1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
|
use core::marker::PhantomData;
use core::ops::{Deref, DerefMut};
pub use bxcan;
use embassy_hal_common::unborrow;
use crate::gpio::sealed::AFType;
use crate::rcc::RccPeripheral;
use crate::{peripherals, Unborrow};
pub struct Can<'d, T: Instance + bxcan::Instance> {
phantom: PhantomData<&'d mut T>,
can: bxcan::Can<T>,
}
impl<'d, T: Instance + bxcan::Instance> Can<'d, T> {
pub fn new(
peri: impl Unborrow<Target = T> + 'd,
rx: impl Unborrow<Target = impl RxPin<T>> + 'd,
tx: impl Unborrow<Target = impl TxPin<T>> + 'd,
) -> Self {
unborrow!(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 {
phantom: PhantomData,
can: bxcan::Can::builder(peri).enable(),
}
}
}
impl<'d, T: Instance + bxcan::Instance> Drop for Can<'d, T> {
fn drop(&mut self) {
// Cannot call `free()` because it moves the instance.
// Manually reset the peripheral.
unsafe {
T::regs().mcr().write(|w| w.set_reset(true));
}
T::disable();
}
}
impl<'d, T: Instance + bxcan::Instance> Deref for Can<'d, T> {
type Target = bxcan::Can<T>;
fn deref(&self) -> &Self::Target {
&self.can
}
}
impl<'d, T: Instance + bxcan::Instance> DerefMut for Can<'d, T> {
fn deref_mut(&mut self) -> &mut Self::Target {
&mut self.can
}
}
pub(crate) mod sealed {
pub trait Instance {
fn regs() -> &'static crate::pac::can::Can;
}
}
pub trait Instance: sealed::Instance + RccPeripheral {}
foreach_peripheral!(
(can, $inst:ident) => {
impl sealed::Instance for peripherals::$inst {
fn regs() -> &'static crate::pac::can::Can {
&crate::pac::$inst
}
}
impl Instance for peripherals::$inst {}
unsafe impl bxcan::Instance for peripherals::$inst {
const REGISTERS: *mut bxcan::RegisterBlock = crate::pac::$inst.0 as *mut _;
}
};
);
foreach_peripheral!(
(can, CAN) => {
unsafe impl bxcan::FilterOwner for peripherals::CAN {
const NUM_FILTER_BANKS: u8 = 14;
}
};
// CAN1 and CAN2 is a combination of master and slave instance.
// CAN1 owns the filter bank and needs to be enabled in order
// for CAN2 to receive messages.
(can, CAN1) => {
cfg_if::cfg_if! {
if #[cfg(all(
any(stm32l4, stm32f72, stm32f73),
not(any(stm32l49, stm32l4a))
))] {
// Most L4 devices and some F7 devices use the name "CAN1"
// even if there is no "CAN2" peripheral.
unsafe impl bxcan::FilterOwner for peripherals::CAN1 {
const NUM_FILTER_BANKS: u8 = 14;
}
} else {
unsafe impl bxcan::FilterOwner for peripherals::CAN1 {
const NUM_FILTER_BANKS: u8 = 28;
}
unsafe impl bxcan::MasterInstance for peripherals::CAN1 {}
}
}
};
(can, CAN3) => {
unsafe impl bxcan::FilterOwner for peripherals::CAN3 {
const NUM_FILTER_BANKS: u8 = 14;
}
};
);
pin_trait!(RxPin, Instance);
pin_trait!(TxPin, Instance);
|
