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FDCAN: Allow access to buffered senders and receivers.

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This commit is contained in:
Corey Schuhen 2024-02-24 20:23:34 +10:00
parent 779898c0e7
commit a061cf3133
1 changed files with 32 additions and 0 deletions
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32
embassy-stm32/src/can/fdcan.rs
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@ -434,6 +434,12 @@ pub struct BufferedCan<'d, T: Instance, const TX_BUF_SIZE: usize, const RX_BUF_S
rx_buf: &'static RxBuf<RX_BUF_SIZE>,
}
/// Sender that can be used for sending CAN frames.
pub type BufferedCanSender = embassy_sync::channel::DynamicSender<'static, ClassicFrame>;
/// Receiver that can be used for receiving CAN frames. Note, each CAN frame will only be received by one receiver.
pub type BufferedCanReceiver = embassy_sync::channel::DynamicReceiver<'static, (ClassicFrame, Timestamp)>;
impl<'c, 'd, T: Instance, const TX_BUF_SIZE: usize, const RX_BUF_SIZE: usize>
BufferedCan<'d, T, TX_BUF_SIZE, RX_BUF_SIZE>
{
@ -479,6 +485,16 @@ impl<'c, 'd, T: Instance, const TX_BUF_SIZE: usize, const RX_BUF_SIZE: usize>
pub async fn read(&mut self) -> Result<(ClassicFrame, Timestamp), BusError> {
Ok(self.rx_buf.receive().await)
}
/// Returns a sender that can be used for sending CAN frames.
pub fn writer(&self) -> BufferedCanSender {
self.tx_buf.sender().into()
}
/// Returns a receiver that can be used for receiving CAN frames. Note, each CAN frame will only be received by one receiver.
pub fn reader(&self) -> BufferedCanReceiver {
self.rx_buf.receiver().into()
}
}
impl<'c, 'd, T: Instance, const TX_BUF_SIZE: usize, const RX_BUF_SIZE: usize> Drop
@ -507,6 +523,12 @@ pub struct BufferedCanFd<'d, T: Instance, const TX_BUF_SIZE: usize, const RX_BUF
rx_buf: &'static RxFdBuf<RX_BUF_SIZE>,
}
/// Sender that can be used for sending CAN frames.
pub type BufferedFdCanSender = embassy_sync::channel::DynamicSender<'static, FdFrame>;
/// Receiver that can be used for receiving CAN frames. Note, each CAN frame will only be received by one receiver.
pub type BufferedFdCanReceiver = embassy_sync::channel::DynamicReceiver<'static, (FdFrame, Timestamp)>;
impl<'c, 'd, T: Instance, const TX_BUF_SIZE: usize, const RX_BUF_SIZE: usize>
BufferedCanFd<'d, T, TX_BUF_SIZE, RX_BUF_SIZE>
{
@ -552,6 +574,16 @@ impl<'c, 'd, T: Instance, const TX_BUF_SIZE: usize, const RX_BUF_SIZE: usize>
pub async fn read(&mut self) -> Result<(FdFrame, Timestamp), BusError> {
Ok(self.rx_buf.receive().await)
}
/// Returns a sender that can be used for sending CAN frames.
pub fn writer(&self) -> BufferedFdCanSender {
self.tx_buf.sender().into()
}
/// Returns a receiver that can be used for receiving CAN frames. Note, each CAN frame will only be received by one receiver.
pub fn reader(&self) -> BufferedFdCanReceiver {
self.rx_buf.receiver().into()
}
}
impl<'c, 'd, T: Instance, const TX_BUF_SIZE: usize, const RX_BUF_SIZE: usize> Drop