lib/base: Add Atom CAN Base support.

Signed-off-by: Tinyu-Zhao <[email protected]>

Author: Tinyu-Zhao

docs/en/base/atom_can.rst

@@ -0,0 +1,89 @@
+ATOM CAN Base
+==============
+
+.. include:: ../refs/base.can.ref
+
+The following products are supported:
+
+    ================== ==================
+    |Atom CAN|         |Atomic CAN Base|
+    ================== ==================
+
+
+Micropython TX Example:
+
+    .. literalinclude:: ../../../examples/unit/can/stickc_plus2_can_tx_example.py
+        :language: python
+        :linenos:
+
+
+Micropython RX Example:
+
+    .. literalinclude:: ../../../examples/unit/can/dial_can_rx_example.py
+        :language: python
+        :linenos:
+
+
+UIFLOW2 TX Example:
+
+    |tx_example.png|
+
+
+UIFLOW2 RX Example:
+
+    |rx_example.png|
+
+
+.. only:: builder_html
+
+    |stickc_plus2_can_tx_example.m5f2|
+
+    |dial_can_rx_example.m5f2|
+
+class ATOMCANBase
+-----------------
+
+Constructors
+------------
+
+.. class:: ATOMCANBase(id, tx, rx, mode, baudrate)
+
+    Create an ATOMCANBase object.
+
+    parameter is:
+
+        - ``id`` is the ID of the CAN bus
+        - ``tx`` is the pin to use for transmitting data
+        - ``rx`` is the pin to use for receiving data
+        - ``mode`` is one of:  NORMAL, NO_ACKNOWLEDGE, LISTEN_ONLY
+        - ``baudrate`` is the baudrate of ATOMCANBase
+
+    UIFLOW2:
+
+        |init.png|
+
+.. class:: ATOMCANBase(id, tx, rx, mode, prescaler, sjw, bs1, bs2, triple_sampling=False)
+    :no-index:
+    
+    Initialise the CAN bus with the given parameters:
+
+        - ``id`` is the ID of the CAN bus
+        - ``tx`` is the pin to use for transmitting data
+        - ``rx`` is the pin to use for receiving data
+        - ``mode`` is one of:  NORMAL, NO_ACKNOWLEDGE, LISTEN_ONLY
+        - ``prescaler`` is the value by which the CAN input clock is divided to generate the
+          nominal bit time quanta. The prescaler can be a value between 1 and 1024 inclusive
+          for classic CAN.
+        - ``sjw`` is the resynchronisation jump width in units of time quanta for nominal bits;
+          it can be a value between 1 and 4 inclusive for classic CAN.
+        - ``bs1`` defines the location of the sample point in units of the time quanta for nominal bits;
+          it can be a value between 1 and 16 inclusive for classic CAN.
+        - ``bs2`` defines the location of the transmit point in units of the time quanta for nominal bits;
+          it can be a value between 1 and 8 inclusive for classic CAN.
+        - ``triple_sampling`` is Enables triple sampling when the TWAI controller samples a bit
+
+    UIFLOW2:
+
+        |init_advanced.png|
+
+ATOMCANBase class inherits CAN class, See :ref:`hardware.CAN <hardware.CAN>` for more details.

docs/en/base/index.rst

@@ -3,6 +3,7 @@ Base
 
 .. toctree::
     :maxdepth: 1
-
+    
+    atom_can.rst
     atom_socket.rst
     motion.rst

docs/en/refs/base.can.ref

@@ -0,0 +1,36 @@
+..  |Atom CAN| image:: https://static-cdn.m5stack.com/resource/docs/products/atom/atom_can/atom_can_01.webp
+    :target: https://docs.m5stack.com/en/atom/atom_can
+    :height: 200px
+    :width: 200px
+
+.. |Atomic CAN Base| image:: https://static-cdn.m5stack.com/resource/docs/products/atom/Atomic%20CAN%20Base/img-8c8eb3c4-9657-4330-9e1a-a0f5f3290197.webp
+    :target: https://docs.m5stack.com/en/atom/Atomic%20CAN%20Base
+    :height: 200px
+    :width: 200px
+
+.. |init.png| image:: https://m5stack.oss-cn-shenzhen.aliyuncs.com/mpy_docs/base/can/init.png
+
+.. |init_advanced.png| image:: https://m5stack.oss-cn-shenzhen.aliyuncs.com/mpy_docs/base/can/init_advanced.png
+
+
+.. |tx_example.png| image:: https://static-cdn.m5stack.com/mpy_docs/unit/can/tx_example.png
+
+.. |stickc_plus2_can_tx_example.m5f2| raw:: html
+
+    <a
+        href="https://uiflow2.m5stack.com/?example=https://raw.githubusercontent.com/m5stack/uiflow-micropython/develop/examples/unit/can/stickc_plus2_can_tx_example.m5f2"
+        target="_blank"
+    >
+        stickc_plus2_can_tx_example.m5f2
+    </a>
+
+.. |rx_example.png| image:: https://static-cdn.m5stack.com/mpy_docs/unit/can/rx_example.png
+
+.. |dial_can_rx_example.m5f2| raw:: html
+
+    <a
+        href="https://uiflow2.m5stack.com/?example=https://raw.githubusercontent.com/m5stack/uiflow-micropython/develop/examples/unit/can/dial_can_rx_example.m5f2"
+        target="_blank"
+    >
+        dial_can_rx_example.m5f2
+    </a>

m5stack/libs/base/__init__.py

@@ -3,6 +3,7 @@
 # SPDX-License-Identifier: MIT
 
 _attrs = {
+    "ATOMCANBase": "atom_can",
     "ATOMSocketBase": "atom_socket",
     "Motion": "motion",
 }

m5stack/libs/base/atom_can.py

@@ -0,0 +1,50 @@
+# SPDX-FileCopyrightText: 2024 M5Stack Technology CO LTD
+#
+# SPDX-License-Identifier: MIT
+
+import m5can
+import sys
+
+if sys.platform != "esp32":
+    from typing import Literal
+from micropython import const
+
+
+class ATOMCANBase(m5can.CAN):
+    _timing_table = {
+        # prescaler, sjw, bs1, bs2, triple_sampling
+        25000: (128, 3, 16, 8, False),
+        50000: (80, 3, 15, 4, False),
+        100000: (40, 3, 15, 4, False),
+        125000: (32, 3, 15, 4, False),
+        250000: (16, 3, 15, 4, False),
+        500000: (8, 3, 15, 4, False),
+        800000: (4, 3, 16, 8, False),
+        1000000: (4, 3, 15, 4, False),
+    }
+
+    def __init__(
+        self,
+        id: Literal[0, 1],
+        port: list | tuple = None,
+        mode: int = m5can.CAN.NORMAL,
+        *args,
+        **kwargs,
+    ):
+        if len(kwargs) == 1:
+            (prescaler, sjw, bs1, bs2, triple_sampling) = self._timing_table.get(
+                kwargs.get("baudrate")
+            )
+        elif len(args) == 5:
+            (prescaler, sjw, bs1, bs2, triple_sampling) = args
+        super().__init__(
+            0,
+            mode,
+            port[1],
+            port[0],
+            prescaler,
+            sjw,
+            bs1,
+            bs2,
+            triple_sampling,
+        )

m5stack/libs/base/manifest.py

@@ -5,6 +5,7 @@
     "base",
     (
         "__init__.py",
+        "atom_can.py",
         "atom_socket.py",
         "motion.py",
     ),