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stm32/can: fix time

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This commit is contained in:
xoviat 2023-06-20 17:39:00 -05:00
parent 5a075acc6a
commit 0a551eb7c6
1 changed files with 6 additions and 3 deletions
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9
embassy-stm32/src/can/bxcan.rs
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@ -158,10 +158,11 @@ impl<'d, T: Instance> Can<'d, T> {
/// Queues the message to be sent but exerts backpressure
pub async fn write(&mut self, frame: &Frame) -> bxcan::TransmitStatus {
poll_fn(|cx| {
T::state().tx_waker.register(cx.waker());
if let Ok(status) = self.can.transmit(frame) {
return Poll::Ready(status);
}
T::state().tx_waker.register(cx.waker());
Poll::Pending
})
.await
@ -169,10 +170,11 @@ impl<'d, T: Instance> Can<'d, T> {
pub async fn flush(&self, mb: bxcan::Mailbox) {
poll_fn(|cx| {
T::state().tx_waker.register(cx.waker());
if T::regs().tsr().read().tme(mb.index()) {
return Poll::Ready(());
}
T::state().tx_waker.register(cx.waker());
Poll::Pending
})
.await;
@ -181,12 +183,13 @@ impl<'d, T: Instance> Can<'d, T> {
/// Returns a tuple of the time the message was received and the message frame
pub async fn read(&mut self) -> Result<(u16, bxcan::Frame), BusError> {
poll_fn(|cx| {
T::state().err_waker.register(cx.waker());
if let Poll::Ready((time, frame)) = T::state().rx_queue.recv().poll_unpin(cx) {
return Poll::Ready(Ok((time, frame)));
} else if let Some(err) = self.curr_error() {
return Poll::Ready(Err(err));
}
T::state().err_waker.register(cx.waker());
Poll::Pending
})
.await