150 lines
4.2 KiB
Rust
150 lines
4.2 KiB
Rust
use core::ops::{Deref, DerefMut};
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pub use bxcan;
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use embassy_hal_common::{into_ref, PeripheralRef};
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use crate::gpio::sealed::AFType;
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use crate::rcc::RccPeripheral;
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use crate::{peripherals, Peripheral};
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pub struct Can<'d, T: Instance> {
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can: bxcan::Can<BxcanInstance<'d, T>>,
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}
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impl<'d, T: Instance> Can<'d, T> {
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/// Creates a new Bxcan instance, blocking for 11 recessive bits to sync with the CAN bus.
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pub fn new(
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peri: impl Peripheral<P = T> + 'd,
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rx: impl Peripheral<P = impl RxPin<T>> + 'd,
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tx: impl Peripheral<P = impl TxPin<T>> + 'd,
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) -> Self {
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into_ref!(peri, rx, tx);
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unsafe {
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rx.set_as_af(rx.af_num(), AFType::Input);
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tx.set_as_af(tx.af_num(), AFType::OutputPushPull);
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}
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T::enable();
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T::reset();
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Self {
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can: bxcan::Can::builder(BxcanInstance(peri)).enable(),
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}
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}
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/// Creates a new Bxcan instance, keeping the peripheral in sleep mode.
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/// You must call [Can::enable_non_blocking] to use the peripheral.
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pub fn new_disabled(
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peri: impl Peripheral<P = T> + 'd,
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rx: impl Peripheral<P = impl RxPin<T>> + 'd,
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tx: impl Peripheral<P = impl TxPin<T>> + 'd,
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) -> Self {
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into_ref!(peri, rx, tx);
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unsafe {
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rx.set_as_af(rx.af_num(), AFType::Input);
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tx.set_as_af(tx.af_num(), AFType::OutputPushPull);
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}
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T::enable();
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T::reset();
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Self {
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can: bxcan::Can::builder(BxcanInstance(peri)).leave_disabled(),
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}
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}
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}
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impl<'d, T: Instance> Drop for Can<'d, T> {
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fn drop(&mut self) {
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// Cannot call `free()` because it moves the instance.
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// Manually reset the peripheral.
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unsafe { T::regs().mcr().write(|w| w.set_reset(true)) }
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T::disable();
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}
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}
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impl<'d, T: Instance> Deref for Can<'d, T> {
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type Target = bxcan::Can<BxcanInstance<'d, T>>;
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fn deref(&self) -> &Self::Target {
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&self.can
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}
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}
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impl<'d, T: Instance> DerefMut for Can<'d, T> {
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fn deref_mut(&mut self) -> &mut Self::Target {
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&mut self.can
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}
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}
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pub(crate) mod sealed {
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pub trait Instance {
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const REGISTERS: *mut bxcan::RegisterBlock;
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fn regs() -> &'static crate::pac::can::Can;
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}
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}
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pub trait Instance: sealed::Instance + RccPeripheral {}
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pub struct BxcanInstance<'a, T>(PeripheralRef<'a, T>);
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unsafe impl<'d, T: Instance> bxcan::Instance for BxcanInstance<'d, T> {
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const REGISTERS: *mut bxcan::RegisterBlock = T::REGISTERS;
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}
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foreach_peripheral!(
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(can, $inst:ident) => {
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impl sealed::Instance for peripherals::$inst {
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const REGISTERS: *mut bxcan::RegisterBlock = crate::pac::$inst.0 as *mut _;
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fn regs() -> &'static crate::pac::can::Can {
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&crate::pac::$inst
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}
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}
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impl Instance for peripherals::$inst {}
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};
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);
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foreach_peripheral!(
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(can, CAN) => {
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unsafe impl<'d> bxcan::FilterOwner for BxcanInstance<'d, peripherals::CAN> {
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const NUM_FILTER_BANKS: u8 = 14;
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}
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};
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// CAN1 and CAN2 is a combination of master and slave instance.
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// CAN1 owns the filter bank and needs to be enabled in order
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// for CAN2 to receive messages.
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(can, CAN1) => {
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cfg_if::cfg_if! {
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if #[cfg(all(
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any(stm32l4, stm32f72, stm32f73),
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not(any(stm32l49, stm32l4a))
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))] {
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// Most L4 devices and some F7 devices use the name "CAN1"
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// even if there is no "CAN2" peripheral.
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unsafe impl<'d> bxcan::FilterOwner for BxcanInstance<'d, peripherals::CAN1> {
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const NUM_FILTER_BANKS: u8 = 14;
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}
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} else {
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unsafe impl<'d> bxcan::FilterOwner for BxcanInstance<'d, peripherals::CAN1> {
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const NUM_FILTER_BANKS: u8 = 28;
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}
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unsafe impl<'d> bxcan::MasterInstance for BxcanInstance<'d, peripherals::CAN1> {}
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}
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}
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};
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(can, CAN3) => {
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unsafe impl<'d> bxcan::FilterOwner for BxcanInstance<'d, peripherals::CAN3> {
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const NUM_FILTER_BANKS: u8 = 14;
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}
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};
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);
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pin_trait!(RxPin, Instance);
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pin_trait!(TxPin, Instance);
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