stm32/can: Factor CAN driver into low-level and Python bindings.

can.c now contains the low-level C interface to the CAN peripheral, and
pyb_can.c the Python-level class/methods/constants.

ports/stm32/Makefile

@@ -256,6 +256,7 @@ SRC_C = \
 	qspi.c \
 	uart.c \
 	can.c \
+	pyb_can.c \
 	usb.c \
 	wdt.c \
 	eth.c \

ports/stm32/can.h

@@ -26,15 +26,58 @@
 #ifndef MICROPY_INCLUDED_STM32_CAN_H
 #define MICROPY_INCLUDED_STM32_CAN_H
 
+#include "py/obj.h"
+
 #define PYB_CAN_1 (1)
 #define PYB_CAN_2 (2)
 #define PYB_CAN_3 (3)
 
+#define MASK16 (0)
+#define LIST16 (1)
+#define MASK32 (2)
+#define LIST32 (3)
+
+enum {
+    CAN_STATE_STOPPED,
+    CAN_STATE_ERROR_ACTIVE,
+    CAN_STATE_ERROR_WARNING,
+    CAN_STATE_ERROR_PASSIVE,
+    CAN_STATE_BUS_OFF,
+};
+
+typedef enum _rx_state_t {
+    RX_STATE_FIFO_EMPTY = 0,
+    RX_STATE_MESSAGE_PENDING,
+    RX_STATE_FIFO_FULL,
+    RX_STATE_FIFO_OVERFLOW,
+} rx_state_t;
+
+typedef struct _pyb_can_obj_t {
+    mp_obj_base_t base;
+    mp_obj_t rxcallback0;
+    mp_obj_t rxcallback1;
+    mp_uint_t can_id : 8;
+    bool is_enabled : 1;
+    bool extframe : 1;
+    byte rx_state0;
+    byte rx_state1;
+    uint16_t num_error_warning;
+    uint16_t num_error_passive;
+    uint16_t num_bus_off;
+    CAN_HandleTypeDef can;
+} pyb_can_obj_t;
+
 extern const mp_obj_type_t pyb_can_type;
 
 void can_init0(void);
-void can_deinit(void);
-void can_rx_irq_handler(uint can_id, uint fifo_id);
-void can_sce_irq_handler(uint can_id);
+void can_deinit_all(void);
+bool can_init(pyb_can_obj_t *can_obj, uint32_t mode, uint32_t prescaler, uint32_t sjw, uint32_t bs1, uint32_t bs2, bool auto_restart);
+void can_deinit(pyb_can_obj_t *self);
+
+void can_clearfilter(uint32_t f, uint8_t bank);
+int can_receive(CAN_TypeDef *can, int fifo, CanRxMsgTypeDef *msg, uint32_t timeout_ms);
+HAL_StatusTypeDef CAN_Transmit(CAN_HandleTypeDef *hcan, uint32_t Timeout);
+
+void pyb_can_handle_callback(pyb_can_obj_t *self, uint fifo_id, mp_obj_t callback, mp_obj_t irq_reason);
 
 #endif // MICROPY_INCLUDED_STM32_CAN_H

ports/stm32/main.c

@@ -731,7 +731,7 @@ soft_reset_exit:
     timer_deinit();
     uart_deinit_all();
     #if MICROPY_HW_ENABLE_CAN
-    can_deinit();
+    can_deinit_all();
     #endif
     machine_deinit();
 

ports/stm32/stm32_it.c

@@ -79,7 +79,6 @@
 #include "timer.h"
 #include "uart.h"
 #include "storage.h"
-#include "can.h"
 #include "dma.h"
 #include "i2c.h"
 #include "usb.h"
@@ -792,66 +791,6 @@ void UART10_IRQHandler(void) {
 
 #endif
 
-#if defined(MICROPY_HW_CAN1_TX)
-void CAN1_RX0_IRQHandler(void) {
-    IRQ_ENTER(CAN1_RX0_IRQn);
-    can_rx_irq_handler(PYB_CAN_1, CAN_FIFO0);
-    IRQ_EXIT(CAN1_RX0_IRQn);
-}
-
-void CAN1_RX1_IRQHandler(void) {
-    IRQ_ENTER(CAN1_RX1_IRQn);
-    can_rx_irq_handler(PYB_CAN_1, CAN_FIFO1);
-    IRQ_EXIT(CAN1_RX1_IRQn);
-}
-
-void CAN1_SCE_IRQHandler(void) {
-    IRQ_ENTER(CAN1_SCE_IRQn);
-    can_sce_irq_handler(PYB_CAN_1);
-    IRQ_EXIT(CAN1_SCE_IRQn);
-}
-#endif
-
-#if defined(MICROPY_HW_CAN2_TX)
-void CAN2_RX0_IRQHandler(void) {
-    IRQ_ENTER(CAN2_RX0_IRQn);
-    can_rx_irq_handler(PYB_CAN_2, CAN_FIFO0);
-    IRQ_EXIT(CAN2_RX0_IRQn);
-}
-
-void CAN2_RX1_IRQHandler(void) {
-    IRQ_ENTER(CAN2_RX1_IRQn);
-    can_rx_irq_handler(PYB_CAN_2, CAN_FIFO1);
-    IRQ_EXIT(CAN2_RX1_IRQn);
-}
-
-void CAN2_SCE_IRQHandler(void) {
-    IRQ_ENTER(CAN2_SCE_IRQn);
-    can_sce_irq_handler(PYB_CAN_2);
-    IRQ_EXIT(CAN2_SCE_IRQn);
-}
-#endif
-
-#if defined(MICROPY_HW_CAN3_TX)
-void CAN3_RX0_IRQHandler(void) {
-    IRQ_ENTER(CAN3_RX0_IRQn);
-    can_rx_irq_handler(PYB_CAN_3, CAN_FIFO0);
-    IRQ_EXIT(CAN3_RX0_IRQn);
-}
-
-void CAN3_RX1_IRQHandler(void) {
-    IRQ_ENTER(CAN3_RX1_IRQn);
-    can_rx_irq_handler(PYB_CAN_3, CAN_FIFO1);
-    IRQ_EXIT(CAN3_RX1_IRQn);
-}
-
-void CAN3_SCE_IRQHandler(void) {
-    IRQ_ENTER(CAN3_SCE_IRQn);
-    can_sce_irq_handler(PYB_CAN_3);
-    IRQ_EXIT(CAN3_SCE_IRQn);
-}
-#endif
-
 #if MICROPY_PY_PYB_LEGACY
 
 #if defined(MICROPY_HW_I2C1_SCL)