_id = can_idx; + self->is_enabled = false; + MP_STATE_PORT(pyb_can_obj_all)[can_idx - 1] = self; + } else { + self = MP_STATE_PORT(pyb_can_obj_all)[can_idx - 1]; } - 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); + if (!self->is_enabled || n_args > 1) { + if (self->is_enabled) { + // The caller is requesting a reconfiguration of the hardware + // this can only be done if the hardware is in init mode + pyb_can_deinit(self); + } + + self->rxcallback0 = mp_const_none; + self->rxcallback1 = mp_const_none; + self->rx_state0 = RX_STATE_FIFO_EMPTY; + self->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(self, n_args - 1, args + 1, &kw_args); + } } - return o; + return self; } STATIC mp_obj_t pyb_can_init(mp_uint_t n_args, const mp_obj_t *args, mp_map_t *kw_args) { diff --git a/tests/pyb/can.py b/tests/pyb/can.py index cf8089a3bd..594d1d5093 100644 --- a/tests/pyb/can.py +++ b/tests/pyb/can.py @@ -8,6 +8,7 @@ for bus in (-1, 0, 1, 2, 3, "YA", "YB", "YC"): print("CAN", bus) except ValueError: print("ValueError", bus) +CAN(1).deinit() CAN.initfilterbanks(14) can = CAN(1) |