stm32/can: Add CAN.state() method to get the state of the controller.

This is useful for monitoring errors on the bus and knowing when a restart
is needed.

2 files changed, 58 insertions, 0 deletions

diff --git a/docs/library/pyb.CAN.rst b/docs/library/pyb.CAN.rst
index f90e7a8a7..484a00f36 100644
--- a/docs/library/pyb.CAN.rst
+++ b/docs/library/pyb.CAN.rst
@@ -99,6 +99,20 @@ Methods
    and the controller will follow the CAN protocol to leave the bus-off state and
    go into the error active state.
 
+.. method:: CAN.state()
+
+   Return the state of the controller.  The return value can be one of:
+
+   - ``CAN.STOPPED`` -- the controller is completely off and reset;
+   - ``CAN.ERROR_ACTIVE`` -- the controller is on and in the Error Active state
+     (both TEC and REC are less than 96);
+   - ``CAN.ERROR_WARNING`` -- the controller is on and in the Error Warning state
+     (at least one of TEC or REC is 96 or greater);
+   - ``CAN.ERROR_PASSIVE`` -- the controller is on and in the Error Passive state
+     (at least one of TEC or REC is 128 or greater);
+   - ``CAN.BUS_OFF`` -- the controller is on but not participating in bus activity
+     (TEC overflowed beyond 255).
+
 .. method:: CAN.setfilter(bank, mode, fifo, params, \*, rtr)
 
    Configure a filter bank:
@@ -229,6 +243,14 @@ Constants
 
    the mode of the CAN bus
 
+.. data:: CAN.STOPPED
+          CAN.ERROR_ACTIVE
+          CAN.ERROR_WARNING
+          CAN.ERROR_PASSIVE
+          CAN.BUS_OFF
+
+   Possible states of the CAN controller.
+
 .. data:: CAN.LIST16
 .. data:: CAN.MASK16
 .. data:: CAN.LIST32
diff --git a/ports/stm32/can.c b/ports/stm32/can.c
index d5702f6d1..563d15dab 100644
--- a/ports/stm32/can.c
+++ b/ports/stm32/can.c
@@ -45,6 +45,14 @@
 #define MASK32 (2)
 #define LIST32 (3)
 
+enum {
+    CAN_STATE_STOPPED,
+    CAN_STATE_ERROR_ACTIVE,
+    CAN_STATE_ERROR_WARNING,
+    CAN_STATE_ERROR_PASSIVE,
+    CAN_STATE_BUS_OFF,
+};
+
 /// \moduleref pyb
 /// \class CAN - controller area network communication bus
 ///
@@ -484,6 +492,26 @@ STATIC mp_obj_t pyb_can_restart(mp_obj_t self_in) {
 }
 STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_can_restart_obj, pyb_can_restart);
 
+// Get the state of the controller
+STATIC mp_obj_t pyb_can_state(mp_obj_t self_in) {
+    pyb_can_obj_t *self = MP_OBJ_TO_PTR(self_in);
+    mp_int_t state = CAN_STATE_STOPPED;
+    if (self->is_enabled) {
+        CAN_TypeDef *can = self->can.Instance;
+        if (can->ESR & CAN_ESR_BOFF) {
+            state = CAN_STATE_BUS_OFF;
+        } else if (can->ESR & CAN_ESR_EPVF) {
+            state = CAN_STATE_ERROR_PASSIVE;
+        } else if (can->ESR & CAN_ESR_EWGF) {
+            state = CAN_STATE_ERROR_WARNING;
+        } else {
+            state = CAN_STATE_ERROR_ACTIVE;
+        }
+    }
+    return MP_OBJ_NEW_SMALL_INT(state);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_can_state_obj, pyb_can_state);
+
 /// \method any(fifo)
 /// Return `True` if any message waiting on the FIFO, else `False`.
 STATIC mp_obj_t pyb_can_any(mp_obj_t self_in, mp_obj_t fifo_in) {
@@ -842,6 +870,7 @@ STATIC const mp_rom_map_elem_t pyb_can_locals_dict_table[] = {
     { MP_ROM_QSTR(MP_QSTR_init), MP_ROM_PTR(&pyb_can_init_obj) },
     { MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&pyb_can_deinit_obj) },
     { MP_ROM_QSTR(MP_QSTR_restart), MP_ROM_PTR(&pyb_can_restart_obj) },
+    { MP_ROM_QSTR(MP_QSTR_state), MP_ROM_PTR(&pyb_can_state_obj) },
     { MP_ROM_QSTR(MP_QSTR_any), MP_ROM_PTR(&pyb_can_any_obj) },
     { MP_ROM_QSTR(MP_QSTR_send), MP_ROM_PTR(&pyb_can_send_obj) },
     { MP_ROM_QSTR(MP_QSTR_recv), MP_ROM_PTR(&pyb_can_recv_obj) },
@@ -861,6 +890,13 @@ STATIC const mp_rom_map_elem_t pyb_can_locals_dict_table[] = {
     { 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) },
+
+    // values for CAN.state()
+    { MP_ROM_QSTR(MP_QSTR_STOPPED), MP_ROM_INT(CAN_STATE_STOPPED) },
+    { MP_ROM_QSTR(MP_QSTR_ERROR_ACTIVE), MP_ROM_INT(CAN_STATE_ERROR_ACTIVE) },
+    { MP_ROM_QSTR(MP_QSTR_ERROR_WARNING), MP_ROM_INT(CAN_STATE_ERROR_WARNING) },
+    { MP_ROM_QSTR(MP_QSTR_ERROR_PASSIVE), MP_ROM_INT(CAN_STATE_ERROR_PASSIVE) },
+    { MP_ROM_QSTR(MP_QSTR_BUS_OFF), MP_ROM_INT(CAN_STATE_BUS_OFF) },
 };
 
 STATIC MP_DEFINE_CONST_DICT(pyb_can_locals_dict, pyb_can_locals_dict_table);