diff options
23 files changed, 126 insertions, 48 deletions
diff --git a/ports/stm32/boards/CERB40/mpconfigboard.h b/ports/stm32/boards/CERB40/mpconfigboard.h index fdc7c0120..7c166922b 100644 --- a/ports/stm32/boards/CERB40/mpconfigboard.h +++ b/ports/stm32/boards/CERB40/mpconfigboard.h @@ -5,7 +5,6 @@ #define MICROPY_HW_ENABLE_RNG (1) #define MICROPY_HW_ENABLE_RTC (1) #define MICROPY_HW_ENABLE_DAC (1) -#define MICROPY_HW_ENABLE_CAN (1) #define MICROPY_HW_ENABLE_USB (1) // HSE is 12MHz @@ -50,6 +49,12 @@ #define MICROPY_HW_SPI3_MISO (pin_B4) #define MICROPY_HW_SPI3_MOSI (pin_B5) +// CAN busses +#define MICROPY_HW_CAN1_TX (pin_B9) +#define MICROPY_HW_CAN1_RX (pin_B8) +#define MICROPY_HW_CAN2_TX (pin_B13) +#define MICROPY_HW_CAN2_RX (pin_B12) + // The Cerb40 has No LEDs // The Cerb40 has No SDCard diff --git a/ports/stm32/boards/CERB40/pins.csv b/ports/stm32/boards/CERB40/pins.csv index 411031e8f..da759f212 100644 --- a/ports/stm32/boards/CERB40/pins.csv +++ b/ports/stm32/boards/CERB40/pins.csv @@ -44,3 +44,5 @@ UART3_TX,PD8 UART3_RX,PD9 UART3_RTS,PD12 UART3_CTS,PD11 +CAN2_TX,PB13 +CAN2_RX,PB12 diff --git a/ports/stm32/boards/NUCLEO_F429ZI/mpconfigboard.h b/ports/stm32/boards/NUCLEO_F429ZI/mpconfigboard.h index ae7f82225..17883a192 100644 --- a/ports/stm32/boards/NUCLEO_F429ZI/mpconfigboard.h +++ b/ports/stm32/boards/NUCLEO_F429ZI/mpconfigboard.h @@ -5,7 +5,6 @@ #define MICROPY_HW_HAS_FLASH (1) #define MICROPY_HW_ENABLE_RNG (1) #define MICROPY_HW_ENABLE_RTC (1) -#define MICROPY_HW_ENABLE_CAN (1) #define MICROPY_HW_ENABLE_USB (1) // HSE is 8MHz @@ -59,6 +58,12 @@ #define MICROPY_HW_SPI5_MISO (pin_F8) #define MICROPY_HW_SPI5_MOSI (pin_F9) +// CAN busses +#define MICROPY_HW_CAN1_TX (pin_B9) +#define MICROPY_HW_CAN1_RX (pin_B8) +#define MICROPY_HW_CAN2_TX (pin_B13) +#define MICROPY_HW_CAN2_RX (pin_B12) + // USRSW is pulled low. Pressing the button makes the input go high. #define MICROPY_HW_USRSW_PIN (pin_C13) #define MICROPY_HW_USRSW_PULL (GPIO_NOPULL) diff --git a/ports/stm32/boards/NUCLEO_F746ZG/mpconfigboard.h b/ports/stm32/boards/NUCLEO_F746ZG/mpconfigboard.h index 42beb4d9b..a9fbea576 100644 --- a/ports/stm32/boards/NUCLEO_F746ZG/mpconfigboard.h +++ b/ports/stm32/boards/NUCLEO_F746ZG/mpconfigboard.h @@ -11,7 +11,6 @@ #define MICROPY_HW_ENABLE_RNG (1) #define MICROPY_HW_ENABLE_RTC (1) #define MICROPY_HW_ENABLE_DAC (1) -#define MICROPY_HW_ENABLE_CAN (1) #define MICROPY_HW_ENABLE_USB (1) // HSE is 8MHz @@ -53,6 +52,12 @@ #define MICROPY_HW_SPI3_MISO (pin_B4) #define MICROPY_HW_SPI3_MOSI (pin_B5) +// CAN busses +#define MICROPY_HW_CAN1_TX (pin_B9) +#define MICROPY_HW_CAN1_RX (pin_B8) +#define MICROPY_HW_CAN2_TX (pin_B13) +#define MICROPY_HW_CAN2_RX (pin_B12) + // USRSW is pulled low. Pressing the button makes the input go high. #define MICROPY_HW_USRSW_PIN (pin_C13) #define MICROPY_HW_USRSW_PULL (GPIO_NOPULL) diff --git a/ports/stm32/boards/NUCLEO_F767ZI/mpconfigboard.h b/ports/stm32/boards/NUCLEO_F767ZI/mpconfigboard.h index 4f9d41f1b..7de4c3363 100644 --- a/ports/stm32/boards/NUCLEO_F767ZI/mpconfigboard.h +++ b/ports/stm32/boards/NUCLEO_F767ZI/mpconfigboard.h @@ -11,7 +11,6 @@ #define MICROPY_HW_ENABLE_RNG (1) #define MICROPY_HW_ENABLE_RTC (1) #define MICROPY_HW_ENABLE_DAC (1) -#define MICROPY_HW_ENABLE_CAN (1) #define MICROPY_HW_ENABLE_USB (1) // HSE is 25MHz @@ -53,6 +52,12 @@ #define MICROPY_HW_SPI3_MISO (pin_B4) #define MICROPY_HW_SPI3_MOSI (pin_B5) +// CAN busses +#define MICROPY_HW_CAN1_TX (pin_B9) +#define MICROPY_HW_CAN1_RX (pin_B8) +#define MICROPY_HW_CAN2_TX (pin_B13) +#define MICROPY_HW_CAN2_RX (pin_B12) + // USRSW is pulled low. Pressing the button makes the input go high. #define MICROPY_HW_USRSW_PIN (pin_C13) #define MICROPY_HW_USRSW_PULL (GPIO_NOPULL) diff --git a/ports/stm32/boards/OLIMEX_E407/mpconfigboard.h b/ports/stm32/boards/OLIMEX_E407/mpconfigboard.h index 1bdb25a9e..a56f6f79d 100644 --- a/ports/stm32/boards/OLIMEX_E407/mpconfigboard.h +++ b/ports/stm32/boards/OLIMEX_E407/mpconfigboard.h @@ -7,7 +7,6 @@ #define MICROPY_HW_ENABLE_RNG (1) #define MICROPY_HW_ENABLE_RTC (1) #define MICROPY_HW_ENABLE_DAC (1) -#define MICROPY_HW_ENABLE_CAN (1) #define MICROPY_HW_ENABLE_USB (1) // HSE is 12MHz @@ -53,6 +52,12 @@ #define MICROPY_HW_SPI2_MISO (pin_B14) #define MICROPY_HW_SPI2_MOSI (pin_B15) +// CAN busses +#define MICROPY_HW_CAN1_TX (pin_B9) +#define MICROPY_HW_CAN1_RX (pin_B8) +#define MICROPY_HW_CAN2_TX (pin_B13) +#define MICROPY_HW_CAN2_RX (pin_B12) + // USRSW is pulled low. Pressing the button makes the input go high. #define MICROPY_HW_USRSW_PIN (pin_A0) #define MICROPY_HW_USRSW_PULL (GPIO_NOPULL) diff --git a/ports/stm32/boards/PYBV10/mpconfigboard.h b/ports/stm32/boards/PYBV10/mpconfigboard.h index 5d158e6b1..3439f5a0f 100644 --- a/ports/stm32/boards/PYBV10/mpconfigboard.h +++ b/ports/stm32/boards/PYBV10/mpconfigboard.h @@ -10,7 +10,6 @@ #define MICROPY_HW_ENABLE_RTC (1) #define MICROPY_HW_ENABLE_SERVO (1) #define MICROPY_HW_ENABLE_DAC (1) -#define MICROPY_HW_ENABLE_CAN (1) #define MICROPY_HW_ENABLE_USB (1) // HSE is 8MHz @@ -66,8 +65,12 @@ #define MICROPY_HW_SPI2_MOSI (pin_B15) // Y8 // CAN busses -#define MICROPY_HW_CAN1_NAME "YA" // CAN1 on RX,TX = Y3,Y4 = PB8,PB9 -#define MICROPY_HW_CAN2_NAME "YB" // CAN2 on RX,TX = Y5,Y6 = PB12,PB13 +#define MICROPY_HW_CAN1_NAME "YA" +#define MICROPY_HW_CAN1_TX (pin_B9) // Y4 +#define MICROPY_HW_CAN1_RX (pin_B8) // Y3 +#define MICROPY_HW_CAN2_NAME "YB" +#define MICROPY_HW_CAN2_TX (pin_B13) // Y6 +#define MICROPY_HW_CAN2_RX (pin_B12) // Y5 // USRSW has no pullup or pulldown, and pressing the switch makes the input go low #define MICROPY_HW_USRSW_PIN (pin_B3) diff --git a/ports/stm32/boards/PYBV11/mpconfigboard.h b/ports/stm32/boards/PYBV11/mpconfigboard.h index 71ff52848..2c75d0e64 100644 --- a/ports/stm32/boards/PYBV11/mpconfigboard.h +++ b/ports/stm32/boards/PYBV11/mpconfigboard.h @@ -10,7 +10,6 @@ #define MICROPY_HW_ENABLE_RTC (1) #define MICROPY_HW_ENABLE_SERVO (1) #define MICROPY_HW_ENABLE_DAC (1) -#define MICROPY_HW_ENABLE_CAN (1) #define MICROPY_HW_ENABLE_USB (1) // HSE is 12MHz @@ -66,8 +65,12 @@ #define MICROPY_HW_SPI2_MOSI (pin_B15) // Y8 // CAN busses -#define MICROPY_HW_CAN1_NAME "YA" // CAN1 on RX,TX = Y3,Y4 = PB8,PB9 -#define MICROPY_HW_CAN2_NAME "YB" // CAN2 on RX,TX = Y5,Y6 = PB12,PB13 +#define MICROPY_HW_CAN1_NAME "YA" +#define MICROPY_HW_CAN1_TX (pin_B9) // Y4 +#define MICROPY_HW_CAN1_RX (pin_B8) // Y3 +#define MICROPY_HW_CAN2_NAME "YB" +#define MICROPY_HW_CAN2_TX (pin_B13) // Y6 +#define MICROPY_HW_CAN2_RX (pin_B12) // Y5 // USRSW has no pullup or pulldown, and pressing the switch makes the input go low #define MICROPY_HW_USRSW_PIN (pin_B3) diff --git a/ports/stm32/boards/PYBV3/mpconfigboard.h b/ports/stm32/boards/PYBV3/mpconfigboard.h index d2e7dbe20..3e457c5e2 100644 --- a/ports/stm32/boards/PYBV3/mpconfigboard.h +++ b/ports/stm32/boards/PYBV3/mpconfigboard.h @@ -9,7 +9,6 @@ #define MICROPY_HW_ENABLE_RTC (1) #define MICROPY_HW_ENABLE_SERVO (1) #define MICROPY_HW_ENABLE_DAC (1) -#define MICROPY_HW_ENABLE_CAN (1) #define MICROPY_HW_ENABLE_USB (1) // HSE is 8MHz @@ -57,6 +56,12 @@ #define MICROPY_HW_SPI2_MISO (pin_B14) // Y7 #define MICROPY_HW_SPI2_MOSI (pin_B15) // Y8 +// CAN busses +#define MICROPY_HW_CAN1_TX (pin_B9) // Y4 +#define MICROPY_HW_CAN1_RX (pin_B8) // Y3 +#define MICROPY_HW_CAN2_TX (pin_B13) // Y6 +#define MICROPY_HW_CAN2_RX (pin_B12) // Y5 + // USRSW has no pullup or pulldown, and pressing the switch makes the input go low #define MICROPY_HW_USRSW_PIN (pin_A13) #define MICROPY_HW_USRSW_PULL (GPIO_PULLUP) diff --git a/ports/stm32/boards/PYBV4/mpconfigboard.h b/ports/stm32/boards/PYBV4/mpconfigboard.h index c6d9ad9ac..8c05644f6 100644 --- a/ports/stm32/boards/PYBV4/mpconfigboard.h +++ b/ports/stm32/boards/PYBV4/mpconfigboard.h @@ -10,7 +10,6 @@ #define MICROPY_HW_ENABLE_RTC (1) #define MICROPY_HW_ENABLE_SERVO (1) #define MICROPY_HW_ENABLE_DAC (1) -#define MICROPY_HW_ENABLE_CAN (1) #define MICROPY_HW_ENABLE_USB (1) // HSE is 8MHz @@ -63,8 +62,12 @@ #define MICROPY_HW_SPI2_MOSI (pin_B15) // Y8 // CAN busses -#define MICROPY_HW_CAN1_NAME "YA" // CAN1 on RX,TX = Y3,Y4 = PB8,PB9 -#define MICROPY_HW_CAN2_NAME "YB" // CAN2 on RX,TX = Y5,Y6 = PB12,PB13 +#define MICROPY_HW_CAN1_NAME "YA" +#define MICROPY_HW_CAN1_TX (pin_B9) // Y4 +#define MICROPY_HW_CAN1_RX (pin_B8) // Y3 +#define MICROPY_HW_CAN2_NAME "YB" +#define MICROPY_HW_CAN2_TX (pin_B13) // Y6 +#define MICROPY_HW_CAN2_RX (pin_B12) // Y5 // USRSW has no pullup or pulldown, and pressing the switch makes the input go low #define MICROPY_HW_USRSW_PIN (pin_B3) diff --git a/ports/stm32/boards/STM32F429DISC/mpconfigboard.h b/ports/stm32/boards/STM32F429DISC/mpconfigboard.h index 01713f7f8..be25d2e77 100644 --- a/ports/stm32/boards/STM32F429DISC/mpconfigboard.h +++ b/ports/stm32/boards/STM32F429DISC/mpconfigboard.h @@ -5,7 +5,6 @@ #define MICROPY_HW_HAS_FLASH (1) #define MICROPY_HW_ENABLE_RNG (1) #define MICROPY_HW_ENABLE_RTC (1) -#define MICROPY_HW_ENABLE_CAN (1) #define MICROPY_HW_ENABLE_USB (1) // HSE is 8MHz @@ -50,6 +49,12 @@ //#define MICROPY_HW_SPI6_MISO (pin_G12) //#define MICROPY_HW_SPI6_MOSI (pin_G14) +// CAN busses +#define MICROPY_HW_CAN1_TX (pin_B9) +#define MICROPY_HW_CAN1_RX (pin_B8) +#define MICROPY_HW_CAN2_TX (pin_B13) +#define MICROPY_HW_CAN2_RX (pin_B12) + // USRSW is pulled low. Pressing the button makes the input go high. #define MICROPY_HW_USRSW_PIN (pin_A0) #define MICROPY_HW_USRSW_PULL (GPIO_NOPULL) diff --git a/ports/stm32/boards/STM32F439/mpconfigboard.h b/ports/stm32/boards/STM32F439/mpconfigboard.h index 66bfcf2ec..4ac5b3213 100644 --- a/ports/stm32/boards/STM32F439/mpconfigboard.h +++ b/ports/stm32/boards/STM32F439/mpconfigboard.h @@ -6,7 +6,6 @@ #define MICROPY_HW_ENABLE_RNG (1) #define MICROPY_HW_ENABLE_RTC (1) #define MICROPY_HW_ENABLE_DAC (1) -#define MICROPY_HW_ENABLE_CAN (1) #define MICROPY_HW_ENABLE_USB (1) // SD card detect switch @@ -75,6 +74,12 @@ //#define MICROPY_HW_SPI6_MISO (pin_G12) //#define MICROPY_HW_SPI6_MOSI (pin_G14) +// CAN busses +#define MICROPY_HW_CAN1_TX (pin_B9) +#define MICROPY_HW_CAN1_RX (pin_B8) +#define MICROPY_HW_CAN2_TX (pin_B13) +#define MICROPY_HW_CAN2_RX (pin_B12) + // USRSW is pulled low. Pressing the button makes the input go high. #define MICROPY_HW_USRSW_PIN (pin_A0) #define MICROPY_HW_USRSW_PULL (GPIO_NOPULL) diff --git a/ports/stm32/boards/STM32F4DISC/mpconfigboard.h b/ports/stm32/boards/STM32F4DISC/mpconfigboard.h index 66ef830bf..3e4c8261c 100644 --- a/ports/stm32/boards/STM32F4DISC/mpconfigboard.h +++ b/ports/stm32/boards/STM32F4DISC/mpconfigboard.h @@ -6,7 +6,6 @@ #define MICROPY_HW_ENABLE_RNG (1) #define MICROPY_HW_ENABLE_RTC (1) #define MICROPY_HW_ENABLE_DAC (1) -#define MICROPY_HW_ENABLE_CAN (1) #define MICROPY_HW_ENABLE_USB (1) // HSE is 8MHz @@ -60,6 +59,12 @@ #define MICROPY_HW_SPI2_MISO (pin_B14) #define MICROPY_HW_SPI2_MOSI (pin_B15) +// CAN busses +#define MICROPY_HW_CAN1_TX (pin_B9) +#define MICROPY_HW_CAN1_RX (pin_B8) +#define MICROPY_HW_CAN2_TX (pin_B13) +#define MICROPY_HW_CAN2_RX (pin_B12) + // USRSW is pulled low. Pressing the button makes the input go high. #define MICROPY_HW_USRSW_PIN (pin_A0) #define MICROPY_HW_USRSW_PULL (GPIO_NOPULL) diff --git a/ports/stm32/boards/STM32F769DISC/mpconfigboard.h b/ports/stm32/boards/STM32F769DISC/mpconfigboard.h index 95201501b..8b29e5773 100644 --- a/ports/stm32/boards/STM32F769DISC/mpconfigboard.h +++ b/ports/stm32/boards/STM32F769DISC/mpconfigboard.h @@ -10,7 +10,6 @@ #define MICROPY_HW_HAS_SDCARD (1) #define MICROPY_HW_ENABLE_RNG (1) #define MICROPY_HW_ENABLE_RTC (1) -#define MICROPY_HW_ENABLE_CAN (1) #define MICROPY_HW_ENABLE_USB (1) // HSE is 25MHz @@ -44,6 +43,12 @@ #define MICROPY_HW_SPI2_MISO (pin_B14) #define MICROPY_HW_SPI2_MOSI (pin_B15) +// CAN busses +#define MICROPY_HW_CAN1_TX (pin_B9) +#define MICROPY_HW_CAN1_RX (pin_B8) +#define MICROPY_HW_CAN2_TX (pin_B13) +#define MICROPY_HW_CAN2_RX (pin_B12) + // USRSW is pulled low. Pressing the button makes the input go high. #define MICROPY_HW_USRSW_PIN (pin_A0) #define MICROPY_HW_USRSW_PULL (GPIO_NOPULL) diff --git a/ports/stm32/boards/STM32F769DISC/pins.csv b/ports/stm32/boards/STM32F769DISC/pins.csv index dcc2df208..e68ed9536 100644 --- a/ports/stm32/boards/STM32F769DISC/pins.csv +++ b/ports/stm32/boards/STM32F769DISC/pins.csv @@ -55,3 +55,5 @@ UART1_TX,PA9 UART1_RX,PA10 UART5_TX,PC12 UART5_RX,PD2 +CAN2_TX,PB13 +CAN2_RX,PB12 diff --git a/ports/stm32/boards/STM32F7DISC/mpconfigboard.h b/ports/stm32/boards/STM32F7DISC/mpconfigboard.h index 9fce1deeb..7b506a305 100644 --- a/ports/stm32/boards/STM32F7DISC/mpconfigboard.h +++ b/ports/stm32/boards/STM32F7DISC/mpconfigboard.h @@ -6,7 +6,6 @@ #define MICROPY_HW_HAS_SDCARD (1) #define MICROPY_HW_ENABLE_RNG (1) #define MICROPY_HW_ENABLE_RTC (1) -#define MICROPY_HW_ENABLE_CAN (1) #define MICROPY_HW_ENABLE_USB (1) #define MICROPY_BOARD_EARLY_INIT STM32F7DISC_board_early_init @@ -50,6 +49,12 @@ void STM32F7DISC_board_early_init(void); #define MICROPY_HW_SPI2_MISO (pin_B14) #define MICROPY_HW_SPI2_MOSI (pin_B15) +// CAN busses +#define MICROPY_HW_CAN1_TX (pin_B9) +#define MICROPY_HW_CAN1_RX (pin_B8) +#define MICROPY_HW_CAN2_TX (pin_B13) +#define MICROPY_HW_CAN2_RX (pin_B12) + // USRSW is pulled low. Pressing the button makes the input go high. #define MICROPY_HW_USRSW_PIN (pin_I11) #define MICROPY_HW_USRSW_PULL (GPIO_NOPULL) diff --git a/ports/stm32/boards/STM32F7DISC/pins.csv b/ports/stm32/boards/STM32F7DISC/pins.csv index 1aa8a9b3a..8b49003f7 100644 --- a/ports/stm32/boards/STM32F7DISC/pins.csv +++ b/ports/stm32/boards/STM32F7DISC/pins.csv @@ -51,3 +51,5 @@ USB_DM,PA11 USB_DP,PA12 VCP_TX,PA9 VCP_RX,PB7 +CAN_TX,PB13 +CAN_RX,PB12 diff --git a/ports/stm32/boards/STM32L476DISC/mpconfigboard.h b/ports/stm32/boards/STM32L476DISC/mpconfigboard.h index 3d8b74e4a..a35dee118 100644 --- a/ports/stm32/boards/STM32L476DISC/mpconfigboard.h +++ b/ports/stm32/boards/STM32L476DISC/mpconfigboard.h @@ -9,7 +9,6 @@ void STM32L476DISC_board_early_init(void); #define MICROPY_HW_HAS_FLASH (1) #define MICROPY_HW_ENABLE_RNG (1) #define MICROPY_HW_ENABLE_RTC (1) -#define MICROPY_HW_ENABLE_CAN (1) #define MICROPY_HW_ENABLE_USB (1) // use external SPI flash for storage @@ -58,6 +57,10 @@ extern struct _spi_bdev_t spi_bdev; #define MICROPY_HW_SPI2_MISO (pin_D3) #define MICROPY_HW_SPI2_MOSI (pin_D4) +// CAN busses +#define MICROPY_HW_CAN1_TX (pin_B9) +#define MICROPY_HW_CAN1_RX (pin_B8) + // Joystick is pulled low. Pressing the button makes the input go high. #define MICROPY_HW_USRSW_PIN (pin_A0) #define MICROPY_HW_USRSW_PULL (GPIO_NOPULL) diff --git a/ports/stm32/boards/make-pins.py b/ports/stm32/boards/make-pins.py index c9f6516f1..70f154fde 100755 --- a/ports/stm32/boards/make-pins.py +++ b/ports/stm32/boards/make-pins.py @@ -16,6 +16,7 @@ SUPPORTED_FN = { 'UART' : ['RX', 'TX', 'CTS', 'RTS'], 'SPI' : ['NSS', 'SCK', 'MISO', 'MOSI'], 'SDMMC' : ['CK', 'CMD', 'D0', 'D1', 'D2', 'D3'], + 'CAN' : ['TX', 'RX'], } CONDITIONAL_VAR = { @@ -25,6 +26,7 @@ CONDITIONAL_VAR = { 'UART' : 'MICROPY_HW_UART{num}_TX', 'USART' : 'MICROPY_HW_UART{num}_TX', 'SDMMC' : 'MICROPY_HW_SDMMC{num}_CK', + 'CAN' : 'MICROPY_HW_CAN{num}_TX', } def parse_port_pin(name_str): diff --git a/ports/stm32/can.c b/ports/stm32/can.c index bc4f1092c..ae8e8e27e 100644 --- a/ports/stm32/can.c +++ b/ports/stm32/can.c @@ -104,31 +104,26 @@ 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; - - uint32_t GPIO_Pin = 0; - uint8_t GPIO_AF_CANx = 0; - GPIO_TypeDef* GPIO_Port = NULL; uint32_t sce_irq = 0; + const pin_obj_t *pins[2]; switch (can_obj->can_id) { - // CAN1 is on RX,TX = Y3,Y4 = PB9,PB9 + #if defined(MICROPY_HW_CAN1_TX) case PYB_CAN_1: CANx = CAN1; - GPIO_AF_CANx = GPIO_AF9_CAN1; - GPIO_Port = GPIOB; - GPIO_Pin = GPIO_PIN_8 | GPIO_PIN_9; sce_irq = CAN1_SCE_IRQn; + pins[0] = MICROPY_HW_CAN1_TX; + pins[1] = MICROPY_HW_CAN1_RX; __CAN1_CLK_ENABLE(); break; + #endif - #if defined(CAN2) - // CAN2 is on RX,TX = Y5,Y6 = PB12,PB13 + #if defined(MICROPY_HW_CAN2_TX) case PYB_CAN_2: CANx = CAN2; - GPIO_AF_CANx = GPIO_AF9_CAN2; - GPIO_Port = GPIOB; - GPIO_Pin = GPIO_PIN_12 | GPIO_PIN_13; sce_irq = CAN2_SCE_IRQn; + pins[0] = MICROPY_HW_CAN2_TX; + pins[1] = MICROPY_HW_CAN2_RX; __CAN1_CLK_ENABLE(); // CAN2 is a "slave" and needs CAN1 enabled as well __CAN2_CLK_ENABLE(); break; @@ -139,13 +134,13 @@ STATIC bool can_init(pyb_can_obj_t *can_obj) { } // init GPIO - GPIO_InitTypeDef GPIO_InitStructure; - GPIO_InitStructure.Pin = GPIO_Pin; - GPIO_InitStructure.Speed = GPIO_SPEED_FREQ_VERY_HIGH; - GPIO_InitStructure.Mode = GPIO_MODE_AF_PP; - GPIO_InitStructure.Pull = GPIO_PULLUP; - GPIO_InitStructure.Alternate = GPIO_AF_CANx; - HAL_GPIO_Init(GPIO_Port, &GPIO_InitStructure); + uint32_t mode = MP_HAL_PIN_MODE_ALT; + uint32_t pull = MP_HAL_PIN_PULL_UP; + for (int i = 0; i < 2; i++) { + if (!mp_hal_pin_config_alt(pins[i], mode, pull, AF_FN_CAN, can_obj->can_id)) { + return false; + } + } // init CANx can_obj->can.Instance = CANx; diff --git a/ports/stm32/mpconfigboard_common.h b/ports/stm32/mpconfigboard_common.h index d4b812331..5f3ac164d 100644 --- a/ports/stm32/mpconfigboard_common.h +++ b/ports/stm32/mpconfigboard_common.h @@ -57,11 +57,6 @@ #define MICROPY_HW_ENABLE_DAC (0) #endif -// Whether to enable the CAN peripheral, exposed as pyb.CAN -#ifndef MICROPY_HW_ENABLE_CAN -#define MICROPY_HW_ENABLE_CAN (0) -#endif - // Whether to enable USB support #ifndef MICROPY_HW_ENABLE_USB #define MICROPY_HW_ENABLE_USB (0) @@ -156,6 +151,13 @@ #define MICROPY_HW_ENABLE_HW_I2C (0) #endif +// Enable CAN if there are any peripherals defined +#if defined(MICROPY_HW_CAN1_TX) || defined(MICROPY_HW_CAN2_TX) +#define MICROPY_HW_ENABLE_CAN (1) +#else +#define MICROPY_HW_ENABLE_CAN (0) +#endif + // Pin definition header file #define MICROPY_PIN_DEFS_PORT_H "pin_defs_stm32.h" diff --git a/ports/stm32/pin_defs_stm32.h b/ports/stm32/pin_defs_stm32.h index feaf56ae9..5c5c6be69 100644 --- a/ports/stm32/pin_defs_stm32.h +++ b/ports/stm32/pin_defs_stm32.h @@ -49,6 +49,7 @@ enum { AF_FN_SPI, AF_FN_I2S, AF_FN_SDMMC, + AF_FN_CAN, }; enum { @@ -93,6 +94,9 @@ enum { AF_PIN_TYPE_SDMMC_D1, AF_PIN_TYPE_SDMMC_D2, AF_PIN_TYPE_SDMMC_D3, + + AF_PIN_TYPE_CAN_TX = 0, + AF_PIN_TYPE_CAN_RX, }; // The HAL uses a slightly different naming than we chose, so we provide diff --git a/ports/stm32/stm32_it.c b/ports/stm32/stm32_it.c index 987ace69a..03321a1a9 100644 --- a/ports/stm32/stm32_it.c +++ b/ports/stm32/stm32_it.c @@ -736,7 +736,7 @@ void UART8_IRQHandler(void) { } #endif -#if MICROPY_HW_ENABLE_CAN +#if defined(MICROPY_HW_CAN1_TX) void CAN1_RX0_IRQHandler(void) { IRQ_ENTER(CAN1_RX0_IRQn); can_rx_irq_handler(PYB_CAN_1, CAN_FIFO0); @@ -754,7 +754,9 @@ void CAN1_SCE_IRQHandler(void) { can_sce_irq_handler(PYB_CAN_1); IRQ_EXIT(CAN1_SCE_IRQn); } +#endif +#if defined(MICROPY_HW_CAN2_TX) void CAN2_RX0_IRQHandler(void) { IRQ_ENTER(CAN2_RX0_IRQn); can_rx_irq_handler(PYB_CAN_2, CAN_FIFO0); @@ -772,7 +774,7 @@ void CAN2_SCE_IRQHandler(void) { can_sce_irq_handler(PYB_CAN_2); IRQ_EXIT(CAN2_SCE_IRQn); } -#endif // MICROPY_HW_ENABLE_CAN +#endif #if defined(MICROPY_HW_I2C1_SCL) void I2C1_EV_IRQHandler(void) { |