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Merge pull request #3733 from tdittr/stm32-can-rx-filters

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feat: STM32 Allow to modify the receiver filters from `BufferedCan`, `CanRx`, and `BufferedCanRx`
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Dario Nieuwenhuis 2025-01-07 11:29:55 +00:00 committed by GitHub
commit 4790f8ff35
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1 changed files with 27 additions and 3 deletions
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30
embassy-stm32/src/can/bxcan/mod.rs
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@ -502,6 +502,14 @@ impl<'d, const TX_BUF_SIZE: usize, const RX_BUF_SIZE: usize> BufferedCan<'d, TX_
pub fn reader(&self) -> BufferedCanReceiver { pub fn reader(&self) -> BufferedCanReceiver {
self.rx.reader() self.rx.reader()
} }
/// Accesses the filter banks owned by this CAN peripheral.
///
/// To modify filters of a slave peripheral, `modify_filters` has to be called on the master
/// peripheral instead.
pub fn modify_filters(&mut self) -> MasterFilters<'_> {
self.rx.modify_filters()
}
} }
/// CAN driver, transmit half. /// CAN driver, transmit half.
@ -733,6 +741,14 @@ impl<'d> CanRx<'d> {
) -> BufferedCanRx<'d, RX_BUF_SIZE> { ) -> BufferedCanRx<'d, RX_BUF_SIZE> {
BufferedCanRx::new(self.info, self.state, self, rxb) BufferedCanRx::new(self.info, self.state, self, rxb)
} }
/// Accesses the filter banks owned by this CAN peripheral.
///
/// To modify filters of a slave peripheral, `modify_filters` has to be called on the master
/// peripheral instead.
pub fn modify_filters(&mut self) -> MasterFilters<'_> {
unsafe { MasterFilters::new(self.info) }
}
} }
/// User supplied buffer for RX Buffering /// User supplied buffer for RX Buffering
@ -742,16 +758,16 @@ pub type RxBuf<const BUF_SIZE: usize> = Channel<CriticalSectionRawMutex, Result<
pub struct BufferedCanRx<'d, const RX_BUF_SIZE: usize> { pub struct BufferedCanRx<'d, const RX_BUF_SIZE: usize> {
info: &'static Info, info: &'static Info,
state: &'static State, state: &'static State,
_rx: CanRx<'d>, rx: CanRx<'d>,
rx_buf: &'static RxBuf<RX_BUF_SIZE>, rx_buf: &'static RxBuf<RX_BUF_SIZE>,
} }
impl<'d, const RX_BUF_SIZE: usize> BufferedCanRx<'d, RX_BUF_SIZE> { impl<'d, const RX_BUF_SIZE: usize> BufferedCanRx<'d, RX_BUF_SIZE> {
fn new(info: &'static Info, state: &'static State, _rx: CanRx<'d>, rx_buf: &'static RxBuf<RX_BUF_SIZE>) -> Self { fn new(info: &'static Info, state: &'static State, rx: CanRx<'d>, rx_buf: &'static RxBuf<RX_BUF_SIZE>) -> Self {
BufferedCanRx { BufferedCanRx {
info, info,
state, state,
_rx, rx,
rx_buf, rx_buf,
} }
.setup() .setup()
@ -811,6 +827,14 @@ impl<'d, const RX_BUF_SIZE: usize> BufferedCanRx<'d, RX_BUF_SIZE> {
pub fn reader(&self) -> BufferedCanReceiver { pub fn reader(&self) -> BufferedCanReceiver {
self.rx_buf.receiver().into() self.rx_buf.receiver().into()
} }
/// Accesses the filter banks owned by this CAN peripheral.
///
/// To modify filters of a slave peripheral, `modify_filters` has to be called on the master
/// peripheral instead.
pub fn modify_filters(&mut self) -> MasterFilters<'_> {
self.rx.modify_filters()
}
} }
impl<'d, const RX_BUF_SIZE: usize> Drop for BufferedCanRx<'d, RX_BUF_SIZE> { impl<'d, const RX_BUF_SIZE: usize> Drop for BufferedCanRx<'d, RX_BUF_SIZE> {