diff --git a/embassy-stm32/src/can/enums.rs b/embassy-stm32/src/can/enums.rs
index 135010011..36139a45c 100644
--- a/embassy-stm32/src/can/enums.rs
+++ b/embassy-stm32/src/can/enums.rs
@@ -1,5 +1,4 @@
//! Enums shared between CAN controller types.
-use core::convert::TryFrom;
/// Bus error
#[derive(Debug)]
@@ -29,19 +28,3 @@ pub enum BusError {
/// At least one of error counter has reached the Error_Warning limit of 96.
BusWarning,
}
-impl TryFrom<u8> for BusError {
- type Error = ();
- fn try_from(value: u8) -> Result<Self, Self::Error> {
- match value {
- //0b000 => None,
- 0b001 => Ok(Self::Stuff),
- 0b010 => Ok(Self::Form),
- 0b011 => Ok(Self::Acknowledge),
- 0b100 => Ok(Self::BitRecessive),
- 0b101 => Ok(Self::BitDominant),
- 0b110 => Ok(Self::Crc),
- //0b111 => Ok(Self::NoError),
- _ => Err(()),
- }
- }
-}
diff --git a/embassy-stm32/src/can/fd/peripheral.rs b/embassy-stm32/src/can/fd/peripheral.rs
index 3422d7148..487b8f413 100644
--- a/embassy-stm32/src/can/fd/peripheral.rs
+++ b/embassy-stm32/src/can/fd/peripheral.rs
@@ -3,6 +3,9 @@
use core::convert::Infallible;
use core::slice;
+use cfg_if::cfg_if;
+
+use crate::can::enums::*;
use crate::can::fd::config::*;
use crate::can::fd::message_ram::enums::*;
use crate::can::fd::message_ram::{RegisterBlock, RxFifoElement, TxBufferElement};
@@ -98,6 +101,42 @@ impl Registers {
self.regs.txbar().modify(|w| w.set_ar(bufidx, true));
}
+ fn reg_to_error(value: u8) -> Option<BusError> {
+ match value {
+ //0b000 => None,
+ 0b001 => Some(BusError::Stuff),
+ 0b010 => Some(BusError::Form),
+ 0b011 => Some(BusError::Acknowledge),
+ 0b100 => Some(BusError::BitRecessive),
+ 0b101 => Some(BusError::BitDominant),
+ 0b110 => Some(BusError::Crc),
+ //0b111 => Some(BusError::NoError),
+ _ => None,
+ }
+ }
+
+ pub fn curr_error(&self) -> Option<BusError> {
+ let err = { self.regs.psr().read() };
+ if err.bo() {
+ return Some(BusError::BusOff);
+ } else if err.ep() {
+ return Some(BusError::BusPassive);
+ } else if err.ew() {
+ return Some(BusError::BusWarning);
+ } else {
+ cfg_if! {
+ if #[cfg(stm32h7)] {
+ let lec = err.lec();
+ } else {
+ let lec = err.lec().to_bits();
+ }
+ }
+ if let Some(err) = Self::reg_to_error(lec) {
+ return Some(err);
+ }
+ }
+ None
+ }
/// Returns if the tx queue is able to accept new messages without having to cancel an existing one
#[inline]
pub fn tx_queue_is_full(&self) -> bool {
diff --git a/embassy-stm32/src/can/fdcan.rs b/embassy-stm32/src/can/fdcan.rs
index b94e42707..987748e06 100644
--- a/embassy-stm32/src/can/fdcan.rs
+++ b/embassy-stm32/src/can/fdcan.rs
@@ -4,7 +4,6 @@ use core::marker::PhantomData;
use core::task::Poll;
pub mod fd;
-use cfg_if::cfg_if;
use embassy_hal_internal::{into_ref, PeripheralRef};
use fd::config::*;
use fd::filter::*;
@@ -184,29 +183,6 @@ fn calc_timestamp<T: Instance>(_ns_per_timer_tick: u64, ts_val: u16) -> Timestam
ts_val
}
-fn curr_error<T: Instance>() -> Option<BusError> {
- let err = { T::regs().psr().read() };
- if err.bo() {
- return Some(BusError::BusOff);
- } else if err.ep() {
- return Some(BusError::BusPassive);
- } else if err.ew() {
- return Some(BusError::BusWarning);
- } else {
- cfg_if! {
- if #[cfg(stm32h7)] {
- let lec = err.lec();
- } else {
- let lec = err.lec().to_bits();
- }
- }
- if let Ok(err) = BusError::try_from(lec) {
- return Some(err);
- }
- }
- None
-}
-
impl<'d, T: Instance> Fdcan<'d, T, ConfigMode> {
/// Creates a new Fdcan instance, keeping the peripheral in sleep mode.
/// You must call [Fdcan::enable_non_blocking] to use the peripheral.
@@ -426,7 +402,7 @@ where
} else if let Some((msg, ts)) = T::registers().read_classic(1) {
let ts = calc_timestamp::<T>(self.ns_per_timer_tick, ts);
return Poll::Ready(Ok((msg, ts)));
- } else if let Some(err) = curr_error::<T>() {
+ } else if let Some(err) = T::registers().curr_error() {
// TODO: this is probably wrong
return Poll::Ready(Err(err));
}
@@ -466,7 +442,7 @@ where
} else if let Some((msg, ts)) = T::registers().read_fd(1) {
let ts = calc_timestamp::<T>(self.ns_per_timer_tick, ts);
return Poll::Ready(Ok((msg, ts)));
- } else if let Some(err) = curr_error::<T>() {
+ } else if let Some(err) = T::registers().curr_error() {
// TODO: this is probably wrong
return Poll::Ready(Err(err));
}
@@ -560,7 +536,7 @@ impl<'c, 'd, T: Instance, M: Receive> FdcanRx<'d, T, M> {
} else if let Some((msg, ts)) = T::registers().read_classic(1) {
let ts = calc_timestamp::<T>(self.ns_per_timer_tick, ts);
return Poll::Ready(Ok((msg, ts)));
- } else if let Some(err) = curr_error::<T>() {
+ } else if let Some(err) = T::registers().curr_error() {
// TODO: this is probably wrong
return Poll::Ready(Err(err));
}
@@ -581,7 +557,7 @@ impl<'c, 'd, T: Instance, M: Receive> FdcanRx<'d, T, M> {
} else if let Some((msg, ts)) = T::registers().read_fd(1) {
let ts = calc_timestamp::<T>(self.ns_per_timer_tick, ts);
return Poll::Ready(Ok((msg, ts)));
- } else if let Some(err) = curr_error::<T>() {
+ } else if let Some(err) = T::registers().curr_error() {
// TODO: this is probably wrong
return Poll::Ready(Err(err));
}