66 lines
1.8 KiB
Rust
66 lines
1.8 KiB
Rust
pub use bxcan;
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use embassy_hal_common::PeripheralRef;
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use crate::peripherals;
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pub(crate) mod sealed {
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use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
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use embassy_sync::channel::Channel;
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use embassy_sync::waitqueue::AtomicWaker;
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pub struct State {
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pub tx_waker: AtomicWaker,
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pub err_waker: AtomicWaker,
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pub rx_queue: Channel<CriticalSectionRawMutex, (u16, bxcan::Frame), 32>,
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}
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impl State {
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pub const fn new() -> Self {
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Self {
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tx_waker: AtomicWaker::new(),
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err_waker: AtomicWaker::new(),
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rx_queue: Channel::new(),
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}
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}
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}
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pub trait Instance {
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const REGISTERS: *mut bxcan::RegisterBlock;
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fn regs() -> &'static crate::pac::can::Fdcan;
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fn state() -> &'static State;
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}
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}
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pub trait InterruptableInstance {}
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pub trait Instance: sealed::Instance + InterruptableInstance + 'static {}
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pub struct BxcanInstance<'a, T>(PeripheralRef<'a, T>);
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unsafe impl<'d, T: Instance> bxcan::Instance for BxcanInstance<'d, T> {
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const REGISTERS: *mut bxcan::RegisterBlock = T::REGISTERS;
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}
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foreach_peripheral!(
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(can, $inst:ident) => {
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impl sealed::Instance for peripherals::$inst {
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const REGISTERS: *mut bxcan::RegisterBlock = crate::pac::$inst.as_ptr() as *mut _;
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fn regs() -> &'static crate::pac::can::Fdcan {
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&crate::pac::$inst
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}
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fn state() -> &'static sealed::State {
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static STATE: sealed::State = sealed::State::new();
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&STATE
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}
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}
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impl Instance for peripherals::$inst {}
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impl InterruptableInstance for peripherals::$inst {}
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};
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);
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pin_trait!(RxPin, Instance);
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pin_trait!(TxPin, Instance);
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