diff options
| -rw-r--r-- | ports/stm32/pyb_can.c | 39 |
1 files changed, 8 insertions, 31 deletions
diff --git a/ports/stm32/pyb_can.c b/ports/stm32/pyb_can.c index aa3312932..aa2d83a64 100644 --- a/ports/stm32/pyb_can.c +++ b/ports/stm32/pyb_can.c @@ -217,7 +217,7 @@ STATIC void pyb_can_get_bit_timing(mp_uint_t baudrate, mp_uint_t sample_point, // init(mode, prescaler=100, *, sjw=1, bs1=6, bs2=8) STATIC mp_obj_t pyb_can_init_helper(pyb_can_obj_t *self, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { enum { ARG_mode, ARG_prescaler, ARG_sjw, ARG_bs1, ARG_bs2, ARG_auto_restart, ARG_baudrate, ARG_sample_point, - ARG_brs_prescaler, ARG_brs_sjw, ARG_brs_bs1, ARG_brs_bs2, ARG_brs_baudrate, ARG_brs_sample_point }; + ARG_num_filter_banks, ARG_brs_prescaler, ARG_brs_sjw, ARG_brs_bs1, ARG_brs_bs2, ARG_brs_baudrate, ARG_brs_sample_point }; 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 = CAN_DEFAULT_PRESCALER} }, @@ -227,6 +227,7 @@ STATIC mp_obj_t pyb_can_init_helper(pyb_can_obj_t *self, size_t n_args, const mp { MP_QSTR_auto_restart, MP_ARG_KW_ONLY | MP_ARG_BOOL, {.u_bool = false} }, { MP_QSTR_baudrate, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} }, { MP_QSTR_sample_point, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 75} }, // 75% sampling point + { MP_QSTR_num_filter_banks, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 14} }, #if MICROPY_HW_ENABLE_FDCAN { MP_QSTR_brs_prescaler, MP_ARG_INT, {.u_int = CAN_DEFAULT_PRESCALER} }, { MP_QSTR_brs_sjw, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = CAN_DEFAULT_SJW} }, @@ -267,6 +268,12 @@ STATIC mp_obj_t pyb_can_init_helper(pyb_can_obj_t *self, size_t n_args, const mp self->can.Init.DataSyncJumpWidth = args[ARG_brs_sjw].u_int; self->can.Init.DataTimeSeg1 = args[ARG_bs1].u_int; // DataTimeSeg1 = Propagation_segment + Phase_segment_1 self->can.Init.DataTimeSeg2 = args[ARG_bs2].u_int; + #else + // Init filter banks for classic CAN. + can2_start_bank = args[ARG_num_filter_banks].u_int; + for (int f = 0; f < CAN_MAX_FILTER; f++) { + can_clearfilter(self, f, can2_start_bank); + } #endif if (!can_init(self, args[ARG_mode].u_int, args[ARG_prescaler].u_int, args[ARG_sjw].u_int, @@ -726,35 +733,6 @@ STATIC mp_obj_t pyb_can_recv(size_t n_args, const mp_obj_t *pos_args, mp_map_t * } STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_can_recv_obj, 1, pyb_can_recv); -// initfilterbanks(n) -STATIC mp_obj_t pyb_can_initfilterbanks(mp_obj_t self_in, mp_obj_t bank_in) { - pyb_can_obj_t *self = MP_OBJ_TO_PTR(self_in); - #if MICROPY_HW_ENABLE_FDCAN - (void)self; - #if 0 - FDCAN_InitTypeDef *init = &self->can.Init; - // Clear standard ID filters. - for (int f = 0; f < init->StdFiltersNbr; ++f) { - can_clearfilter(self, f, false); - } - // Clear extended ID filters. - for (int f = 0; f < init->ExtFiltersNbr; ++f) { - can_clearfilter(self, f, true); - } - #endif - #else - // NOTE: For classic CAN, this function calls HAL_CAN_ConfigFilter(NULL, &filter); - // if CAN3 is defined, ConfigFilter() will dereference a NULL pointer. - can2_start_bank = mp_obj_get_int(bank_in); - for (int f = 0; f < CAN_MAX_FILTER; f++) { - can_clearfilter(self, f, can2_start_bank); - } - #endif - 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, MP_ROM_PTR(&pyb_can_initfilterbanks_fun_obj)); - STATIC mp_obj_t pyb_can_clearfilter(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { enum { ARG_extframe }; static const mp_arg_t allowed_args[] = { @@ -1006,7 +984,6 @@ STATIC const mp_rom_map_elem_t pyb_can_locals_dict_table[] = { { 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) }, - { MP_ROM_QSTR(MP_QSTR_initfilterbanks), MP_ROM_PTR(&pyb_can_initfilterbanks_obj) }, { MP_ROM_QSTR(MP_QSTR_setfilter), MP_ROM_PTR(&pyb_can_setfilter_obj) }, { MP_ROM_QSTR(MP_QSTR_clearfilter), MP_ROM_PTR(&pyb_can_clearfilter_obj) }, { MP_ROM_QSTR(MP_QSTR_rxcallback), MP_ROM_PTR(&pyb_can_rxcallback_obj) }, |