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-rw-r--r--stmhal/can.c81
1 files changed, 64 insertions, 17 deletions
diff --git a/stmhal/can.c b/stmhal/can.c
index f60f79532..f4758399c 100644
--- a/stmhal/can.c
+++ b/stmhal/can.c
@@ -436,9 +436,10 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_2(pyb_can_any_obj, pyb_can_any);
/// Return value: `None`.
STATIC mp_obj_t pyb_can_send(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_send, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} },
- { MP_QSTR_addr, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = 0} },
+ { MP_QSTR_data, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} },
+ { MP_QSTR_id, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = 0} },
{ MP_QSTR_timeout, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} },
+ { MP_QSTR_rtr, MP_ARG_KW_ONLY | MP_ARG_BOOL, {.u_bool = false} },
};
// parse args
@@ -464,11 +465,16 @@ STATIC mp_obj_t pyb_can_send(mp_uint_t n_args, const mp_obj_t *pos_args, mp_map_
tx_msg.StdId = args[1].u_int & 0x7FF;
tx_msg.IDE = CAN_ID_STD;
}
- tx_msg.RTR = CAN_RTR_DATA;
+ if (args[3].u_bool == false) {
+ tx_msg.RTR = CAN_RTR_DATA;
+ } else {
+ tx_msg.RTR = CAN_RTR_REMOTE;
+ }
tx_msg.DLC = bufinfo.len;
for (mp_uint_t i = 0; i < bufinfo.len; i++) {
tx_msg.Data[i] = ((byte*)bufinfo.buf)[i]; // Data is uint32_t but holds only 1 byte
}
+
self->can.pTxMsg = &tx_msg;
HAL_StatusTypeDef status = CAN_Transmit(&self->can, args[2].u_int);
@@ -543,7 +549,7 @@ STATIC mp_obj_t pyb_can_recv(mp_uint_t n_args, const mp_obj_t *pos_args, mp_map_
} else {
tuple->items[0] = MP_OBJ_NEW_SMALL_INT(rx_msg.ExtId);
}
- tuple->items[1] = MP_OBJ_NEW_SMALL_INT(rx_msg.RTR);
+ tuple->items[1] = rx_msg.RTR == CAN_RTR_REMOTE ? mp_const_true : mp_const_false;
tuple->items[2] = MP_OBJ_NEW_SMALL_INT(rx_msg.FMI);
vstr_t vstr;
vstr_init_len(&vstr, rx_msg.DLC);
@@ -597,6 +603,7 @@ STATIC mp_obj_t pyb_can_setfilter(mp_uint_t n_args, const mp_obj_t *pos_args, mp
{ 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} },
+ { MP_QSTR_rtr, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} },
};
// parse args
@@ -605,8 +612,14 @@ STATIC mp_obj_t pyb_can_setfilter(mp_uint_t n_args, const mp_obj_t *pos_args, mp
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_uint_t rtr_len;
+ mp_uint_t rtr_masks[4] = {0, 0, 0, 0};
+ mp_obj_t *rtr_flags;
mp_obj_t *params;
mp_obj_get_array(args[3].u_obj, &len, &params);
+ if (args[4].u_obj != MP_OBJ_NULL){
+ mp_obj_get_array(args[4].u_obj, &rtr_len, &rtr_flags);
+ }
CAN_FilterConfTypeDef filter;
if (args[1].u_int == MASK16 || args[1].u_int == LIST16) {
@@ -615,15 +628,41 @@ STATIC mp_obj_t pyb_can_setfilter(mp_uint_t n_args, const mp_obj_t *pos_args, mp
}
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[4].u_obj != MP_OBJ_NULL) {
+ if (args[1].u_int == MASK16) {
+ rtr_masks[0] = mp_obj_get_int(rtr_flags[0]) ? 0x02 : 0;
+ rtr_masks[1] = 0x02;
+ rtr_masks[2] = mp_obj_get_int(rtr_flags[1]) ? 0x02 : 0;
+ rtr_masks[3] = 0x02;
+ } else { // LIST16
+ rtr_masks[0] = mp_obj_get_int(rtr_flags[0]) ? 0x02 : 0;
+ rtr_masks[1] = mp_obj_get_int(rtr_flags[1]) ? 0x02 : 0;
+ rtr_masks[2] = mp_obj_get_int(rtr_flags[2]) ? 0x02 : 0;
+ rtr_masks[3] = mp_obj_get_int(rtr_flags[3]) ? 0x02 : 0;
+ }
+ }
+ filter.FilterIdLow = EXTENDED_ID_TO_16BIT_FILTER(mp_obj_get_int(params[0])) | rtr_masks[0]; // id1
+ filter.FilterMaskIdLow = EXTENDED_ID_TO_16BIT_FILTER(mp_obj_get_int(params[1])) | rtr_masks[1]; // mask1
+ filter.FilterIdHigh = EXTENDED_ID_TO_16BIT_FILTER(mp_obj_get_int(params[2])) | rtr_masks[2]; // id2
+ filter.FilterMaskIdHigh = EXTENDED_ID_TO_16BIT_FILTER(mp_obj_get_int(params[3])) | rtr_masks[3]; // mask2
+ } else { // Basic frames
+ if (args[4].u_obj != MP_OBJ_NULL) {
+ if (args[1].u_int == MASK16) {
+ rtr_masks[0] = mp_obj_get_int(rtr_flags[0]) ? 0x10 : 0;
+ rtr_masks[1] = 0x10;
+ rtr_masks[2] = mp_obj_get_int(rtr_flags[1]) ? 0x10 : 0;
+ rtr_masks[3] = 0x10;
+ } else { // LIST16
+ rtr_masks[0] = mp_obj_get_int(rtr_flags[0]) ? 0x10 : 0;
+ rtr_masks[1] = mp_obj_get_int(rtr_flags[1]) ? 0x10 : 0;
+ rtr_masks[2] = mp_obj_get_int(rtr_flags[2]) ? 0x10 : 0;
+ rtr_masks[3] = mp_obj_get_int(rtr_flags[3]) ? 0x10 : 0;
+ }
+ }
+ filter.FilterIdLow = (mp_obj_get_int(params[0]) << 5) | rtr_masks[0]; // id1
+ filter.FilterMaskIdLow = (mp_obj_get_int(params[1]) << 5) | rtr_masks[1]; // mask1
+ filter.FilterIdHigh = (mp_obj_get_int(params[2]) << 5) | rtr_masks[2]; // id2
+ filter.FilterMaskIdHigh = (mp_obj_get_int(params[3]) << 5) | rtr_masks[3]; // mask2
}
if (args[1].u_int == MASK16) {
filter.FilterMode = CAN_FILTERMODE_IDMASK;
@@ -636,12 +675,20 @@ STATIC mp_obj_t pyb_can_setfilter(mp_uint_t n_args, const mp_obj_t *pos_args, mp
if (len != 2) {
goto error;
}
- filter.FilterScale = CAN_FILTERSCALE_32BIT;
-
+ filter.FilterScale = CAN_FILTERSCALE_32BIT;
+ if (args[4].u_obj != MP_OBJ_NULL) {
+ if (args[1].u_int == MASK32) {
+ rtr_masks[0] = mp_obj_get_int(rtr_flags[0]) ? 0x02 : 0;
+ rtr_masks[1] = 0x02;
+ } else { // LIST32
+ rtr_masks[0] = mp_obj_get_int(rtr_flags[0]) ? 0x02 : 0;
+ rtr_masks[1] = mp_obj_get_int(rtr_flags[1]) ? 0x02 : 0;
+ }
+ }
filter.FilterIdHigh = (mp_obj_get_int(params[0]) & 0xFF00) >> 13;
- filter.FilterIdLow = ((mp_obj_get_int(params[0]) & 0x00FF) << 3) | 4;
+ filter.FilterIdLow = (((mp_obj_get_int(params[0]) & 0x00FF) << 3) | 4) | rtr_masks[0];
filter.FilterMaskIdHigh = (mp_obj_get_int(params[1]) & 0xFF00 ) >> 13;
- filter.FilterMaskIdLow = ((mp_obj_get_int(params[1]) & 0x00FF) << 3) | 4;
+ filter.FilterMaskIdLow = (((mp_obj_get_int(params[1]) & 0x00FF) << 3) | 4) | rtr_masks[1];
if (args[1].u_int == MASK32) {
filter.FilterMode = CAN_FILTERMODE_IDMASK;
}
generated by cgit v1.2.3 (git 2.46.0) at 2025-11-09 15:43:43 +0000