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Merge #650

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650: `bxcan` improvements r=Dirbaio a=timokroeger

* Do not use wildcard reexport for `bxcan`
* `cfgs` to fix `bxcan` implementation for devices with "CAN1" but no "CAN2" peripheral

Co-authored-by: Timo Kröger <timokroeger93@gmail.com>
This commit is contained in:
bors[bot] 2022-03-05 17:00:59 +00:00 committed by GitHub
commit 24b6478a7c
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2 changed files with 23 additions and 12 deletions
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30
embassy-stm32/src/can/bxcan.rs
View File

@ -7,8 +7,7 @@ use embassy_hal_common::unborrow;
use crate::gpio::sealed::AFType; use crate::gpio::sealed::AFType;
use crate::{peripherals, rcc::RccPeripheral}; use crate::{peripherals, rcc::RccPeripheral};
#[doc(no_inline)] pub use bxcan;
pub use bxcan::*;
pub struct Can<'d, T: Instance + bxcan::Instance> { pub struct Can<'d, T: Instance + bxcan::Instance> {
phantom: PhantomData<&'d mut T>, phantom: PhantomData<&'d mut T>,
@ -93,17 +92,28 @@ foreach_peripheral!(
const NUM_FILTER_BANKS: u8 = 14; const NUM_FILTER_BANKS: u8 = 14;
} }
}; };
// Only correct when CAN2 also exists… Fix on yaml level? // CAN1 and CAN2 is a combination of master and slave instance.
// There are only 14 filter banks when CAN2 is not available. // CAN1 owns the filter bank and needs to be enabled in order
// for CAN2 to receive messages.
(can, CAN1) => { (can, CAN1) => {
unsafe impl bxcan::FilterOwner for peripherals::CAN1 { cfg_if::cfg_if! {
const NUM_FILTER_BANKS: u8 = 28; 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, CAN2) => {
// CAN2 is always a slave instance where CAN1 is the master instance
unsafe impl bxcan::MasterInstance for peripherals::CAN1 {}
};
(can, CAN3) => { (can, CAN3) => {
unsafe impl bxcan::FilterOwner for peripherals::CAN3 { unsafe impl bxcan::FilterOwner for peripherals::CAN3 {
const NUM_FILTER_BANKS: u8 = 14; const NUM_FILTER_BANKS: u8 = 14;

5
examples/stm32f4/src/bin/can.rs
View File

@ -6,8 +6,9 @@
mod example_common; mod example_common;
use cortex_m_rt::entry; use cortex_m_rt::entry;
use embassy_stm32::can::filter::Mask32; use embassy_stm32::can::bxcan::filter::Mask32;
use embassy_stm32::can::{Can, Frame, StandardId}; use embassy_stm32::can::bxcan::{Frame, StandardId};
use embassy_stm32::can::Can;
use embassy_stm32::gpio::{Input, Pull}; use embassy_stm32::gpio::{Input, Pull};
use example_common::*; use example_common::*;