Merge pull request #3956 from cschuhen/stm_can_count_instances_fix_3610

STM32 CAN: Count senders and receivers so that we don't close down early.

4 files changed, 199 insertions, 69 deletions

diff --git a/embassy-stm32/src/can/bxcan/mod.rs b/embassy-stm32/src/can/bxcan/mod.rs
index 8165364f5..c0b3c730b 100644
--- a/embassy-stm32/src/can/bxcan/mod.rs
+++ b/embassy-stm32/src/can/bxcan/mod.rs
@@ -17,7 +17,7 @@ use self::registers::{Registers, RxFifo};
 pub use super::common::{BufferedCanReceiver, BufferedCanSender};
 use super::frame::{Envelope, Frame};
 use super::util;
-use crate::can::enums::{BusError, TryReadError};
+use crate::can::enums::{BusError, InternalOperation, TryReadError};
 use crate::gpio::{AfType, OutputType, Pull, Speed};
 use crate::interrupt::typelevel::Interrupt;
 use crate::rcc::{self, RccPeripheral};
@@ -685,22 +685,18 @@ impl<'d, const TX_BUF_SIZE: usize> BufferedCanTx<'d, TX_BUF_SIZE> {
 
     /// Returns a sender that can be used for sending CAN frames.
     pub fn writer(&self) -> BufferedCanSender {
+        (self.info.internal_operation)(InternalOperation::NotifySenderCreated);
         BufferedCanSender {
             tx_buf: self.tx_buf.sender().into(),
             waker: self.info.tx_waker,
+            internal_operation: self.info.internal_operation,
         }
     }
 }
 
 impl<'d, const TX_BUF_SIZE: usize> Drop for BufferedCanTx<'d, TX_BUF_SIZE> {
     fn drop(&mut self) {
-        critical_section::with(|_| {
-            let state = self.state as *const State;
-            unsafe {
-                let mut_state = state as *mut State;
-                (*mut_state).tx_mode = TxMode::NonBuffered(embassy_sync::waitqueue::AtomicWaker::new());
-            }
-        });
+        (self.info.internal_operation)(InternalOperation::NotifySenderDestroyed);
     }
 }
 
@@ -825,7 +821,11 @@ impl<'d, const RX_BUF_SIZE: usize> BufferedCanRx<'d, RX_BUF_SIZE> {
 
     /// 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()
+        (self.info.internal_operation)(InternalOperation::NotifyReceiverCreated);
+        BufferedCanReceiver {
+            rx_buf: self.rx_buf.receiver().into(),
+            internal_operation: self.info.internal_operation,
+        }
     }
 
     /// Accesses the filter banks owned by this CAN peripheral.
@@ -839,13 +839,7 @@ impl<'d, const RX_BUF_SIZE: usize> BufferedCanRx<'d, RX_BUF_SIZE> {
 
 impl<'d, const RX_BUF_SIZE: usize> Drop for BufferedCanRx<'d, RX_BUF_SIZE> {
     fn drop(&mut self) {
-        critical_section::with(|_| {
-            let state = self.state as *const State;
-            unsafe {
-                let mut_state = state as *mut State;
-                (*mut_state).rx_mode = RxMode::NonBuffered(embassy_sync::waitqueue::AtomicWaker::new());
-            }
-        });
+        (self.info.internal_operation)(InternalOperation::NotifyReceiverDestroyed);
     }
 }
 
@@ -1048,6 +1042,8 @@ pub(crate) struct State {
     pub(crate) rx_mode: RxMode,
     pub(crate) tx_mode: TxMode,
     pub err_waker: AtomicWaker,
+    receiver_instance_count: usize,
+    sender_instance_count: usize,
 }
 
 impl State {
@@ -1056,6 +1052,8 @@ impl State {
             rx_mode: RxMode::NonBuffered(AtomicWaker::new()),
             tx_mode: TxMode::NonBuffered(AtomicWaker::new()),
             err_waker: AtomicWaker::new(),
+            receiver_instance_count: 1,
+            sender_instance_count: 1,
         }
     }
 }
@@ -1067,6 +1065,7 @@ pub(crate) struct Info {
     rx1_interrupt: crate::interrupt::Interrupt,
     sce_interrupt: crate::interrupt::Interrupt,
     tx_waker: fn(),
+    internal_operation: fn(InternalOperation),
 
     /// The total number of filter banks available to the instance.
     ///
@@ -1079,6 +1078,7 @@ trait SealedInstance {
     fn regs() -> crate::pac::can::Can;
     fn state() -> &'static State;
     unsafe fn mut_state() -> &'static mut State;
+    fn internal_operation(val: InternalOperation);
 }
 
 /// CAN instance trait.
@@ -1136,6 +1136,7 @@ foreach_peripheral!(
                     rx1_interrupt: crate::_generated::peripheral_interrupts::$inst::RX1::IRQ,
                     sce_interrupt: crate::_generated::peripheral_interrupts::$inst::SCE::IRQ,
                     tx_waker: crate::_generated::peripheral_interrupts::$inst::TX::pend,
+                    internal_operation: peripherals::$inst::internal_operation,
                     num_filter_banks: peripherals::$inst::NUM_FILTER_BANKS,
                 };
                 &INFO
@@ -1151,6 +1152,37 @@ foreach_peripheral!(
             fn state() -> &'static State {
                 unsafe { peripherals::$inst::mut_state() }
             }
+
+
+            fn internal_operation(val: InternalOperation) {
+                critical_section::with(|_| {
+                    //let state = self.state as *const State;
+                    unsafe {
+                        //let mut_state = state as *mut State;
+                        let mut_state = peripherals::$inst::mut_state();
+                        match val {
+                            InternalOperation::NotifySenderCreated => {
+                                mut_state.sender_instance_count += 1;
+                            }
+                            InternalOperation::NotifySenderDestroyed => {
+                                mut_state.sender_instance_count -= 1;
+                                if ( 0 == mut_state.sender_instance_count) {
+                                    (*mut_state).tx_mode = TxMode::NonBuffered(embassy_sync::waitqueue::AtomicWaker::new());
+                                }
+                            }
+                            InternalOperation::NotifyReceiverCreated => {
+                                mut_state.receiver_instance_count += 1;
+                            }
+                            InternalOperation::NotifyReceiverDestroyed => {
+                                mut_state.receiver_instance_count -= 1;
+                                if ( 0 == mut_state.receiver_instance_count) {
+                                    (*mut_state).rx_mode = RxMode::NonBuffered(embassy_sync::waitqueue::AtomicWaker::new());
+                                }
+                            }
+                        }
+                    }
+                });
+            }
         }
 
         impl Instance for peripherals::$inst {
diff --git a/embassy-stm32/src/can/common.rs b/embassy-stm32/src/can/common.rs
index a54b54f6e..e12111910 100644
--- a/embassy-stm32/src/can/common.rs
+++ b/embassy-stm32/src/can/common.rs
@@ -22,22 +22,22 @@ pub(crate) struct FdBufferedTxInner {
 }
 
 /// Sender that can be used for sending CAN frames.
-#[derive(Copy, Clone)]
-pub struct BufferedCanSender {
-    pub(crate) tx_buf: embassy_sync::channel::DynamicSender<'static, Frame>,
+pub struct BufferedSender<'ch, FRAME> {
+    pub(crate) tx_buf: embassy_sync::channel::DynamicSender<'ch, FRAME>,
     pub(crate) waker: fn(),
+    pub(crate) internal_operation: fn(InternalOperation),
 }
 
-impl BufferedCanSender {
+impl<'ch, FRAME> BufferedSender<'ch, FRAME> {
     /// Async write frame to TX buffer.
-    pub fn try_write(&mut self, frame: Frame) -> Result<(), embassy_sync::channel::TrySendError<Frame>> {
+    pub fn try_write(&mut self, frame: FRAME) -> Result<(), embassy_sync::channel::TrySendError<FRAME>> {
         self.tx_buf.try_send(frame)?;
         (self.waker)();
         Ok(())
     }
 
     /// Async write frame to TX buffer.
-    pub async fn write(&mut self, frame: Frame) {
+    pub async fn write(&mut self, frame: FRAME) {
         self.tx_buf.send(frame).await;
         (self.waker)();
     }
@@ -48,5 +48,77 @@ impl BufferedCanSender {
     }
 }
 
+impl<'ch, FRAME> Clone for BufferedSender<'ch, FRAME> {
+    fn clone(&self) -> Self {
+        (self.internal_operation)(InternalOperation::NotifySenderCreated);
+        Self {
+            tx_buf: self.tx_buf,
+            waker: self.waker,
+            internal_operation: self.internal_operation,
+        }
+    }
+}
+
+impl<'ch, FRAME> Drop for BufferedSender<'ch, FRAME> {
+    fn drop(&mut self) {
+        (self.internal_operation)(InternalOperation::NotifySenderDestroyed);
+    }
+}
+
+/// Sender that can be used for sending Classic CAN frames.
+pub type BufferedCanSender = BufferedSender<'static, Frame>;
+
 /// 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, Result<Envelope, BusError>>;
+pub struct BufferedReceiver<'ch, ENVELOPE> {
+    pub(crate) rx_buf: embassy_sync::channel::DynamicReceiver<'ch, Result<ENVELOPE, BusError>>,
+    pub(crate) internal_operation: fn(InternalOperation),
+}
+
+impl<'ch, ENVELOPE> BufferedReceiver<'ch, ENVELOPE> {
+    /// Receive the next frame.
+    ///
+    /// See [`Channel::receive()`].
+    pub fn receive(&self) -> embassy_sync::channel::DynamicReceiveFuture<'_, Result<ENVELOPE, BusError>> {
+        self.rx_buf.receive()
+    }
+
+    /// Attempt to immediately receive the next frame.
+    ///
+    /// See [`Channel::try_receive()`]
+    pub fn try_receive(&self) -> Result<Result<ENVELOPE, BusError>, embassy_sync::channel::TryReceiveError> {
+        self.rx_buf.try_receive()
+    }
+
+    /// Allows a poll_fn to poll until the channel is ready to receive
+    ///
+    /// See [`Channel::poll_ready_to_receive()`]
+    pub fn poll_ready_to_receive(&self, cx: &mut core::task::Context<'_>) -> core::task::Poll<()> {
+        self.rx_buf.poll_ready_to_receive(cx)
+    }
+
+    /// Poll the channel for the next frame
+    ///
+    /// See [`Channel::poll_receive()`]
+    pub fn poll_receive(&self, cx: &mut core::task::Context<'_>) -> core::task::Poll<Result<ENVELOPE, BusError>> {
+        self.rx_buf.poll_receive(cx)
+    }
+}
+
+impl<'ch, ENVELOPE> Clone for BufferedReceiver<'ch, ENVELOPE> {
+    fn clone(&self) -> Self {
+        (self.internal_operation)(InternalOperation::NotifyReceiverCreated);
+        Self {
+            rx_buf: self.rx_buf,
+            internal_operation: self.internal_operation,
+        }
+    }
+}
+
+impl<'ch, ENVELOPE> Drop for BufferedReceiver<'ch, ENVELOPE> {
+    fn drop(&mut self) {
+        (self.internal_operation)(InternalOperation::NotifyReceiverDestroyed);
+    }
+}
+
+/// A BufferedCanReceiver for Classic CAN frames.
+pub type BufferedCanReceiver = BufferedReceiver<'static, Envelope>;
diff --git a/embassy-stm32/src/can/enums.rs b/embassy-stm32/src/can/enums.rs
index a5cca424d..97cb47640 100644
--- a/embassy-stm32/src/can/enums.rs
+++ b/embassy-stm32/src/can/enums.rs
@@ -68,3 +68,17 @@ pub enum TryReadError {
     /// Receive buffer is empty
     Empty,
 }
+
+/// Internal Operation
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum InternalOperation {
+    /// Notify receiver created
+    NotifyReceiverCreated,
+    /// Notify receiver destroyed
+    NotifyReceiverDestroyed,
+    /// Notify sender created
+    NotifySenderCreated,
+    /// Notify sender destroyed
+    NotifySenderDestroyed,
+}
diff --git a/embassy-stm32/src/can/fdcan.rs b/embassy-stm32/src/can/fdcan.rs
index c549313f3..f950b6f99 100644
--- a/embassy-stm32/src/can/fdcan.rs
+++ b/embassy-stm32/src/can/fdcan.rs
@@ -6,7 +6,7 @@ use core::task::Poll;
 use embassy_hal_internal::interrupt::InterruptExt;
 use embassy_hal_internal::{into_ref, PeripheralRef};
 use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
-use embassy_sync::channel::{Channel, DynamicReceiver, DynamicSender};
+use embassy_sync::channel::Channel;
 use embassy_sync::waitqueue::AtomicWaker;
 
 use crate::can::fd::peripheral::Registers;
@@ -478,28 +478,28 @@ impl<'c, 'd, const TX_BUF_SIZE: usize, const RX_BUF_SIZE: usize> BufferedCan<'d,
 
     /// Returns a sender that can be used for sending CAN frames.
     pub fn writer(&self) -> BufferedCanSender {
+        (self.info.internal_operation)(InternalOperation::NotifySenderCreated);
         BufferedCanSender {
             tx_buf: self.tx_buf.sender().into(),
             waker: self.info.tx_waker,
+            internal_operation: self.info.internal_operation,
         }
     }
 
     /// 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()
+        (self.info.internal_operation)(InternalOperation::NotifyReceiverCreated);
+        BufferedCanReceiver {
+            rx_buf: self.rx_buf.receiver().into(),
+            internal_operation: self.info.internal_operation,
+        }
     }
 }
 
 impl<'c, 'd, const TX_BUF_SIZE: usize, const RX_BUF_SIZE: usize> Drop for BufferedCan<'d, TX_BUF_SIZE, RX_BUF_SIZE> {
     fn drop(&mut self) {
-        critical_section::with(|_| {
-            let state = self.state as *const State;
-            unsafe {
-                let mut_state = state as *mut State;
-                (*mut_state).rx_mode = RxMode::NonBuffered(embassy_sync::waitqueue::AtomicWaker::new());
-                (*mut_state).tx_mode = TxMode::NonBuffered(embassy_sync::waitqueue::AtomicWaker::new());
-            }
-        });
+        (self.info.internal_operation)(InternalOperation::NotifySenderDestroyed);
+        (self.info.internal_operation)(InternalOperation::NotifyReceiverDestroyed);
     }
 }
 
@@ -509,35 +509,11 @@ pub type RxFdBuf<const BUF_SIZE: usize> = Channel<CriticalSectionRawMutex, Resul
 /// User supplied buffer for TX buffering
 pub type TxFdBuf<const BUF_SIZE: usize> = Channel<CriticalSectionRawMutex, FdFrame, BUF_SIZE>;
 
-/// Sender that can be used for sending CAN frames.
-#[derive(Copy, Clone)]
-pub struct BufferedFdCanSender {
-    tx_buf: DynamicSender<'static, FdFrame>,
-    waker: fn(),
-}
-
-impl BufferedFdCanSender {
-    /// Async write frame to TX buffer.
-    pub fn try_write(&mut self, frame: FdFrame) -> Result<(), embassy_sync::channel::TrySendError<FdFrame>> {
-        self.tx_buf.try_send(frame)?;
-        (self.waker)();
-        Ok(())
-    }
-
-    /// Async write frame to TX buffer.
-    pub async fn write(&mut self, frame: FdFrame) {
-        self.tx_buf.send(frame).await;
-        (self.waker)();
-    }
-
-    /// Allows a poll_fn to poll until the channel is ready to write
-    pub fn poll_ready_to_send(&self, cx: &mut core::task::Context<'_>) -> core::task::Poll<()> {
-        self.tx_buf.poll_ready_to_send(cx)
-    }
-}
+/// Sender that can be used for sending Classic CAN frames.
+pub type BufferedFdCanSender = super::common::BufferedSender<'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 = DynamicReceiver<'static, Result<FdEnvelope, BusError>>;
+pub type BufferedFdCanReceiver = super::common::BufferedReceiver<'static, FdEnvelope>;
 
 /// Buffered FDCAN Instance
 pub struct BufferedCanFd<'d, const TX_BUF_SIZE: usize, const RX_BUF_SIZE: usize> {
@@ -608,28 +584,28 @@ impl<'c, 'd, const TX_BUF_SIZE: usize, const RX_BUF_SIZE: usize> BufferedCanFd<'
 
     /// Returns a sender that can be used for sending CAN frames.
     pub fn writer(&self) -> BufferedFdCanSender {
+        (self.info.internal_operation)(InternalOperation::NotifySenderCreated);
         BufferedFdCanSender {
             tx_buf: self.tx_buf.sender().into(),
             waker: self.info.tx_waker,
+            internal_operation: self.info.internal_operation,
         }
     }
 
     /// 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()
+        (self.info.internal_operation)(InternalOperation::NotifyReceiverCreated);
+        BufferedFdCanReceiver {
+            rx_buf: self.rx_buf.receiver().into(),
+            internal_operation: self.info.internal_operation,
+        }
     }
 }
 
 impl<'c, 'd, const TX_BUF_SIZE: usize, const RX_BUF_SIZE: usize> Drop for BufferedCanFd<'d, TX_BUF_SIZE, RX_BUF_SIZE> {
     fn drop(&mut self) {
-        critical_section::with(|_| {
-            let state = self.state as *const State;
-            unsafe {
-                let mut_state = state as *mut State;
-                (*mut_state).rx_mode = RxMode::NonBuffered(embassy_sync::waitqueue::AtomicWaker::new());
-                (*mut_state).tx_mode = TxMode::NonBuffered(embassy_sync::waitqueue::AtomicWaker::new());
-            }
-        });
+        (self.info.internal_operation)(InternalOperation::NotifySenderDestroyed);
+        (self.info.internal_operation)(InternalOperation::NotifyReceiverDestroyed);
     }
 }
 
@@ -922,6 +898,8 @@ struct State {
     pub rx_mode: RxMode,
     pub tx_mode: TxMode,
     pub ns_per_timer_tick: u64,
+    receiver_instance_count: usize,
+    sender_instance_count: usize,
 
     pub err_waker: AtomicWaker,
 }
@@ -933,6 +911,8 @@ impl State {
             tx_mode: TxMode::NonBuffered(AtomicWaker::new()),
             ns_per_timer_tick: 0,
             err_waker: AtomicWaker::new(),
+            receiver_instance_count: 1,
+            sender_instance_count: 1,
         }
     }
 }
@@ -942,6 +922,7 @@ struct Info {
     interrupt0: crate::interrupt::Interrupt,
     _interrupt1: crate::interrupt::Interrupt,
     tx_waker: fn(),
+    internal_operation: fn(InternalOperation),
 }
 
 impl Info {
@@ -970,6 +951,7 @@ trait SealedInstance {
     fn registers() -> crate::can::fd::peripheral::Registers;
     fn state() -> &'static State;
     unsafe fn mut_state() -> &'static mut State;
+    fn internal_operation(val: InternalOperation);
     fn calc_timestamp(ns_per_timer_tick: u64, ts_val: u16) -> Timestamp;
 }
 
@@ -992,12 +974,42 @@ macro_rules! impl_fdcan {
         impl SealedInstance for peripherals::$inst {
             const MSG_RAM_OFFSET: usize = $msg_ram_offset;
 
+            fn internal_operation(val: InternalOperation) {
+                critical_section::with(|_| {
+                    //let state = self.state as *const State;
+                    unsafe {
+                        //let mut_state = state as *mut State;
+                        let mut_state = peripherals::$inst::mut_state();
+                        match val {
+                            InternalOperation::NotifySenderCreated => {
+                                mut_state.sender_instance_count += 1;
+                            }
+                            InternalOperation::NotifySenderDestroyed => {
+                                mut_state.sender_instance_count -= 1;
+                                if ( 0 == mut_state.sender_instance_count) {
+                                    (*mut_state).tx_mode = TxMode::NonBuffered(embassy_sync::waitqueue::AtomicWaker::new());
+                                }
+                            }
+                            InternalOperation::NotifyReceiverCreated => {
+                                mut_state.receiver_instance_count += 1;
+                            }
+                            InternalOperation::NotifyReceiverDestroyed => {
+                                mut_state.receiver_instance_count -= 1;
+                                if ( 0 == mut_state.receiver_instance_count) {
+                                    (*mut_state).rx_mode = RxMode::NonBuffered(embassy_sync::waitqueue::AtomicWaker::new());
+                                }
+                            }
+                        }
+                    }
+                });
+            }
             fn info() -> &'static Info {
                 static INFO: Info = Info {
                     regs: Registers{regs: crate::pac::$inst, msgram: crate::pac::$msg_ram_inst, msg_ram_offset: $msg_ram_offset},
                     interrupt0: crate::_generated::peripheral_interrupts::$inst::IT0::IRQ,
                     _interrupt1: crate::_generated::peripheral_interrupts::$inst::IT1::IRQ,
                     tx_waker: crate::_generated::peripheral_interrupts::$inst::IT0::pend,
+                    internal_operation: peripherals::$inst::internal_operation,
                 };
                 &INFO
             }