8000 port/esp32: CAN_v2. WIP · micropython/micropython@e7cca3d · GitHub
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IhorNehrutsaIhorNehrutsa
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port/esp32: CAN_v2. WIP
Signed-off-by: Ihor Nehrutsa <Ihor.Nehrutsa@gmail.com>
1 parent 5e7e2db commit e7cca3d

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-207
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7 files changed

+777
-207
lines changed

‎docs/library/machine.CAN.rst

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‎ports/esp32/esp32_common.cmake

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Original file line numberDiff line numberDiff line change
@@ -104,6 +104,7 @@ list(APPEND MICROPY_SOURCE_PORT
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fatfs_port.c
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help.c
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machine_bitstream.c
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machine_can.c
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machine_timer.c
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machine_pin.c
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machine_touchpad.c

‎ports/esp32/machine_can.c

Lines changed: 290 additions & 186 deletions
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‎ports/esp32/machine_can.h

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Original file line numberDiff line numberDiff line change
@@ -23,36 +23,95 @@
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
26-
#ifndef MICROPY_INCLUDED_ESP32_CAN_H
27-
#define MICROPY_INCLUDED_ESP32_CAN_H
28-
26+
#ifndef MICROPY_INCLUDED_ESP32_MACHINE_CAN_H
27+
#define MICROPY_INCLUDED_ESP32_MACHINE_CAN_H
28+
/*
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#include "modmachine.h"
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#include "freertos/task.h"
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32+
#include "mpconfigport.h"
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#include "py/obj.h"
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*/
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#if MICROPY_PY_MACHINE_CAN
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//#define DEVICE_NAME "CAN"
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34-
#if MICROPY_HW_ENABLE_CAN
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#define CAN_MODE_SILENT_LOOPBACK (0x10)
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36-
#define DEVICE_NAME "CAN"
41+
typedef enum {
42+
MODE_NORMAL = TWAI_MODE_NORMAL,
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MODE_SLEEP = -1,
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MODE_LOOPBACK = -2, // TWAI_MODE_NORMAL | CAN_MODE_SILENT_LOOPBACK,
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MODE_SILENT = TWAI_MODE_NO_ACK,
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MODE_SILENT_LOOPBACK = -3,
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MODE_LISTEN_ONLY = TWAI_MODE_LISTEN_ONLY, // esp32 specific
48+
} can_mode_t;
3749

38-
typedef enum _filter_mode_t {
39-
FILTER_RAW_SINGLE = 0,
50+
typedef enum {
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FILTER_RAW_SINGLE = 1,
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FILTER_RAW_DUAL,
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FILTER_ADDRESS
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} filter_mode_t;
4355

44-
typedef struct _esp32_can_config_t {
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typedef enum {
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RX_STATE_FIFO_EMPTY = 1,
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RX_STATE_MESSAGE_PENDING,
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RX_STATE_FIFO_FULL,
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RX_STATE_FIFO_OVERFLOW,
61+
} rx_state_t;
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63+
typedef enum {
64+
NOT_INITIATED = -1,
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STOPPED = TWAI_STATE_STOPPED,
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RUNNING = TWAI_STATE_RUNNING,
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BUS_OFF = TWAI_STATE_BUS_OFF,
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RECOVERING = TWAI_STATE_RECOVERING,
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} state_t;
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typedef enum {
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ERROR = -1,
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/*
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ERROR_ACTIVE = TWAI_ERROR_ACTIVE,
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ERROR_WARNING = TWAI_ERROR_WARNING,
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ERROR_PASSIVE = TWAI_ERROR_PASSIVE,
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ERROR_BUS_OFF = TWAI_ERROR_BUS_OFF,
78+
*/
79+
} error_state_t;
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81+
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typedef enum {
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RTR = 1,
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EXTENDED_ID,
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FD_F,
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BRS,
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} message_flags_t;
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89+
typedef enum {
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CRC = 1,
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FORM,
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OVERRUN,
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ESI,
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} recv_errors_t;
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typedef enum {
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ARB = 1,
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NACK,
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ERR,
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} send_errors_t;
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102+
typedef struct {
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twai_timing_config_t timing;
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twai_filter_config_t filter;
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twai_general_config_t general;
48-
uint32_t baudrate; // bit/s
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uint32_t bitrate; // bit/s
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bool initialized;
50108
} esp32_can_config_t;
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52-
typedef struct _esp32_can_obj_t {
110+
typedef struct {
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mp_obj_base_t base;
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esp32_can_config_t *config;
55-
mp_obj_t rxcallback;
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mp_obj_t rx_callback;
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mp_obj_t tx_callback;
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TaskHandle_t irq_handler;
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byte rx_state;
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bool extframe : 1;
@@ -62,17 +121,12 @@ typedef struct _esp32_can_obj_t {
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uint16_t num_error_warning; // FIXME: populate this value somewhere
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uint16_t num_error_passive;
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uint16_t num_bus_off;
124+
twai_handle_t handle;
125+
twai_status_info_t status;
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} esp32_can_obj_t;
66127

67-
typedef enum _rx_state_t {
68-
RX_STATE_FIFO_EMPTY = 0,
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RX_STATE_MESSAGE_PENDING,
70-
RX_STATE_FIFO_FULL,
71-
RX_STATE_FIFO_OVERFLOW,
72-
} rx_state_t;
73-
74128
extern const mp_obj_type_t machine_can_type;
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76-
#endif // MICROPY_HW_ENABLE_CAN
130+
#endif // MICROPY_PY_MACHINE_CAN
77131

78-
#endif // MICROPY_INCLUDED_ESP32_CAN_H
132+
#endif // MICROPY_INCLUDED_ESP32_MACHINE_CAN_H

‎ports/esp32/modmachine.c

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@@ -54,6 +54,7 @@
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#define MICROPY_PY_MACHINE_EXTRA_GLOBALS \
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{ MP_ROM_QSTR(MP_QSTR_sleep), MP_ROM_PTR(&machine_lightsleep_obj) }, \
5656
\
57+
{ MP_ROM_QSTR(MP_QSTR_CAN), MP_ROM_PTR(&machine_can_type) }, \
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{ MP_ROM_QSTR(MP_QSTR_Timer), MP_ROM_PTR(&machine_timer_type) }, \
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MICROPY_PY_MACHINE_SDCARD_ENTRY \
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{ MP_ROM_QSTR(MP_QSTR_Pin), MP_ROM_PTR(&machine_pin_type) }, \

‎ports/esp32/modmachine.h

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Original file line numberDiff line numberDiff line change
@@ -12,6 +12,7 @@ typedef enum {
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extern const mp_obj_type_t machine_touchpad_type;
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extern const mp_obj_type_t machine_dac_type;
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extern const mp_obj_type_t machine_sdcard_type;
15+
extern const mp_obj_type_t machine_can_type;
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void machine_init(void);
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void machine_deinit(void);

‎ports/esp32/mpconfigport.h

Lines changed: 2 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -62,7 +62,7 @@
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#define MICROPY_STACK_CHECK_MARGIN (1024)
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#define MICROPY_ENABLE_EMERGENCY_EXCEPTION_BUF (1)
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#define MICROPY_LONGINT_IMPL (MICROPY_LONGINT_IMPL_MPZ)
65-
#define MICROPY_ERROR_REPORTING (MICROPY_ERROR_REPORTING_NORMAL)
65+
#define MICROPY_ERROR_REPORTING (MICROPY_ERROR_REPORTING_NORMAL+1)
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#define MICROPY_WARNINGS (1)
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#define MICROPY_FLOAT_IMPL (MICROPY_FLOAT_IMPL_FLOAT)
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#define MICROPY_STREAMS_POSIX_API (1)
@@ -153,6 +153,7 @@
153153
#define MICROPY_PY_MACHINE_UART_INCLUDEFILE "ports/esp32/machine_uart.c"
154154
#define MICROPY_PY_MACHINE_UART_SENDBREAK (1)
155155
#define MICROPY_PY_MACHINE_UART_IRQ (1)
156+
#define MICROPY_PY_MACHINE_CAN (1)
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#define MICROPY_PY_MACHINE_WDT (1)
157158
#define MICROPY_PY_MACHINE_WDT_INCLUDEFILE "ports/esp32/machine_wdt.c"
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#define MICROPY_PY_NETWORK (1)

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