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stm32/pyb_can: Return the filter ID and type of received messages.

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CAN.recv() now returns a 5-tuple, with the new element in the second
position being a boolean, True if the ID is extended.

This is a breaking change of the API for CAN.recv().
This commit is contained in:
iabdalkader 2022-01-29 03:47:47 +02:00 committed by Damien George
parent e7264e9532
commit 95104c9f6e
1 changed files with 15 additions and 13 deletions
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28
ports/stm32/pyb_can.c
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@ -660,29 +660,29 @@ STATIC mp_obj_t pyb_can_recv(size_t n_args, const mp_obj_t *pos_args, mp_map_t *
}
// Create the tuple, or get the list, that will hold the return values
// Also populate the fourth element, either a new bytes or reuse existing memoryview
// Also populate the fifth element, either a new bytes or reuse existing memoryview
mp_obj_t ret_obj = args[ARG_list].u_obj;
mp_obj_t *items;
if (ret_obj == mp_const_none) {
ret_obj = mp_obj_new_tuple(4, NULL);
ret_obj = mp_obj_new_tuple(5, NULL);
items = ((mp_obj_tuple_t *)MP_OBJ_TO_PTR(ret_obj))->items;
items[3] = mp_obj_new_bytes(rx_data, rx_dlc);
items[4] = mp_obj_new_bytes(rx_data, rx_dlc);
} else {
// User should provide a list of length at least 4 to hold the values
// User should provide a list of length at least 5 to hold the values
if (!mp_obj_is_type(ret_obj, &mp_type_list)) {
mp_raise_TypeError(NULL);
}
mp_obj_list_t *list = MP_OBJ_TO_PTR(ret_obj);
if (list->len < 4) {
if (list->len < 5) {
mp_raise_ValueError(NULL);
}
items = list->items;
// Fourth element must be a memoryview which we assume points to a
// Fifth element must be a memoryview which we assume points to a
// byte-like array which is large enough, and then we resize it inplace
if (!mp_obj_is_type(items[3], &mp_type_memoryview)) {
if (!mp_obj_is_type(items[4], &mp_type_memoryview)) {
mp_raise_TypeError(NULL);
}
mp_obj_array_t *mv = MP_OBJ_TO_PTR(items[3]);
mp_obj_array_t *mv = MP_OBJ_TO_PTR(items[4]);
if (!(mv->typecode == (MP_OBJ_ARRAY_TYPECODE_FLAG_RW | BYTEARRAY_TYPECODE)
|| (mv->typecode | 0x20) == (MP_OBJ_ARRAY_TYPECODE_FLAG_RW | 'b'))) {
mp_raise_ValueError(NULL);
@ -691,15 +691,17 @@ STATIC mp_obj_t pyb_can_recv(size_t n_args, const mp_obj_t *pos_args, mp_map_t *
memcpy(mv->items, rx_data, rx_dlc);
}
// Populate the first 3 values of the tuple/list
// Populate the first 4 values of the tuple/list
#if MICROPY_HW_ENABLE_FDCAN
items[0] = MP_OBJ_NEW_SMALL_INT(rx_msg.Identifier);
items[1] = rx_msg.RxFrameType == FDCAN_REMOTE_FRAME ? mp_const_true : mp_const_false;
items[2] = MP_OBJ_NEW_SMALL_INT(rx_msg.FilterIndex);
items[1] = mp_obj_new_bool(rx_msg.IdType == FDCAN_EXTENDED_ID);
items[2] = rx_msg.RxFrameType == FDCAN_REMOTE_FRAME ? mp_const_true : mp_const_false;
items[3] = MP_OBJ_NEW_SMALL_INT(rx_msg.FilterIndex);
#else
items[0] = MP_OBJ_NEW_SMALL_INT((rx_msg.IDE == CAN_ID_STD ? rx_msg.StdId : rx_msg.ExtId));
items[1] = rx_msg.RTR == CAN_RTR_REMOTE ? mp_const_true : mp_const_false;
items[2] = MP_OBJ_NEW_SMALL_INT(rx_msg.FMI);
items[1] = mp_obj_new_bool(rx_msg.IDE == CAN_ID_EXT);
items[2] = rx_msg.RTR == CAN_RTR_REMOTE ? mp_const_true : mp_const_false;
items[3] = MP_OBJ_NEW_SMALL_INT(rx_msg.FMI);
#endif
// Return the result