Merge pull request #2650 from cschuhen/feature/bxcan_pac

Use stm32-metapac for BXCAN.

3 files changed, 26 insertions, 17 deletions

diff --git a/examples/stm32f1/src/bin/can.rs b/examples/stm32f1/src/bin/can.rs
index c1c4f8359..00d61096f 100644
--- a/examples/stm32f1/src/bin/can.rs
+++ b/examples/stm32f1/src/bin/can.rs
@@ -3,9 +3,10 @@
 
 use defmt::*;
 use embassy_executor::Spawner;
-use embassy_stm32::can::bxcan::filter::Mask32;
-use embassy_stm32::can::bxcan::{Fifo, Frame, Id, StandardId};
-use embassy_stm32::can::{Can, Rx0InterruptHandler, Rx1InterruptHandler, SceInterruptHandler, TxInterruptHandler};
+use embassy_stm32::can::{
+    filter, Can, Fifo, Frame, Id, Rx0InterruptHandler, Rx1InterruptHandler, SceInterruptHandler, StandardId,
+    TxInterruptHandler,
+};
 use embassy_stm32::peripherals::CAN;
 use embassy_stm32::{bind_interrupts, Config};
 use {defmt_rtt as _, panic_probe as _};
@@ -31,7 +32,7 @@ async fn main(_spawner: Spawner) {
 
     can.as_mut()
         .modify_filters()
-        .enable_bank(0, Fifo::Fifo0, Mask32::accept_all());
+        .enable_bank(0, Fifo::Fifo0, filter::Mask32::accept_all());
 
     can.as_mut()
         .modify_config()
@@ -45,16 +46,16 @@ async fn main(_spawner: Spawner) {
 
     let mut i: u8 = 0;
     loop {
-        let tx_frame = Frame::new_data(unwrap!(StandardId::new(i as _)), [i]);
+        let tx_frame = Frame::new_data(unwrap!(StandardId::new(i as _)), [i, 0, 1, 2, 3, 4, 5, 6]);
         can.write(&tx_frame).await;
 
         match can.read().await {
             Ok(env) => match env.frame.id() {
                 Id::Extended(id) => {
-                    defmt::println!("Extended Frame id={:x}", id.as_raw());
+                    defmt::println!("Extended Frame id={:x} {:02x}", id.as_raw(), env.frame.data().unwrap());
                 }
                 Id::Standard(id) => {
-                    defmt::println!("Standard Frame id={:x}", id.as_raw());
+                    defmt::println!("Standard Frame id={:x} {:02x}", id.as_raw(), env.frame.data().unwrap());
                 }
             },
             Err(err) => {
diff --git a/examples/stm32f4/src/bin/can.rs b/examples/stm32f4/src/bin/can.rs
index d074b4265..b20af8cf1 100644
--- a/examples/stm32f4/src/bin/can.rs
+++ b/examples/stm32f4/src/bin/can.rs
@@ -4,9 +4,10 @@
 use defmt::*;
 use embassy_executor::Spawner;
 use embassy_stm32::bind_interrupts;
-use embassy_stm32::can::bxcan::filter::Mask32;
-use embassy_stm32::can::bxcan::{Fifo, Frame, StandardId};
-use embassy_stm32::can::{Can, Rx0InterruptHandler, Rx1InterruptHandler, SceInterruptHandler, TxInterruptHandler};
+use embassy_stm32::can::filter::Mask32;
+use embassy_stm32::can::{
+    Can, Fifo, Frame, Rx0InterruptHandler, Rx1InterruptHandler, SceInterruptHandler, StandardId, TxInterruptHandler,
+};
 use embassy_stm32::gpio::{Input, Pull};
 use embassy_stm32::peripherals::CAN1;
 use embassy_time::Instant;
diff --git a/examples/stm32f7/src/bin/can.rs b/examples/stm32f7/src/bin/can.rs
index bcfdb67a8..c3e14bbf4 100644
--- a/examples/stm32f7/src/bin/can.rs
+++ b/examples/stm32f7/src/bin/can.rs
@@ -1,16 +1,18 @@
 #![no_std]
 #![no_main]
 
+use core::num::{NonZeroU16, NonZeroU8};
+
 use defmt::*;
 use embassy_executor::Spawner;
-use embassy_stm32::bind_interrupts;
-use embassy_stm32::can::bxcan::filter::Mask32;
-use embassy_stm32::can::bxcan::{Fifo, Frame, StandardId};
+use embassy_stm32::can::filter::Mask32;
 use embassy_stm32::can::{
-    Can, CanTx, Rx0InterruptHandler, Rx1InterruptHandler, SceInterruptHandler, TxInterruptHandler,
+    Can, CanTx, Fifo, Frame, Rx0InterruptHandler, Rx1InterruptHandler, SceInterruptHandler, StandardId,
+    TxInterruptHandler,
 };
 use embassy_stm32::gpio::{Input, Pull};
 use embassy_stm32::peripherals::CAN3;
+use embassy_stm32::{bind_interrupts, can};
 use static_cell::StaticCell;
 use {defmt_rtt as _, panic_probe as _};
 
@@ -22,7 +24,7 @@ bind_interrupts!(struct Irqs {
 });
 
 #[embassy_executor::task]
-pub async fn send_can_message(tx: &'static mut CanTx<'static, 'static, CAN3>) {
+pub async fn send_can_message(tx: &'static mut CanTx<'static, CAN3>) {
     loop {
         let frame = Frame::new_data(unwrap!(StandardId::new(0 as _)), [0]);
         tx.write(&frame).await;
@@ -51,13 +53,18 @@ async fn main(spawner: Spawner) {
 
     can.as_mut()
         .modify_config()
-        .set_bit_timing(0x001c0001) // http://www.bittiming.can-wiki.info/
+        .set_bit_timing(can::util::NominalBitTiming {
+            prescaler: NonZeroU16::new(2).unwrap(),
+            seg1: NonZeroU8::new(13).unwrap(),
+            seg2: NonZeroU8::new(2).unwrap(),
+            sync_jump_width: NonZeroU8::new(1).unwrap(),
+        }) // http://www.bittiming.can-wiki.info/
         .set_loopback(true)
         .enable();
 
     let (tx, mut rx) = can.split();
 
-    static CAN_TX: StaticCell<CanTx<'static, 'static, CAN3>> = StaticCell::new();
+    static CAN_TX: StaticCell<CanTx<'static, CAN3>> = StaticCell::new();
     let tx = CAN_TX.init(tx);
     spawner.spawn(send_can_message(tx)).unwrap();