Merge branch 'main' of github.com:embassy-rs/embassy into timer

6 files changed, 74 insertions, 20 deletions

diff --git a/embassy-stm32/CHANGELOG.md b/embassy-stm32/CHANGELOG.md
index 13c95b60a..70c46b025 100644
--- a/embassy-stm32/CHANGELOG.md
+++ b/embassy-stm32/CHANGELOG.md
@@ -85,6 +85,9 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - removal: ExtiInput no longer accepts AnyPin/AnyChannel; AnyChannel removed entirely
 - fix: build script ensures EXTI2_TSC is listed as the IRQ of EXTI2 even if the PAC doesn't
 - feat: stm32/lcd: added implementation
+- change: add error messages to can timing calculations ([#4961](https://github.com/embassy-rs/embassy/pull/4961))
+- fix: stm32/i2c v2: add stop flag on stop received
+- fix: stm32l47*/stm32l48* adc analog pin setup
 
 ## 0.4.0 - 2025-08-26
 
diff --git a/embassy-stm32/src/adc/mod.rs b/embassy-stm32/src/adc/mod.rs
index 6d53d9b91..a55b99e6a 100644
--- a/embassy-stm32/src/adc/mod.rs
+++ b/embassy-stm32/src/adc/mod.rs
@@ -77,7 +77,7 @@ trait SealedInstance {
 }
 
 pub(crate) trait SealedAdcChannel<T> {
-    #[cfg(any(adc_v1, adc_c0, adc_l0, adc_v2, adc_g4, adc_v4, adc_u5, adc_wba))]
+    #[cfg(any(adc_v1, adc_c0, adc_l0, adc_v2, adc_g4, adc_v3, adc_v4, adc_u5, adc_wba))]
     fn setup(&mut self) {}
 
     #[allow(unused)]
@@ -185,11 +185,11 @@ pub enum RegularConversionMode {
 
 impl<'d, T: AnyInstance> Adc<'d, T> {
     #[cfg(any(
-        adc_v2, adc_g4, adc_v3, adc_g0, adc_h5, adc_h7rs, adc_u0, adc_u5, adc_v4, adc_wba, adc_c0
+        adc_v2, adc_g4, adc_v3, adc_g0, adc_h5, adc_h7rs, adc_u0, adc_u5, adc_v3, adc_v4, adc_wba, adc_c0
     ))]
     /// Read an ADC pin.
     pub fn blocking_read(&mut self, channel: &mut impl AdcChannel<T>, sample_time: T::SampleTime) -> u16 {
-        #[cfg(any(adc_v1, adc_c0, adc_l0, adc_v2, adc_g4, adc_v4, adc_u5, adc_wba))]
+        #[cfg(any(adc_v1, adc_c0, adc_l0, adc_v2, adc_g4, adc_v3, adc_v4, adc_u5, adc_wba))]
         channel.setup();
 
         // Ensure no conversions are ongoing
@@ -418,7 +418,7 @@ pub trait Instance: SealedInstance + crate::PeripheralType + crate::rcc::RccPeri
 pub trait AdcChannel<T>: SealedAdcChannel<T> + Sized {
     #[allow(unused_mut)]
     fn degrade_adc(mut self) -> AnyAdcChannel<T> {
-        #[cfg(any(adc_v1, adc_l0, adc_v2, adc_g4, adc_v4, adc_u5, adc_wba))]
+        #[cfg(any(adc_v1, adc_l0, adc_v2, adc_g4, adc_v3, adc_v4, adc_u5, adc_wba))]
         self.setup();
 
         AnyAdcChannel {
@@ -554,7 +554,7 @@ macro_rules! impl_adc_pin {
     ($inst:ident, $pin:ident, $ch:expr) => {
         impl crate::adc::AdcChannel<peripherals::$inst> for crate::Peri<'_, crate::peripherals::$pin> {}
         impl crate::adc::SealedAdcChannel<peripherals::$inst> for crate::Peri<'_, crate::peripherals::$pin> {
-            #[cfg(any(adc_v1, adc_c0, adc_l0, adc_v2, adc_g4, adc_v4, adc_u5, adc_wba))]
+            #[cfg(any(adc_v1, adc_c0, adc_l0, adc_v2, adc_g4, adc_v3, adc_v4, adc_u5, adc_wba))]
             fn setup(&mut self) {
                 <crate::peripherals::$pin as crate::gpio::SealedPin>::set_as_analog(self);
             }
@@ -582,7 +582,7 @@ macro_rules! impl_adc_pair {
                 crate::Peri<'_, crate::peripherals::$npin>,
             )
         {
-            #[cfg(any(adc_v1, adc_c0, adc_l0, adc_v2, adc_g4, adc_v4, adc_u5, adc_wba))]
+            #[cfg(any(adc_v1, adc_c0, adc_l0, adc_v2, adc_g4, adc_v3, adc_v4, adc_u5, adc_wba))]
             fn setup(&mut self) {
                 <crate::peripherals::$pin as crate::gpio::SealedPin>::set_as_analog(&mut self.0);
                 <crate::peripherals::$npin as crate::gpio::SealedPin>::set_as_analog(&mut self.1);
diff --git a/embassy-stm32/src/can/enums.rs b/embassy-stm32/src/can/enums.rs
index 6d91020fc..c5900cadc 100644
--- a/embassy-stm32/src/can/enums.rs
+++ b/embassy-stm32/src/can/enums.rs
@@ -82,3 +82,40 @@ pub enum RefCountOp {
     /// Notify sender destroyed
     NotifySenderDestroyed,
 }
+
+/// Error returned when calculating the can timing fails
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum TimingCalcError {
+    /// Bitrate is lower than 1000
+    BitrateTooLow {
+        /// The set bitrate
+        bitrate: u32,
+    },
+    /// No solution possible
+    NoSolution {
+        /// The sum of BS1 and BS2
+        bs1_bs2_sum: u8,
+    },
+    /// Prescaler is not 1 < prescaler < 1024
+    InvalidPrescaler {
+        /// The calculated prescaler value
+        prescaler: u32,
+    },
+    /// BS1 or BS2 are not in the range 0 < BSx < BSx_MAX
+    BSNotInRange {
+        /// The value of BS1
+        bs1: u8,
+        /// The value of BS2
+        bs2: u8,
+    },
+    /// Final bitrate doesn't match the requested bitrate
+    NoMatch {
+        /// The requested bitrate
+        requested: u32,
+        /// The calculated bitrate
+        final_calculated: u32,
+    },
+    /// core::num::NonZeroUxx::new error
+    CoreNumNew,
+}
diff --git a/embassy-stm32/src/can/util.rs b/embassy-stm32/src/can/util.rs
index 6d7f0c16a..beca4c34e 100644
--- a/embassy-stm32/src/can/util.rs
+++ b/embassy-stm32/src/can/util.rs
@@ -2,6 +2,8 @@
 
 use core::num::{NonZeroU8, NonZeroU16};
 
+use crate::can::enums::TimingCalcError;
+
 /// Shared struct to represent bit timings used by calc_can_timings.
 #[derive(Clone, Copy, Debug)]
 pub struct NominalBitTiming {
@@ -17,7 +19,10 @@ pub struct NominalBitTiming {
 }
 
 /// Calculate nominal CAN bit timing based on CAN bitrate and periphial clock frequency
-pub fn calc_can_timings(periph_clock: crate::time::Hertz, can_bitrate: u32) -> Option<NominalBitTiming> {
+pub fn calc_can_timings(
+    periph_clock: crate::time::Hertz,
+    can_bitrate: u32,
+) -> Result<NominalBitTiming, TimingCalcError> {
     const BS1_MAX: u8 = 16;
     const BS2_MAX: u8 = 8;
     const MAX_SAMPLE_POINT_PERMILL: u16 = 900;
@@ -25,7 +30,7 @@ pub fn calc_can_timings(periph_clock: crate::time::Hertz, can_bitrate: u32) -> O
     let periph_clock = periph_clock.0;
 
     if can_bitrate < 1000 {
-        return None;
+        return Err(TimingCalcError::BitrateTooLow { bitrate: can_bitrate });
     }
 
     // Ref. "Automatic Baudrate Detection in CANopen Networks", U. Koppe, MicroControl GmbH & Co. KG
@@ -53,14 +58,14 @@ pub fn calc_can_timings(periph_clock: crate::time::Hertz, can_bitrate: u32) -> O
     let mut bs1_bs2_sum = max_quanta_per_bit - 1;
     while (prescaler_bs % (1 + bs1_bs2_sum) as u32) != 0 {
         if bs1_bs2_sum <= 2 {
-            return None; // No solution
+            return Err(TimingCalcError::NoSolution { bs1_bs2_sum }); // No solution
         }
         bs1_bs2_sum -= 1;
     }
 
     let prescaler = prescaler_bs / (1 + bs1_bs2_sum) as u32;
     if (prescaler < 1) || (prescaler > 1024) {
-        return None; // No solution
+        return Err(TimingCalcError::InvalidPrescaler { prescaler }); // No solution
     }
 
     // Now we have a constraint: (BS1 + BS2) == bs1_bs2_sum.
@@ -93,22 +98,26 @@ pub fn calc_can_timings(periph_clock: crate::time::Hertz, can_bitrate: u32) -> O
 
     // Check is BS1 and BS2 are in range
     if (bs1 < 1) || (bs1 > BS1_MAX) || (bs2 < 1) || (bs2 > BS2_MAX) {
-        return None;
+        return Err(TimingCalcError::BSNotInRange { bs1, bs2 });
     }
 
+    let calculated = periph_clock / (prescaler * (1 + bs1 + bs2) as u32);
     // Check if final bitrate matches the requested
-    if can_bitrate != (periph_clock / (prescaler * (1 + bs1 + bs2) as u32)) {
-        return None;
+    if can_bitrate != calculated {
+        return Err(TimingCalcError::NoMatch {
+            requested: can_bitrate,
+            final_calculated: calculated,
+        });
     }
 
     // One is recommended by DS-015, CANOpen, and DeviceNet
-    let sync_jump_width = core::num::NonZeroU8::new(1)?;
+    let sync_jump_width = core::num::NonZeroU8::new(1).ok_or(TimingCalcError::CoreNumNew)?;
 
-    let seg1 = core::num::NonZeroU8::new(bs1)?;
-    let seg2 = core::num::NonZeroU8::new(bs2)?;
-    let nz_prescaler = core::num::NonZeroU16::new(prescaler as u16)?;
+    let seg1 = core::num::NonZeroU8::new(bs1).ok_or(TimingCalcError::CoreNumNew)?;
+    let seg2 = core::num::NonZeroU8::new(bs2).ok_or(TimingCalcError::CoreNumNew)?;
+    let nz_prescaler = core::num::NonZeroU16::new(prescaler as u16).ok_or(TimingCalcError::CoreNumNew)?;
 
-    Some(NominalBitTiming {
+    Ok(NominalBitTiming {
         sync_jump_width,
         prescaler: nz_prescaler,
         seg1,
diff --git a/embassy-stm32/src/gpio.rs b/embassy-stm32/src/gpio.rs
index e7d4e9ad3..5de8bad2c 100644
--- a/embassy-stm32/src/gpio.rs
+++ b/embassy-stm32/src/gpio.rs
@@ -684,7 +684,11 @@ fn set_as_analog(pin_port: PinNumber) {
     });
 
     #[cfg(gpio_v2)]
-    r.moder().modify(|w| w.set_moder(n, vals::Moder::ANALOG));
+    {
+        #[cfg(any(stm32l47x, stm32l48x))]
+        r.ascr().modify(|w| w.set_asc(n, true));
+        r.moder().modify(|w| w.set_moder(n, vals::Moder::ANALOG));
+    }
 }
 
 #[inline(never)]
diff --git a/embassy-stm32/src/i2c/v2.rs b/embassy-stm32/src/i2c/v2.rs
index b2ba94e21..6b213484c 100644
--- a/embassy-stm32/src/i2c/v2.rs
+++ b/embassy-stm32/src/i2c/v2.rs
@@ -1600,7 +1600,8 @@ impl<'d, M: Mode> I2c<'d, M, MultiMaster> {
             for byte in chunk {
                 // Wait until we have received something
                 match self.wait_rxne(timeout) {
-                    Ok(ReceiveResult::StopReceived) | Ok(ReceiveResult::NewStart) => {
+                    Ok(ReceiveResult::StopReceived) => {}
+                    Ok(ReceiveResult::NewStart) => {
                         trace!("--- Slave RX transmission end (early)");
                         return Ok(total_len - remaining_len); // Return N bytes read
                     }