c8936edb6c
The bx::* separate structs (Can, Rx, Tx) and separate `Instance` trait are a relic from the `bxcan` crate. Remove them, move the functionality into the main structs.
52 lines
1.6 KiB
Rust
52 lines
1.6 KiB
Rust
use embassy_sync::channel::{DynamicReceiver, DynamicSender};
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use super::enums::*;
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use super::frame::*;
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pub(crate) struct ClassicBufferedRxInner {
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pub rx_sender: DynamicSender<'static, Result<Envelope, BusError>>,
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}
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pub(crate) struct ClassicBufferedTxInner {
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pub tx_receiver: DynamicReceiver<'static, Frame>,
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}
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#[cfg(any(can_fdcan_v1, can_fdcan_h7))]
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pub(crate) struct FdBufferedRxInner {
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pub rx_sender: DynamicSender<'static, Result<FdEnvelope, BusError>>,
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}
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#[cfg(any(can_fdcan_v1, can_fdcan_h7))]
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pub(crate) struct FdBufferedTxInner {
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pub tx_receiver: DynamicReceiver<'static, FdFrame>,
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}
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/// Sender that can be used for sending CAN frames.
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#[derive(Copy, Clone)]
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pub struct BufferedCanSender {
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pub(crate) tx_buf: embassy_sync::channel::DynamicSender<'static, Frame>,
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pub(crate) waker: fn(),
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}
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impl BufferedCanSender {
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/// Async write frame to TX buffer.
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pub fn try_write(&mut self, frame: Frame) -> Result<(), embassy_sync::channel::TrySendError<Frame>> {
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self.tx_buf.try_send(frame)?;
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(self.waker)();
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Ok(())
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}
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/// Async write frame to TX buffer.
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pub async fn write(&mut self, frame: Frame) {
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self.tx_buf.send(frame).await;
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(self.waker)();
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}
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/// Allows a poll_fn to poll until the channel is ready to write
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pub fn poll_ready_to_send(&self, cx: &mut core::task::Context<'_>) -> core::task::Poll<()> {
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self.tx_buf.poll_ready_to_send(cx)
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}
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}
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/// Receiver that can be used for receiving CAN frames. Note, each CAN frame will only be received by one receiver.
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pub type BufferedCanReceiver = embassy_sync::channel::DynamicReceiver<'static, Result<Envelope, BusError>>;
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