Commit acb92c18 authored by Henrik Sölver's avatar Henrik Sölver Committed by Damien George
Browse files

Adding CAN filter management

parent 20d239cb
......@@ -43,6 +43,11 @@
#if MICROPY_HW_ENABLE_CAN
#define MASK16 (0)
#define LIST16 (1)
#define MASK32 (2)
#define LIST32 (3)
/// \moduleref pyb
/// \class CAN - controller area network communication bus
///
......@@ -71,6 +76,8 @@ typedef struct _pyb_can_obj_t {
CAN_HandleTypeDef can;
} pyb_can_obj_t;
STATIC uint8_t can2_start_bank = 14;
// assumes Init parameters have been set up correctly
STATIC bool can_init(pyb_can_obj_t *can_obj) {
CAN_TypeDef *CANx = NULL;
......@@ -136,6 +143,23 @@ STATIC void can_deinit(pyb_can_obj_t *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);
}
/******************************************************************************/
// Micro Python bindings
......@@ -199,20 +223,6 @@ STATIC mp_obj_t pyb_can_init_helper(pyb_can_obj_t *self, mp_uint_t n_args, const
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "CAN port %d does not exist", self->can_id));
}
// set CAN filter to accept everything
CAN_FilterConfTypeDef filter;
filter.FilterIdHigh = 0;
filter.FilterIdLow = 0;
filter.FilterMaskIdHigh = 0;
filter.FilterMaskIdLow = 0;
filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;
filter.FilterNumber = 0; // 0-27
filter.FilterMode = CAN_FILTERMODE_IDMASK;
filter.FilterScale = CAN_FILTERSCALE_32BIT;
filter.FilterActivation = ENABLE;
filter.BankNumber = 0; // what's this for?
HAL_CAN_ConfigFilter(&self->can, &filter);
return mp_const_none;
}
......@@ -399,6 +409,126 @@ STATIC mp_obj_t pyb_can_recv(mp_uint_t n_args, const mp_obj_t *pos_args, mp_map_
}
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_can_recv_obj, 1, pyb_can_recv);
/// \class method initfilterbanks
///
/// Set up the filterbanks. All filter will be disabled and set to their reset states.
///
/// - `banks` is an integer that sets how many filter banks that are reserved for CAN1.
/// 0 -> no filters assigned for CAN1
/// 28 -> all filters are assigned to CAN1
/// CAN2 will get the rest of the 28 available.
///
/// Return value: none.
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);
/// Configures a filterbank
/// Return value: `None`.
#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} },
};
// 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_obj_t *params;
mp_obj_get_array(args[3].u_obj, &len, &params);
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) {
filter.FilterIdLow = EXTENDED_ID_TO_16BIT_FILTER(mp_obj_get_int(params[0])); // id1
filter.FilterMaskIdLow = EXTENDED_ID_TO_16BIT_FILTER(mp_obj_get_int(params[1])); // mask1
filter.FilterIdHigh = EXTENDED_ID_TO_16BIT_FILTER(mp_obj_get_int(params[2])); // id2
filter.FilterMaskIdHigh = EXTENDED_ID_TO_16BIT_FILTER(mp_obj_get_int(params[3])); // mask2
} else {
filter.FilterIdLow = mp_obj_get_int(params[0]) << 5; // id1
filter.FilterMaskIdLow = mp_obj_get_int(params[1]) << 5; // mask1
filter.FilterIdHigh = mp_obj_get_int(params[2]) << 5; // id2
filter.FilterMaskIdHigh = mp_obj_get_int(params[3]) << 5; // 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;
filter.FilterIdHigh = (mp_obj_get_int(params[0]) & 0xFF00) >> 13;
filter.FilterIdLow = ((mp_obj_get_int(params[0]) & 0x00FF) << 3) | 4;
filter.FilterMaskIdHigh = (mp_obj_get_int(params[1]) & 0xFF00 ) >> 13;
filter.FilterMaskIdLow = ((mp_obj_get_int(params[1]) & 0x00FF) << 3) | 4;
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 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 },
......@@ -406,6 +536,9 @@ STATIC const mp_map_elem_t pyb_can_locals_dict_table[] = {
{ 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 },
// class constants
// Note: we use the ST constants >> 4 so they fit in a small-int. The
......@@ -414,6 +547,11 @@ STATIC const mp_map_elem_t pyb_can_locals_dict_table[] = {
{ 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);
......
......@@ -160,6 +160,7 @@ Q(RTS)
Q(CTS)
// for CAN class
#if MICROPY_HW_ENABLE_CAN
Q(CAN)
Q(prescaler)
Q(init)
......@@ -174,10 +175,20 @@ Q(extframe)
Q(sjw)
Q(bs1)
Q(bs2)
Q(bank)
Q(params)
Q(initfilterbanks)
Q(clearfilter)
Q(setfilter)
Q(NORMAL)
Q(LOOPBACK)
Q(SILENT)
Q(SILENT_LOOPBACK)
Q(MASK16)
Q(LIST16)
Q(MASK32)
Q(LIST32)
#endif
// for Timer class
Q(Timer)
......
from pyb import CAN
CAN.initfilterbanks(14)
can = CAN(1)
print(can)
......@@ -7,6 +8,9 @@ can.init(CAN.LOOPBACK)
print(can)
print(can.any(0))
# Catch all filter
can.setfilter(0, CAN.MASK16, 0, (0, 0, 0, 0))
can.send('abcd', 123)
print(can.any(0))
print(can.recv(0))
......@@ -17,7 +21,7 @@ print(can.recv(0))
can.send('abcd', 0x7FF + 1)
print(can.recv(0))
#Test too long message
# Test too long message
try:
can.send('abcdefghi', 0x7FF)
except ValueError:
......@@ -27,14 +31,17 @@ else:
del can
#Testing extended IDs
# Testing extended IDs
can = CAN(1, CAN.LOOPBACK, extframe = True)
# Catch all filter
can.setfilter(0, CAN.MASK32, 0, (0, 0))
print(can)
try:
can.send('abcde', 0x7FF + 1)
except ValueError:
print('failed')
print('failed')
else:
r = can.recv(0)
if r[0] == 0x7FF+1 and r[3] == b'abcde':
......
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