diff --git a/docs/library/pyb.CAN.rst b/docs/library/pyb.CAN.rst
index 46e6d08cf144eb2469f7791090bced69f098fcc2..e5d2b9acb1bb8c61a705cf1fc1501fc459d36a58 100644
--- a/docs/library/pyb.CAN.rst
+++ b/docs/library/pyb.CAN.rst
@@ -82,7 +82,7 @@ Methods
Turn off the CAN bus.
-.. method:: can.setfilter(bank, mode, fifo, params)
+.. method:: can.setfilter(bank, mode, fifo, params, \*, rtr)
Configure a filter bank:
@@ -107,6 +107,23 @@ Methods
|CAN.MASK32 |As with CAN.MASK16 but with only one 32 bit id/mask pair.|
+-----------+---------------------------------------------------------+
+ - ``rtr`` is an array of booleans that states if a filter should accept a
+ remote transmission request message. If this argument is not given
+ then it defaults to False for all entries. The length of the array
+ depends on the ``mode`` argument.
+
+ +-----------+----------------------+
+ |``mode`` |length of rtr array |
+ +===========+======================+
+ |CAN.LIST16 |4 |
+ +-----------+----------------------+
+ |CAN.LIST32 |2 |
+ +-----------+----------------------+
+ |CAN.MASK16 |2 |
+ +-----------+----------------------+
+ |CAN.MASK32 |1 |
+ +-----------+----------------------+
+
.. method:: can.clearfilter(bank)
Clear and disables a filter bank:
@@ -124,15 +141,24 @@ Methods
- ``fifo`` is an integer, which is the FIFO to receive on
- ``timeout`` is the timeout in milliseconds to wait for the receive.
- Return value: buffer of data bytes.
+ Return value: A tuple containing four values.
+
+ - The id of the message.
+ - A boolean that indicates if the message is an RTR message.
+ - The FMI (Filter Match Index) value.
+ - An array containing the data.
-.. method:: can.send(send, addr, \*, timeout=0)
+.. method:: can.send(data, id, \*, timeout=0, rtr=False)
Send a message on the bus:
- - ``send`` is the data to send (an integer to send, or a buffer object).
- - ``addr`` is the address to send to
+ - ``data`` is the data to send (an integer to send, or a buffer object).
+ - ``id`` is the id of the message to be sent.
- ``timeout`` is the timeout in milliseconds to wait for the send.
+ - ``rtr`` is a boolean that specifies if the message shall be sent as
+ a remote transmission request. If ``rtr`` is True then only the length
+ of ``data`` is used to fill in the DLC slot of the frame; the actual
+ bytes in ``data`` are unused.
If timeout is 0 the message is placed in a buffer in one of three hardware
buffers and the method returns immediately. If all three buffers are in use
diff --git a/stmhal/can.c b/stmhal/can.c
index f60f79532da01fee0a20f055e3781df77bbe8eb7..f4758399cec6010343ea6e72e8cc23b4b653e87b 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, ¶ms);
+ 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;
}
diff --git a/stmhal/qstrdefsport.h b/stmhal/qstrdefsport.h
index e992f545ba62fcf453e8741dddc66940d0b5e786..3c265b616dab720d704e412321bb279a5405f6e0 100644
--- a/stmhal/qstrdefsport.h
+++ b/stmhal/qstrdefsport.h
@@ -213,6 +213,7 @@ Q(initfilterbanks)
Q(clearfilter)
Q(setfilter)
Q(rxcallback)
+Q(rtr)
Q(NORMAL)
Q(LOOPBACK)
Q(SILENT)
diff --git a/tests/pyb/can.py b/tests/pyb/can.py
index 5fd4d39d05d328fceb6bd9ae473e1f139ee96e8e..63a3be4e925fd8b372b7a579ba1c0d155863bf37 100644
--- a/tests/pyb/can.py
+++ b/tests/pyb/can.py
@@ -151,3 +151,40 @@ except OSError as e:
pyb.delay(500)
while can.any(0):
print(can.recv(0))
+
+# Testing rtr messages
+bus1 = CAN(1, CAN.LOOPBACK)
+bus2 = CAN(2, CAN.LOOPBACK, extframe = True)
+while bus1.any(0):
+ bus1.recv(0)
+while bus2.any(0):
+ bus2.recv(0)
+bus1.setfilter(0, CAN.LIST16, 0, (1, 2, 3, 4))
+bus1.setfilter(1, CAN.LIST16, 0, (5, 6, 7, 8), rtr=(True, True, True, True))
+bus1.setfilter(2, CAN.MASK16, 0, (64, 64, 32, 32), rtr=(False, True))
+bus2.setfilter(0, CAN.LIST32, 0, (1, 2), rtr=(True, True))
+bus2.setfilter(1, CAN.LIST32, 0, (3, 4), rtr=(True, False))
+bus2.setfilter(2, CAN.MASK32, 0, (16, 16), rtr=(False,))
+bus2.setfilter(2, CAN.MASK32, 0, (32, 32), rtr=(True,))
+
+bus1.send('',1,rtr=True)
+print(bus1.any(0))
+bus1.send('',5,rtr=True)
+print(bus1.recv(0))
+bus1.send('',6,rtr=True)
+print(bus1.recv(0))
+bus1.send('',7,rtr=True)
+print(bus1.recv(0))
+bus1.send('',16,rtr=True)
+print(bus1.any(0))
+bus1.send('',32,rtr=True)
+print(bus1.recv(0))
+
+bus2.send('',1,rtr=True)
+print(bus2.recv(0))
+bus2.send('',2,rtr=True)
+print(bus2.recv(0))
+bus2.send('',3,rtr=True)
+print(bus2.recv(0))
+bus2.send('',4,rtr=True)
+print(bus2.any(0))
diff --git a/tests/pyb/can.py.exp b/tests/pyb/can.py.exp
index 845f6d5ba16e83794829d2942cb0fbde395ea2a3..ec6f97ea02b5525ebc359bfc509b51ea1c149aa7 100644
--- a/tests/pyb/can.py.exp
+++ b/tests/pyb/can.py.exp
@@ -2,9 +2,9 @@ CAN(1)
CAN(1, CAN.LOOPBACK, extframe=False)
False
True
-(123, 0, 0, b'abcd')
-(2047, 0, 0, b'abcd')
-(0, 0, 0, b'abcd')
+(123, False, 0, b'abcd')
+(2047, False, 0, b'abcd')
+(0, False, 0, b'abcd')
passed
CAN(1, CAN.LOOPBACK, extframe=True)
passed
@@ -20,21 +20,31 @@ cb1
full
cb1a
overflow
-(1, 0, 0, b'11111111')
-(2, 0, 1, b'22222222')
-(4, 0, 3, b'44444444')
-(5, 0, 0, b'55555555')
-(6, 0, 1, b'66666666')
-(8, 0, 3, b'88888888')
+(1, False, 0, b'11111111')
+(2, False, 1, b'22222222')
+(4, False, 3, b'44444444')
+(5, False, 0, b'55555555')
+(6, False, 1, b'66666666')
+(8, False, 3, b'88888888')
cb0a
pending
cb1a
pending
-(1, 0, 0, b'11111111')
-(5, 0, 0, b'55555555')
+(1, False, 0, b'11111111')
+(5, False, 0, b'55555555')
False
-(1, 0, 0, b'abcde')
+(1, False, 0, b'abcde')
passed
-(2, 0, 0, b'abcde')
-(3, 0, 0, b'abcde')
-(4, 0, 0, b'abcde')
+(2, False, 0, b'abcde')
+(3, False, 0, b'abcde')
+(4, False, 0, b'abcde')
+False
+(5, True, 4, b'')
+(6, True, 5, b'')
+(7, True, 6, b'')
+False
+(32, True, 9, b'')
+(1, True, 0, b'')
+(2, True, 1, b'')
+(3, True, 2, b'')
+False