diff --git a/embassy-stm32/src/can/bxcan.rs b/embassy-stm32/src/can/bxcan.rs index 9cd40fd8..e23ce686 100644 --- a/embassy-stm32/src/can/bxcan.rs +++ b/embassy-stm32/src/can/bxcan.rs @@ -5,12 +5,11 @@ use core::task::Poll; pub use bxcan; use bxcan::{Data, ExtendedId, Frame, Id, StandardId}; -use embassy_cortex_m::interrupt::Interrupt; use embassy_hal_common::{into_ref, PeripheralRef}; use futures::FutureExt; use crate::gpio::sealed::AFType; -use crate::interrupt::InterruptExt; +use crate::interrupt::typelevel::Interrupt; use crate::pac::can::vals::{Lec, RirIde}; use crate::rcc::RccPeripheral; use crate::time::Hertz; @@ -21,7 +20,7 @@ pub struct TxInterruptHandler { _phantom: PhantomData, } -impl interrupt::Handler for TxInterruptHandler { +impl interrupt::typelevel::Handler for TxInterruptHandler { unsafe fn on_interrupt() { T::regs().tsr().write(|v| { v.set_rqcp(0, true); @@ -37,7 +36,7 @@ pub struct Rx0InterruptHandler { _phantom: PhantomData, } -impl interrupt::Handler for Rx0InterruptHandler { +impl interrupt::typelevel::Handler for Rx0InterruptHandler { unsafe fn on_interrupt() { // info!("rx0 irq"); Can::::receive_fifo(RxFifo::Fifo0); @@ -48,7 +47,7 @@ pub struct Rx1InterruptHandler { _phantom: PhantomData, } -impl interrupt::Handler for Rx1InterruptHandler { +impl interrupt::typelevel::Handler for Rx1InterruptHandler { unsafe fn on_interrupt() { // info!("rx1 irq"); Can::::receive_fifo(RxFifo::Fifo1); @@ -59,7 +58,7 @@ pub struct SceInterruptHandler { _phantom: PhantomData, } -impl interrupt::Handler for SceInterruptHandler { +impl interrupt::typelevel::Handler for SceInterruptHandler { unsafe fn on_interrupt() { // info!("sce irq"); let msr = T::regs().msr(); @@ -97,10 +96,10 @@ impl<'d, T: Instance> Can<'d, T> { peri: impl Peripheral

+ 'd, rx: impl Peripheral

> + 'd, tx: impl Peripheral

> + 'd, - _irqs: impl interrupt::Binding> - + interrupt::Binding> - + interrupt::Binding> - + interrupt::Binding> + _irqs: impl interrupt::typelevel::Binding> + + interrupt::typelevel::Binding> + + interrupt::typelevel::Binding> + + interrupt::typelevel::Binding> + 'd, ) -> Self { into_ref!(peri, rx, tx); @@ -111,7 +110,7 @@ impl<'d, T: Instance> Can<'d, T> { T::enable(); T::reset(); - unsafe { + { use crate::pac::can::vals::{Errie, Fmpie, Tmeie}; T::regs().ier().write(|w| { @@ -127,21 +126,21 @@ impl<'d, T: Instance> Can<'d, T> { // Enable timestamps on rx messages w.set_ttcm(true); - }) + }); } unsafe { - T::TXInterrupt::steal().unpend(); - T::TXInterrupt::steal().enable(); + T::TXInterrupt::unpend(); + T::TXInterrupt::enable(); - T::RX0Interrupt::steal().unpend(); - T::RX0Interrupt::steal().enable(); + T::RX0Interrupt::unpend(); + T::RX0Interrupt::enable(); - T::RX1Interrupt::steal().unpend(); - T::RX1Interrupt::steal().enable(); + T::RX1Interrupt::unpend(); + T::RX1Interrupt::enable(); - T::SCEInterrupt::steal().unpend(); - T::SCEInterrupt::steal().enable(); + T::SCEInterrupt::unpend(); + T::SCEInterrupt::enable(); } rx.set_as_af(rx.af_num(), AFType::Input); @@ -169,7 +168,7 @@ impl<'d, T: Instance> Can<'d, T> { } pub async fn flush(&self, mb: bxcan::Mailbox) { - poll_fn(|cx| unsafe { + poll_fn(|cx| { if T::regs().tsr().read().tme(mb.index()) { return Poll::Ready(()); } @@ -194,7 +193,7 @@ impl<'d, T: Instance> Can<'d, T> { } fn curr_error(&self) -> Option { - let err = unsafe { T::regs().esr().read() }; + let err = { T::regs().esr().read() }; if err.boff() { return Some(BusError::BusOff); } else if err.epvf() { @@ -396,19 +395,19 @@ pub(crate) mod sealed { } pub trait TXInstance { - type TXInterrupt: crate::interrupt::Interrupt; + type TXInterrupt: crate::interrupt::typelevel::Interrupt; } pub trait RX0Instance { - type RX0Interrupt: crate::interrupt::Interrupt; + type RX0Interrupt: crate::interrupt::typelevel::Interrupt; } pub trait RX1Instance { - type RX1Interrupt: crate::interrupt::Interrupt; + type RX1Interrupt: crate::interrupt::typelevel::Interrupt; } pub trait SCEInstance { - type SCEInterrupt: crate::interrupt::Interrupt; + type SCEInterrupt: crate::interrupt::typelevel::Interrupt; } pub trait InterruptableInstance: TXInstance + RX0Instance + RX1Instance + SCEInstance {} @@ -440,22 +439,22 @@ foreach_peripheral!( foreach_interrupt!( ($inst,can,CAN,TX,$irq:ident) => { impl TXInstance for peripherals::$inst { - type TXInterrupt = crate::interrupt::$irq; + type TXInterrupt = crate::interrupt::typelevel::$irq; } }; ($inst,can,CAN,RX0,$irq:ident) => { impl RX0Instance for peripherals::$inst { - type RX0Interrupt = crate::interrupt::$irq; + type RX0Interrupt = crate::interrupt::typelevel::$irq; } }; ($inst,can,CAN,RX1,$irq:ident) => { impl RX1Instance for peripherals::$inst { - type RX1Interrupt = crate::interrupt::$irq; + type RX1Interrupt = crate::interrupt::typelevel::$irq; } }; ($inst,can,CAN,SCE,$irq:ident) => { impl SCEInstance for peripherals::$inst { - type SCEInterrupt = crate::interrupt::$irq; + type SCEInterrupt = crate::interrupt::typelevel::$irq; } }; ); diff --git a/examples/stm32f4/src/bin/can.rs b/examples/stm32f4/src/bin/can.rs index e8377b9a..da895505 100644 --- a/examples/stm32f4/src/bin/can.rs +++ b/examples/stm32f4/src/bin/can.rs @@ -4,12 +4,21 @@ use cortex_m_rt::entry; use defmt::*; +use embassy_stm32::bind_interrupts; use embassy_stm32::can::bxcan::filter::Mask32; use embassy_stm32::can::bxcan::{Fifo, Frame, StandardId}; -use embassy_stm32::can::Can; +use embassy_stm32::can::{Can, Rx0InterruptHandler, Rx1InterruptHandler, SceInterruptHandler, TxInterruptHandler}; use embassy_stm32::gpio::{Input, Pull}; +use embassy_stm32::peripherals::CAN1; use {defmt_rtt as _, panic_probe as _}; +bind_interrupts!(struct Irqs { + CAN1_RX0 => Rx0InterruptHandler; + CAN1_RX1 => Rx1InterruptHandler; + CAN1_SCE => SceInterruptHandler; + CAN1_TX => TxInterruptHandler; +}); + #[entry] fn main() -> ! { info!("Hello World!"); @@ -23,7 +32,7 @@ fn main() -> ! { let rx_pin = Input::new(&mut p.PA11, Pull::Up); core::mem::forget(rx_pin); - let mut can = Can::new(p.CAN1, p.PA11, p.PA12); + let mut can = Can::new(p.CAN1, p.PA11, p.PA12, Irqs); can.modify_filters().enable_bank(0, Fifo::Fifo0, Mask32::accept_all());