can.c

/*
 * This file is part of the Micro Python project, http://micropython.org/
 *
 * The MIT License (MIT)
 *
 * Copyright (c) 2014 Damien P. George
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */

#include <stdio.h>
#include <string.h>
#include <stdarg.h>
#include <errno.h>

#include "mpconfig.h"
#include "nlr.h"
#include "misc.h"
#include "qstr.h"
#include "obj.h"
#include "objtuple.h"
#include "runtime.h"
#include "bufhelper.h"
#include "can.h"
#include "pybioctl.h"
#include MICROPY_HAL_H

#if MICROPY_HW_ENABLE_CAN

/// \moduleref pyb
/// \class CAN - controller area network communication bus
///
/// CAN implements the standard CAN communications protocol.  At
/// the physical level it consists of 2 lines: RX and TX.  Note that
/// to connect the pyboard to a CAN bus you must use a CAN transceiver
/// to convert the CAN logic signals from the pyboard to the correct
/// voltage levels on the bus.
///
/// Note that this driver does not yet support filter configuration
/// (it defaults to a single filter that lets through all messages),
/// or bus timing configuration (except for setting the prescaler).
///
/// Example usage (works without anything connected):
///
///     from pyb import CAN
///     can = pyb.CAN(1, pyb.CAN.LOOPBACK)
///     can.send('message!', 123)   # send message with id 123
///     can.recv(0)                 # receive message on FIFO 0

typedef struct _pyb_can_obj_t {
    mp_obj_base_t base;
    mp_uint_t can_id : 8;
    bool is_enabled : 1;
    bool extframe : 1;