diff --git a/stmhal/can.c b/stmhal/can.c
index 13b876c9fc878e40190c054a3e187a24759406dd..118c4d8d906c62666bc6b9f45ec25e7be8809025 100644
--- a/stmhal/can.c
+++ b/stmhal/can.c
@@ -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, ¶ms);
+
+ 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);
diff --git a/stmhal/qstrdefsport.h b/stmhal/qstrdefsport.h
index e7ef1ef297af0979e97d976796008204b87ee5cc..19270a6f3897fddb6bbfa4a44e374f78e4466b89 100644
--- a/stmhal/qstrdefsport.h
+++ b/stmhal/qstrdefsport.h
@@ -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)
diff --git a/tests/pyb/can.py b/tests/pyb/can.py
index 923a83860f35407e0152b679b7ba1523c0bee0dd..f1cad860b9408dfde07fabe5e79eaa5bdfe4fe2f 100644
--- a/tests/pyb/can.py
+++ b/tests/pyb/can.py
@@ -1,5 +1,6 @@
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':