CAN support with bxcan crate

This commit is contained in:
Timo Kröger 2021-08-06 00:08:24 +02:00 committed by Dario Nieuwenhuis
parent 0fee2b9509
commit 7c405250a7
5 changed files with 171 additions and 0 deletions

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@ -26,6 +26,7 @@ bare-metal = "1.0.0"
atomic-polyfill = "0.1.3" atomic-polyfill = "0.1.3"
stm32-metapac = { version = "0.1.0", path = "../stm32-metapac", features = ["rt"] } stm32-metapac = { version = "0.1.0", path = "../stm32-metapac", features = ["rt"] }
vcell = { version = "0.1.3", optional = true } vcell = { version = "0.1.3", optional = true }
bxcan = { version = "0.5.1" } # TODO: , optional = true }
cfg-if = "1.0.0" cfg-if = "1.0.0"

128
embassy-stm32/src/bxcan.rs Normal file
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@ -0,0 +1,128 @@
use core::marker::PhantomData;
use core::ops::{Deref, DerefMut};
use embassy::util::Unborrow;
use embassy_hal_common::unborrow;
use crate::gpio::Pin;
use crate::{peripherals, rcc::RccPeripheral};
pub use bxcan::*;
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,
// irq: impl Unborrow<Target = T::Interrupt> + '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());
tx.set_as_af(tx.af_num());
T::enable();
T::reset();
// TODO: CAN2 also required CAN1 clock
}
Self {
phantom: PhantomData,
can: bxcan::Can::new(peri),
}
}
}
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 {
use super::*;
pub trait Instance {}
pub trait RxPin<T: Instance>: Pin {
fn af_num(&self) -> u8;
}
pub trait TxPin<T: Instance>: Pin {
fn af_num(&self) -> u8;
}
}
pub trait Instance: sealed::Instance + RccPeripheral {}
pub trait RxPin<T: Instance>: sealed::RxPin<T> {}
pub trait TxPin<T: Instance>: sealed::TxPin<T> {}
crate::pac::peripherals!(
(bxcan, $inst:ident) => {
impl sealed::Instance for peripherals::$inst {}
impl Instance for peripherals::$inst {}
unsafe impl bxcan::Instance for peripherals::$inst {
const REGISTERS: *mut bxcan::RegisterBlock = crate::pac::$inst.0 as *mut _;
}
};
// (bxcan, CAN) => {
// unsafe impl bxcan::FilterOwner for Can<peripherals::CAN> {
// const NUM_FILTER_BANKS: u8 = 14;
// }
// };
);
crate::pac::peripherals!(
// TODO: rename CAN to CAN1 on yaml level??
(bxcan, CAN) => {
unsafe impl bxcan::FilterOwner for peripherals::CAN {
const NUM_FILTER_BANKS: u8 = 14;
}
};
(bxcan, CAN1) => {
unsafe impl bxcan::FilterOwner for peripherals::CAN1 {
const NUM_FILTER_BANKS: u8 = 14;
}
};
(bxcan, CAN2) => {
// TODO: when CAN2 existis, we have 28 filter banks
unsafe impl bxcan::MasterInstance for peripherals::CAN1 {}
};
);
macro_rules! impl_pin {
($inst:ident, $pin:ident, $signal:ident, $af:expr) => {
impl $signal<peripherals::$inst> for peripherals::$pin {}
impl sealed::$signal<peripherals::$inst> for peripherals::$pin {
fn af_num(&self) -> u8 {
$af
}
}
};
}
crate::pac::peripheral_pins!(
($inst:ident, bxcan, CAN, $pin:ident, TX, $af:expr) => {
impl_pin!($inst, $pin, TxPin, $af);
};
($inst:ident, bxcan, CAN, $pin:ident, RX, $af:expr) => {
impl_pin!($inst, $pin, RxPin, $af);
};
);

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@ -27,6 +27,8 @@ mod time_driver;
#[cfg(adc)] #[cfg(adc)]
pub mod adc; pub mod adc;
#[cfg(bxcan)]
pub mod bxcan;
#[cfg(dac)] #[cfg(dac)]
pub mod dac; pub mod dac;
#[cfg(dbgmcu)] #[cfg(dbgmcu)]

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@ -32,3 +32,4 @@ panic-probe = { version = "0.2.0", features= ["print-defmt"] }
futures = { version = "0.3.8", default-features = false, features = ["async-await"] } futures = { version = "0.3.8", default-features = false, features = ["async-await"] }
rtt-target = { version = "0.3", features = ["cortex-m"] } rtt-target = { version = "0.3", features = ["cortex-m"] }
heapless = { version = "0.7.1", default-features = false } heapless = { version = "0.7.1", default-features = false }
nb = { version = "1.0" }

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@ -0,0 +1,39 @@
#![no_std]
#![no_main]
#![feature(trait_alias)]
#![feature(type_alias_impl_trait)]
#![allow(incomplete_features)]
#[path = "../example_common.rs"]
mod example_common;
use cortex_m_rt::entry;
use embassy_stm32::bxcan::{Can, Frame, StandardId};
use embassy_stm32::dbgmcu::Dbgmcu;
use example_common::*;
#[entry]
fn main() -> ! {
info!("Hello World!");
unsafe {
Dbgmcu::enable_all();
}
let p = embassy_stm32::init(Default::default());
let mut can = Can::new(p.CAN1, p.PA11, p.PA12);
can.modify_config().set_loopback(true);
unwrap!(nb::block!(can.enable()));
let mut i: u8 = 0;
loop {
let tx_frame = Frame::new_data(unwrap!(StandardId::new(i as _)), [i]);
unwrap!(nb::block!(can.transmit(&tx_frame)));
while !can.is_transmitter_idle() {}
let rx_frame = unwrap!(nb::block!(can.receive()));
info!("loopback frame {=u8}", unwrap!(rx_frame.data())[0]);
i += 1;
}
}