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docs/library/pyb.CAN: Update markup to use latest doc conventions.
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‎docs/library/pyb.CAN.rst‎

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@@ -24,11 +24,11 @@ Constructors
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.. class:: pyb.CAN(bus, ...)
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Construct a CAN object on the given bus. ``bus`` can be 1-2, or 'YA' or 'YB'.
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Construct a CAN object on the given bus. *bus* can be 1-2, or ``'YA'`` or ``'YB'``.
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With no additional parameters, the CAN object is created but not
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initialised (it has the settings from the last initialisation of
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the bus, if any). If extra arguments are given, the bus is initialised.
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See ``init`` for parameters of initialisation.
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See :meth:`CAN.init` for parameters of initialisation.
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The physical pins of the CAN busses are:
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@@ -42,7 +42,7 @@ Class Methods
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Reset and disable all filter banks and assign how many banks should be available for CAN(1).
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STM32F405 has 28 filter banks that are shared between the two available CAN bus controllers.
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This function configures how many filter banks should be assigned to each. ``nr`` is the number of banks
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This function configures how many filter banks should be assigned to each. *nr* is the number of banks
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that will be assigned to CAN(1), the rest of the 28 are assigned to CAN(2).
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At boot, 14 banks are assigned to each controller.
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Initialise the CAN bus with the given parameters:
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- ``mode`` is one of: NORMAL, LOOPBACK, SILENT, SILENT_LOOPBACK
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- if ``extframe`` is True then the bus uses extended identifiers in the frames
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- *mode* is one of: NORMAL, LOOPBACK, SILENT, SILENT_LOOPBACK
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- if *extframe* is True then the bus uses extended identifiers in the frames
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(29 bits); otherwise it uses standard 11 bit identifiers
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- ``prescaler`` is used to set the duration of 1 time quanta; the time quanta
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- *prescaler* is used to set the duration of 1 time quanta; the time quanta
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will be the input clock (PCLK1, see :meth:`pyb.freq()`) divided by the prescaler
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- ``sjw`` is the resynchronisation jump width in units of the time quanta;
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- *sjw* is the resynchronisation jump width in units of the time quanta;
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it can be 1, 2, 3, 4
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- ``bs1`` defines the location of the sample point in units of the time quanta;
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- *bs1* defines the location of the sample point in units of the time quanta;
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it can be between 1 and 1024 inclusive
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- ``bs2`` defines the location of the transmit point in units of the time quanta;
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- *bs2* defines the location of the transmit point in units of the time quanta;
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it can be between 1 and 16 inclusive
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The time quanta tq is the basic unit of time for the CAN bus. tq is the CAN
@@ -89,13 +89,13 @@ Methods
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Configure a filter bank:
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- ``bank`` is the filter bank that is to be configured.
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- ``mode`` is the mode the filter should operate in.
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- ``fifo`` is which fifo (0 or 1) a message should be stored in, if it is accepted by this filter.
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- ``params`` is an array of values the defines the filter. The contents of the array depends on the ``mode`` argument.
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- *bank* is the filter bank that is to be configured.
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- *mode* is the mode the filter should operate in.
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- *fifo* is which fifo (0 or 1) a message should be stored in, if it is accepted by this filter.
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- *params* is an array of values the defines the filter. The contents of the array depends on the *mode* argument.
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+-----------+---------------------------------------------------------+
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|``mode`` |contents of parameter array |
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|*mode* |contents of *params* array |
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+===========+=========================================================+
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|CAN.LIST16 |Four 16 bit ids that will be accepted |
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+-----------+---------------------------------------------------------+
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|CAN.MASK32 |As with CAN.MASK16 but with only one 32 bit id/mask pair.|
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+-----------+---------------------------------------------------------+
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- ``rtr`` is an array of booleans that states if a filter should accept a
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- *rtr* is an array of booleans that states if a filter should accept a
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remote transmission request message. If this argument is not given
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then it defaults to False for all entries. The length of the array
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depends on the ``mode`` argument.
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then it defaults to ``False`` for all entries. The length of the array
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depends on the *mode* argument.
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+-----------+----------------------+
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|``mode`` |length of rtr array |
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|*mode* |length of *rtr* array |
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+===========+======================+
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|CAN.LIST16 |4 |
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+-----------+----------------------+
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Clear and disables a filter bank:
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- ``bank`` is the filter bank that is to be cleared.
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- *bank* is the filter bank that is to be cleared.
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.. method:: CAN.any(fifo)
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Receive data on the bus:
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- ``fifo`` is an integer, which is the FIFO to receive on
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- ``timeout`` is the timeout in milliseconds to wait for the receive.
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- *fifo* is an integer, which is the FIFO to receive on
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- *timeout* is the timeout in milliseconds to wait for the receive.
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Return value: A tuple containing four values.
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Send a message on the bus:
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- ``data`` is the data to send (an integer to send, or a buffer object).
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- ``id`` is the id of the message to be sent.
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- ``timeout`` is the timeout in milliseconds to wait for the send.
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- ``rtr`` is a boolean that specifies if the message shall be sent as
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a remote transmission request. If ``rtr`` is True then only the length
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of ``data`` is used to fill in the DLC slot of the frame; the actual
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bytes in ``data`` are unused.
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- *data* is the data to send (an integer to send, or a buffer object).
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- *id* is the id of the message to be sent.
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- *timeout* is the timeout in milliseconds to wait for the send.
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- *rtr* is a boolean that specifies if the message shall be sent as
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a remote transmission request. If *rtr* is True then only the length
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of *data* is used to fill in the DLC slot of the frame; the actual
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bytes in *data* are unused.
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If timeout is 0 the message is placed in a buffer in one of three hardware
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buffers and the method returns immediately. If all three buffers are in use
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Register a function to be called when a message is accepted into a empty fifo:
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- ``fifo`` is the receiving fifo.
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- ``fun`` is the function to be called when the fifo becomes non empty.
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- *fifo* is the receiving fifo.
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- *fun* is the function to be called when the fifo becomes non empty.
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The callback function takes two arguments the first is the can object it self the second is
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a integer that indicates the reason for the callback.

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