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stm32/can: update interrupts

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This commit is contained in:
xoviat 2023-06-19 16:05:59 -05:00
parent aaad906815
commit 0998221478
2 changed files with 40 additions and 32 deletions
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59
embassy-stm32/src/can/bxcan.rs
View File

@ -5,12 +5,11 @@ use core::task::Poll;
pub use bxcan; pub use bxcan;
use bxcan::{Data, ExtendedId, Frame, Id, StandardId}; use bxcan::{Data, ExtendedId, Frame, Id, StandardId};
use embassy_cortex_m::interrupt::Interrupt;
use embassy_hal_common::{into_ref, PeripheralRef}; use embassy_hal_common::{into_ref, PeripheralRef};
use futures::FutureExt; use futures::FutureExt;
use crate::gpio::sealed::AFType; use crate::gpio::sealed::AFType;
use crate::interrupt::InterruptExt; use crate::interrupt::typelevel::Interrupt;
use crate::pac::can::vals::{Lec, RirIde}; use crate::pac::can::vals::{Lec, RirIde};
use crate::rcc::RccPeripheral; use crate::rcc::RccPeripheral;
use crate::time::Hertz; use crate::time::Hertz;
@ -21,7 +20,7 @@ pub struct TxInterruptHandler<T: Instance> {
_phantom: PhantomData<T>, _phantom: PhantomData<T>,
} }
impl<T: Instance> interrupt::Handler<T::TXInterrupt> for TxInterruptHandler<T> { impl<T: Instance> interrupt::typelevel::Handler<T::TXInterrupt> for TxInterruptHandler<T> {
unsafe fn on_interrupt() { unsafe fn on_interrupt() {
T::regs().tsr().write(|v| { T::regs().tsr().write(|v| {
v.set_rqcp(0, true); v.set_rqcp(0, true);
@ -37,7 +36,7 @@ pub struct Rx0InterruptHandler<T: Instance> {
_phantom: PhantomData<T>, _phantom: PhantomData<T>,
} }
impl<T: Instance> interrupt::Handler<T::RX0Interrupt> for Rx0InterruptHandler<T> { impl<T: Instance> interrupt::typelevel::Handler<T::RX0Interrupt> for Rx0InterruptHandler<T> {
unsafe fn on_interrupt() { unsafe fn on_interrupt() {
// info!("rx0 irq"); // info!("rx0 irq");
Can::<T>::receive_fifo(RxFifo::Fifo0); Can::<T>::receive_fifo(RxFifo::Fifo0);
@ -48,7 +47,7 @@ pub struct Rx1InterruptHandler<T: Instance> {
_phantom: PhantomData<T>, _phantom: PhantomData<T>,
} }
impl<T: Instance> interrupt::Handler<T::RX1Interrupt> for Rx1InterruptHandler<T> { impl<T: Instance> interrupt::typelevel::Handler<T::RX1Interrupt> for Rx1InterruptHandler<T> {
unsafe fn on_interrupt() { unsafe fn on_interrupt() {
// info!("rx1 irq"); // info!("rx1 irq");
Can::<T>::receive_fifo(RxFifo::Fifo1); Can::<T>::receive_fifo(RxFifo::Fifo1);
@ -59,7 +58,7 @@ pub struct SceInterruptHandler<T: Instance> {
_phantom: PhantomData<T>, _phantom: PhantomData<T>,
} }
impl<T: Instance> interrupt::Handler<T::SCEInterrupt> for SceInterruptHandler<T> { impl<T: Instance> interrupt::typelevel::Handler<T::SCEInterrupt> for SceInterruptHandler<T> {
unsafe fn on_interrupt() { unsafe fn on_interrupt() {
// info!("sce irq"); // info!("sce irq");
let msr = T::regs().msr(); let msr = T::regs().msr();
@ -97,10 +96,10 @@ impl<'d, T: Instance> Can<'d, T> {
peri: impl Peripheral<P = T> + 'd, peri: impl Peripheral<P = T> + 'd,
rx: impl Peripheral<P = impl RxPin<T>> + 'd, rx: impl Peripheral<P = impl RxPin<T>> + 'd,
tx: impl Peripheral<P = impl TxPin<T>> + 'd, tx: impl Peripheral<P = impl TxPin<T>> + 'd,
_irqs: impl interrupt::Binding<T::TXInterrupt, TxInterruptHandler<T>> _irqs: impl interrupt::typelevel::Binding<T::TXInterrupt, TxInterruptHandler<T>>
+ interrupt::Binding<T::RX0Interrupt, Rx0InterruptHandler<T>> + interrupt::typelevel::Binding<T::RX0Interrupt, Rx0InterruptHandler<T>>
+ interrupt::Binding<T::RX1Interrupt, Rx1InterruptHandler<T>> + interrupt::typelevel::Binding<T::RX1Interrupt, Rx1InterruptHandler<T>>
+ interrupt::Binding<T::SCEInterrupt, SceInterruptHandler<T>> + interrupt::typelevel::Binding<T::SCEInterrupt, SceInterruptHandler<T>>
+ 'd, + 'd,
) -> Self { ) -> Self {
into_ref!(peri, rx, tx); into_ref!(peri, rx, tx);
@ -111,7 +110,7 @@ impl<'d, T: Instance> Can<'d, T> {
T::enable(); T::enable();
T::reset(); T::reset();
unsafe { {
use crate::pac::can::vals::{Errie, Fmpie, Tmeie}; use crate::pac::can::vals::{Errie, Fmpie, Tmeie};
T::regs().ier().write(|w| { T::regs().ier().write(|w| {
@ -127,21 +126,21 @@ impl<'d, T: Instance> Can<'d, T> {
// Enable timestamps on rx messages // Enable timestamps on rx messages
w.set_ttcm(true); w.set_ttcm(true);
}) });
} }
unsafe { unsafe {
T::TXInterrupt::steal().unpend(); T::TXInterrupt::unpend();
T::TXInterrupt::steal().enable(); T::TXInterrupt::enable();
T::RX0Interrupt::steal().unpend(); T::RX0Interrupt::unpend();
T::RX0Interrupt::steal().enable(); T::RX0Interrupt::enable();
T::RX1Interrupt::steal().unpend(); T::RX1Interrupt::unpend();
T::RX1Interrupt::steal().enable(); T::RX1Interrupt::enable();
T::SCEInterrupt::steal().unpend(); T::SCEInterrupt::unpend();
T::SCEInterrupt::steal().enable(); T::SCEInterrupt::enable();
} }
rx.set_as_af(rx.af_num(), AFType::Input); 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) { pub async fn flush(&self, mb: bxcan::Mailbox) {
poll_fn(|cx| unsafe { poll_fn(|cx| {
if T::regs().tsr().read().tme(mb.index()) { if T::regs().tsr().read().tme(mb.index()) {
return Poll::Ready(()); return Poll::Ready(());
} }
@ -194,7 +193,7 @@ impl<'d, T: Instance> Can<'d, T> {
} }
fn curr_error(&self) -> Option<BusError> { fn curr_error(&self) -> Option<BusError> {
let err = unsafe { T::regs().esr().read() }; let err = { T::regs().esr().read() };
if err.boff() { if err.boff() {
return Some(BusError::BusOff); return Some(BusError::BusOff);
} else if err.epvf() { } else if err.epvf() {
@ -396,19 +395,19 @@ pub(crate) mod sealed {
} }
pub trait TXInstance { pub trait TXInstance {
type TXInterrupt: crate::interrupt::Interrupt; type TXInterrupt: crate::interrupt::typelevel::Interrupt;
} }
pub trait RX0Instance { pub trait RX0Instance {
type RX0Interrupt: crate::interrupt::Interrupt; type RX0Interrupt: crate::interrupt::typelevel::Interrupt;
} }
pub trait RX1Instance { pub trait RX1Instance {
type RX1Interrupt: crate::interrupt::Interrupt; type RX1Interrupt: crate::interrupt::typelevel::Interrupt;
} }
pub trait SCEInstance { pub trait SCEInstance {
type SCEInterrupt: crate::interrupt::Interrupt; type SCEInterrupt: crate::interrupt::typelevel::Interrupt;
} }
pub trait InterruptableInstance: TXInstance + RX0Instance + RX1Instance + SCEInstance {} pub trait InterruptableInstance: TXInstance + RX0Instance + RX1Instance + SCEInstance {}
@ -440,22 +439,22 @@ foreach_peripheral!(
foreach_interrupt!( foreach_interrupt!(
($inst,can,CAN,TX,$irq:ident) => { ($inst,can,CAN,TX,$irq:ident) => {
impl TXInstance for peripherals::$inst { impl TXInstance for peripherals::$inst {
type TXInterrupt = crate::interrupt::$irq; type TXInterrupt = crate::interrupt::typelevel::$irq;
} }
}; };
($inst,can,CAN,RX0,$irq:ident) => { ($inst,can,CAN,RX0,$irq:ident) => {
impl RX0Instance for peripherals::$inst { impl RX0Instance for peripherals::$inst {
type RX0Interrupt = crate::interrupt::$irq; type RX0Interrupt = crate::interrupt::typelevel::$irq;
} }
}; };
($inst,can,CAN,RX1,$irq:ident) => { ($inst,can,CAN,RX1,$irq:ident) => {
impl RX1Instance for peripherals::$inst { impl RX1Instance for peripherals::$inst {
type RX1Interrupt = crate::interrupt::$irq; type RX1Interrupt = crate::interrupt::typelevel::$irq;
} }
}; };
($inst,can,CAN,SCE,$irq:ident) => { ($inst,can,CAN,SCE,$irq:ident) => {
impl SCEInstance for peripherals::$inst { impl SCEInstance for peripherals::$inst {
type SCEInterrupt = crate::interrupt::$irq; type SCEInterrupt = crate::interrupt::typelevel::$irq;
} }
}; };
); );

13
examples/stm32f4/src/bin/can.rs
View File

@ -4,12 +4,21 @@
use cortex_m_rt::entry; use cortex_m_rt::entry;
use defmt::*; use defmt::*;
use embassy_stm32::bind_interrupts;
use embassy_stm32::can::bxcan::filter::Mask32; use embassy_stm32::can::bxcan::filter::Mask32;
use embassy_stm32::can::bxcan::{Fifo, Frame, StandardId}; 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::gpio::{Input, Pull};
use embassy_stm32::peripherals::CAN1;
use {defmt_rtt as _, panic_probe as _}; use {defmt_rtt as _, panic_probe as _};
bind_interrupts!(struct Irqs {
CAN1_RX0 => Rx0InterruptHandler<CAN1>;
CAN1_RX1 => Rx1InterruptHandler<CAN1>;
CAN1_SCE => SceInterruptHandler<CAN1>;
CAN1_TX => TxInterruptHandler<CAN1>;
});
#[entry] #[entry]
fn main() -> ! { fn main() -> ! {
info!("Hello World!"); info!("Hello World!");
@ -23,7 +32,7 @@ fn main() -> ! {
let rx_pin = Input::new(&mut p.PA11, Pull::Up); let rx_pin = Input::new(&mut p.PA11, Pull::Up);
core::mem::forget(rx_pin); 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()); can.modify_filters().enable_bank(0, Fifo::Fifo0, Mask32::accept_all());