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Merge #960

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960: Add non blocking Bxcan constructor r=Dirbaio a=andyblarblar

This PR adds a non-blocking constructor to the Bxcan Can wrapper struct. This allows for the creation of the Can periferal without blocking for a sync with the Can bus.

Co-authored-by: Andrew Ealovega <Andrew@Ealovega.dev>
This commit is contained in:
bors[bot] 2022-09-26 09:39:55 +00:00 committed by GitHub
commit a9efbf18c6
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1 changed files with 23 additions and 0 deletions
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23
embassy-stm32/src/can/bxcan.rs
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@ -12,6 +12,7 @@ pub struct Can<'d, T: Instance> {
}
impl<'d, T: Instance> Can<'d, T> {
/// Creates a new Bxcan instance, blocking for 11 recessive bits to sync with the CAN bus.
pub fn new(
peri: impl Peripheral<P = T> + 'd,
rx: impl Peripheral<P = impl RxPin<T>> + 'd,
@ -31,6 +32,28 @@ impl<'d, T: Instance> Can<'d, T> {
can: bxcan::Can::builder(BxcanInstance(peri)).enable(),
}
}
/// Creates a new Bxcan instance, keeping the peripheral in sleep mode.
/// You must call [Can::enable_non_blocking] to use the peripheral.
pub fn new_disabled(
peri: impl Peripheral<P = T> + 'd,
rx: impl Peripheral<P = impl RxPin<T>> + 'd,
tx: impl Peripheral<P = impl TxPin<T>> + 'd,
) -> Self {
into_ref!(peri, rx, tx);
unsafe {
rx.set_as_af(rx.af_num(), AFType::Input);
tx.set_as_af(tx.af_num(), AFType::OutputPushPull);
}
T::enable();
T::reset();
Self {
can: bxcan::Can::builder(BxcanInstance(peri)).leave_disabled(),
}
}
}
impl<'d, T: Instance> Drop for Can<'d, T> {