From a9f0c8c3a941684c1a610a72dfb2b925535fc8cd Mon Sep 17 00:00:00 2001
From: Corey Schuhen <cschuhen@gmail.com>
Date: Wed, 27 Mar 2024 20:29:28 +1000
Subject: [PATCH] Fixes for no-time.
---
embassy-stm32/src/can/bx/mod.rs | 13 +++++++------
embassy-stm32/src/can/frame.rs | 19 +++++++++++++------
2 files changed, 20 insertions(+), 12 deletions(-)
diff --git a/embassy-stm32/src/can/bx/mod.rs b/embassy-stm32/src/can/bx/mod.rs
index 253bcee13..cb83799d3 100644
--- a/embassy-stm32/src/can/bx/mod.rs
+++ b/embassy-stm32/src/can/bx/mod.rs
@@ -622,17 +622,18 @@ impl Registers {
let id = (stid << 18) | (exid);
embedded_can::ExtendedId::new(id).unwrap().into()
};
- let data_len = fifo.rdtr().read().dlc();
+ let rdtr = fifo.rdtr().read();
+ let data_len = rdtr.dlc();
+
+ #[cfg(not(feature = "time"))]
+ let ts = rdtr.time();
+
let mut data: [u8; 8] = [0; 8];
data[0..4].copy_from_slice(&fifo.rdlr().read().0.to_ne_bytes());
data[4..8].copy_from_slice(&fifo.rdhr().read().0.to_ne_bytes());
let frame = Frame::new(Header::new(id, data_len, false), &data).unwrap();
- let envelope = Envelope {
- #[cfg(feature = "time")]
- ts,
- frame,
- };
+ let envelope = Envelope { ts, frame };
rfr.modify(|v| v.set_rfom(true));
diff --git a/embassy-stm32/src/can/frame.rs b/embassy-stm32/src/can/frame.rs
index fb032aee2..d2d1f7aa6 100644
--- a/embassy-stm32/src/can/frame.rs
+++ b/embassy-stm32/src/can/frame.rs
@@ -3,6 +3,14 @@ use bit_field::BitField;
use crate::can::enums::FrameCreateError;
+/// Calculate proper timestamp when available.
+#[cfg(feature = "time")]
+pub type Timestamp = embassy_time::Instant;
+
+/// Raw register timestamp
+#[cfg(not(feature = "time"))]
+pub type Timestamp = u16;
+
/// CAN Header, without meta data
#[derive(Debug, Copy, Clone)]
pub struct Header {
@@ -264,15 +272,14 @@ impl CanHeader for Frame {
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub struct Envelope {
/// Reception time.
- #[cfg(feature = "time")]
- pub ts: embassy_time::Instant,
+ pub ts: Timestamp,
/// The actual CAN frame.
pub frame: Frame,
}
impl Envelope {
/// Convert into a tuple
- pub fn parts(self) -> (Frame, embassy_time::Instant) {
+ pub fn parts(self) -> (Frame, Timestamp) {
(self.frame, self.ts)
}
}
@@ -442,15 +449,15 @@ impl CanHeader for FdFrame {
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub struct FdEnvelope {
/// Reception time.
- #[cfg(feature = "time")]
- pub ts: embassy_time::Instant,
+ pub ts: Timestamp,
+
/// The actual CAN frame.
pub frame: FdFrame,
}
impl FdEnvelope {
/// Convert into a tuple
- pub fn parts(self) -> (FdFrame, embassy_time::Instant) {
+ pub fn parts(self) -> (FdFrame, Timestamp) {
(self.frame, self.ts)
}
}