6 files changed, 173 insertions, 115 deletions

diff --git a/embassy-stm32/build.rs b/embassy-stm32/build.rs
index 948ce3aff..414723573 100644
--- a/embassy-stm32/build.rs
+++ b/embassy-stm32/build.rs
@@ -449,7 +449,7 @@ fn main() {
     // ========
     // Generate RccPeripheral impls
 
-    let refcounted_peripherals = HashSet::from(["usart", "adc"]);
+    let refcounted_peripherals = HashSet::from(["usart", "adc", "can"]);
     let mut refcount_statics = BTreeSet::new();
 
     for p in METADATA.peripherals {
diff --git a/embassy-stm32/src/can/bxcan.rs b/embassy-stm32/src/can/bxcan.rs
index cc87b2565..7e00eca6f 100644
--- a/embassy-stm32/src/can/bxcan.rs
+++ b/embassy-stm32/src/can/bxcan.rs
@@ -13,9 +13,12 @@ use crate::gpio::sealed::AFType;
 use crate::interrupt::typelevel::Interrupt;
 use crate::pac::can::vals::{Ide, Lec};
 use crate::rcc::RccPeripheral;
-use crate::time::Hertz;
 use crate::{interrupt, peripherals, Peripheral};
 
+pub mod enums;
+use enums::*;
+pub mod util;
+
 /// Contains CAN frame and additional metadata.
 ///
 /// Timestamp is available if `time` feature is enabled.
@@ -93,23 +96,6 @@ pub struct Can<'d, T: Instance> {
     can: bxcan::Can<BxcanInstance<'d, T>>,
 }
 
-/// CAN bus error
-#[allow(missing_docs)]
-#[derive(Debug)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub enum BusError {
-    Stuff,
-    Form,
-    Acknowledge,
-    BitRecessive,
-    BitDominant,
-    Crc,
-    Software,
-    BusOff,
-    BusPassive,
-    BusWarning,
-}
-
 /// Error returned by `try_read`
 #[derive(Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
@@ -186,8 +172,15 @@ impl<'d, T: Instance> Can<'d, T> {
 
     /// Set CAN bit rate.
     pub fn set_bitrate(&mut self, bitrate: u32) {
-        let bit_timing = Self::calc_bxcan_timings(T::frequency(), bitrate).unwrap();
-        self.can.modify_config().set_bit_timing(bit_timing).leave_disabled();
+        let bit_timing = util::calc_can_timings(T::frequency(), bitrate).unwrap();
+        let sjw = u8::from(bit_timing.sync_jump_width) as u32;
+        let seg1 = u8::from(bit_timing.seg1) as u32;
+        let seg2 = u8::from(bit_timing.seg2) as u32;
+        let prescaler = u16::from(bit_timing.prescaler) as u32;
+        self.can
+            .modify_config()
+            .set_bit_timing((sjw - 1) << 24 | (seg1 - 1) << 16 | (seg2 - 1) << 20 | (prescaler - 1))
+            .leave_disabled();
     }
 
     /// Enables the peripheral and synchronizes with the bus.
@@ -302,97 +295,6 @@ impl<'d, T: Instance> Can<'d, T> {
         }
     }
 
-    const fn calc_bxcan_timings(periph_clock: Hertz, can_bitrate: u32) -> Option<u32> {
-        const BS1_MAX: u8 = 16;
-        const BS2_MAX: u8 = 8;
-        const MAX_SAMPLE_POINT_PERMILL: u16 = 900;
-
-        let periph_clock = periph_clock.0;
-
-        if can_bitrate < 1000 {
-            return None;
-        }
-
-        // Ref. "Automatic Baudrate Detection in CANopen Networks", U. Koppe, MicroControl GmbH & Co. KG
-        //      CAN in Automation, 2003
-        //
-        // According to the source, optimal quanta per bit are:
-        //   Bitrate        Optimal Maximum
-        //   1000 kbps      8       10
-        //   500  kbps      16      17
-        //   250  kbps      16      17
-        //   125  kbps      16      17
-        let max_quanta_per_bit: u8 = if can_bitrate >= 1_000_000 { 10 } else { 17 };
-
-        // Computing (prescaler * BS):
-        //   BITRATE = 1 / (PRESCALER * (1 / PCLK) * (1 + BS1 + BS2))       -- See the Reference Manual
-        //   BITRATE = PCLK / (PRESCALER * (1 + BS1 + BS2))                 -- Simplified
-        // let:
-        //   BS = 1 + BS1 + BS2                                             -- Number of time quanta per bit
-        //   PRESCALER_BS = PRESCALER * BS
-        // ==>
-        //   PRESCALER_BS = PCLK / BITRATE
-        let prescaler_bs = periph_clock / can_bitrate;
-
-        // Searching for such prescaler value so that the number of quanta per bit is highest.
-        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
-            }
-            bs1_bs2_sum -= 1;
-        }
-
-        let prescaler = prescaler_bs / (1 + bs1_bs2_sum) as u32;
-        if (prescaler < 1) || (prescaler > 1024) {
-            return None; // No solution
-        }
-
-        // Now we have a constraint: (BS1 + BS2) == bs1_bs2_sum.
-        // We need to find such values so that the sample point is as close as possible to the optimal value,
-        // which is 87.5%, which is 7/8.
-        //
-        //   Solve[(1 + bs1)/(1 + bs1 + bs2) == 7/8, bs2]  (* Where 7/8 is 0.875, the recommended sample point location *)
-        //   {{bs2 -> (1 + bs1)/7}}
-        //
-        // Hence:
-        //   bs2 = (1 + bs1) / 7
-        //   bs1 = (7 * bs1_bs2_sum - 1) / 8
-        //
-        // Sample point location can be computed as follows:
-        //   Sample point location = (1 + bs1) / (1 + bs1 + bs2)
-        //
-        // Since the optimal solution is so close to the maximum, we prepare two solutions, and then pick the best one:
-        //   - With rounding to nearest
-        //   - With rounding to zero
-        let mut bs1 = ((7 * bs1_bs2_sum - 1) + 4) / 8; // Trying rounding to nearest first
-        let mut bs2 = bs1_bs2_sum - bs1;
-        core::assert!(bs1_bs2_sum > bs1);
-
-        let sample_point_permill = 1000 * ((1 + bs1) / (1 + bs1 + bs2)) as u16;
-        if sample_point_permill > MAX_SAMPLE_POINT_PERMILL {
-            // Nope, too far; now rounding to zero
-            bs1 = (7 * bs1_bs2_sum - 1) / 8;
-            bs2 = bs1_bs2_sum - bs1;
-        }
-
-        // Check is BS1 and BS2 are in range
-        if (bs1 < 1) || (bs1 > BS1_MAX) || (bs2 < 1) || (bs2 > BS2_MAX) {
-            return None;
-        }
-
-        // Check if final bitrate matches the requested
-        if can_bitrate != (periph_clock / (prescaler * (1 + bs1 + bs2) as u32)) {
-            return None;
-        }
-
-        // One is recommended by DS-015, CANOpen, and DeviceNet
-        let sjw = 1;
-
-        // Pack into BTR register values
-        Some((sjw - 1) << 24 | (bs1 as u32 - 1) << 16 | (bs2 as u32 - 1) << 20 | (prescaler - 1))
-    }
-
     /// Split the CAN driver into transmit and receive halves.
     ///
     /// Useful for doing separate transmit/receive tasks.
diff --git a/embassy-stm32/src/can/enums.rs b/embassy-stm32/src/can/enums.rs
new file mode 100644
index 000000000..36139a45c
--- /dev/null
+++ b/embassy-stm32/src/can/enums.rs
@@ -0,0 +1,30 @@
+//! Enums shared between CAN controller types.
+
+/// Bus error
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum BusError {
+    /// Bit stuffing error - more than 5 equal bits
+    Stuff,
+    /// Form error - A fixed format part of a received message has wrong format
+    Form,
+    /// The message transmitted by the FDCAN was not acknowledged by another node.
+    Acknowledge,
+    /// Bit0Error: During the transmission of a message the device wanted to send a dominant level
+    /// but the monitored bus value was recessive.
+    BitRecessive,
+    /// Bit1Error: During the transmission of a message the device wanted to send a recessive level
+    /// but the monitored bus value was dominant.
+    BitDominant,
+    /// The CRC check sum of a received message was incorrect. The CRC of an
+    /// incoming message does not match with the CRC calculated from the received data.
+    Crc,
+    /// A software error occured
+    Software,
+    ///  The FDCAN is in Bus_Off state.
+    BusOff,
+    ///  The FDCAN is in the Error_Passive state.
+    BusPassive,
+    ///  At least one of error counter has reached the Error_Warning limit of 96.
+    BusWarning,
+}
diff --git a/embassy-stm32/src/can/util.rs b/embassy-stm32/src/can/util.rs
new file mode 100644
index 000000000..fcdbbad62
--- /dev/null
+++ b/embassy-stm32/src/can/util.rs
@@ -0,0 +1,117 @@
+//! Utility functions shared between CAN controller types.
+
+use core::num::{NonZeroU16, NonZeroU8};
+
+/// Shared struct to represent bit timings used by calc_can_timings.
+#[derive(Clone, Copy, Debug)]
+pub struct NominalBitTiming {
+    /// Value by which the oscillator frequency is divided for generating the bit time quanta. The bit
+    /// time is built up from a multiple of this quanta. Valid values are 1 to 512.
+    pub prescaler: NonZeroU16,
+    /// Valid values are 1 to 128.
+    pub seg1: NonZeroU8,
+    /// Valid values are 1 to 255.
+    pub seg2: NonZeroU8,
+    /// Valid values are 1 to 128.
+    pub sync_jump_width: NonZeroU8,
+}
+
+/// 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> {
+    const BS1_MAX: u8 = 16;
+    const BS2_MAX: u8 = 8;
+    const MAX_SAMPLE_POINT_PERMILL: u16 = 900;
+
+    let periph_clock = periph_clock.0;
+
+    if can_bitrate < 1000 {
+        return None;
+    }
+
+    // Ref. "Automatic Baudrate Detection in CANopen Networks", U. Koppe, MicroControl GmbH & Co. KG
+    //      CAN in Automation, 2003
+    //
+    // According to the source, optimal quanta per bit are:
+    //   Bitrate        Optimal Maximum
+    //   1000 kbps      8       10
+    //   500  kbps      16      17
+    //   250  kbps      16      17
+    //   125  kbps      16      17
+    let max_quanta_per_bit: u8 = if can_bitrate >= 1_000_000 { 10 } else { 17 };
+
+    // Computing (prescaler * BS):
+    //   BITRATE = 1 / (PRESCALER * (1 / PCLK) * (1 + BS1 + BS2))       -- See the Reference Manual
+    //   BITRATE = PCLK / (PRESCALER * (1 + BS1 + BS2))                 -- Simplified
+    // let:
+    //   BS = 1 + BS1 + BS2                                             -- Number of time quanta per bit
+    //   PRESCALER_BS = PRESCALER * BS
+    // ==>
+    //   PRESCALER_BS = PCLK / BITRATE
+    let prescaler_bs = periph_clock / can_bitrate;
+
+    // Searching for such prescaler value so that the number of quanta per bit is highest.
+    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
+        }
+        bs1_bs2_sum -= 1;
+    }
+
+    let prescaler = prescaler_bs / (1 + bs1_bs2_sum) as u32;
+    if (prescaler < 1) || (prescaler > 1024) {
+        return None; // No solution
+    }
+
+    // Now we have a constraint: (BS1 + BS2) == bs1_bs2_sum.
+    // We need to find such values so that the sample point is as close as possible to the optimal value,
+    // which is 87.5%, which is 7/8.
+    //
+    //   Solve[(1 + bs1)/(1 + bs1 + bs2) == 7/8, bs2]  (* Where 7/8 is 0.875, the recommended sample point location *)
+    //   {{bs2 -> (1 + bs1)/7}}
+    //
+    // Hence:
+    //   bs2 = (1 + bs1) / 7
+    //   bs1 = (7 * bs1_bs2_sum - 1) / 8
+    //
+    // Sample point location can be computed as follows:
+    //   Sample point location = (1 + bs1) / (1 + bs1 + bs2)
+    //
+    // Since the optimal solution is so close to the maximum, we prepare two solutions, and then pick the best one:
+    //   - With rounding to nearest
+    //   - With rounding to zero
+    let mut bs1 = ((7 * bs1_bs2_sum - 1) + 4) / 8; // Trying rounding to nearest first
+    let mut bs2 = bs1_bs2_sum - bs1;
+    core::assert!(bs1_bs2_sum > bs1);
+
+    let sample_point_permill = 1000 * ((1 + bs1) / (1 + bs1 + bs2)) as u16;
+    if sample_point_permill > MAX_SAMPLE_POINT_PERMILL {
+        // Nope, too far; now rounding to zero
+        bs1 = (7 * bs1_bs2_sum - 1) / 8;
+        bs2 = bs1_bs2_sum - bs1;
+    }
+
+    // Check is BS1 and BS2 are in range
+    if (bs1 < 1) || (bs1 > BS1_MAX) || (bs2 < 1) || (bs2 > BS2_MAX) {
+        return None;
+    }
+
+    // Check if final bitrate matches the requested
+    if can_bitrate != (periph_clock / (prescaler * (1 + bs1 + bs2) as u32)) {
+        return None;
+    }
+
+    // One is recommended by DS-015, CANOpen, and DeviceNet
+    let sync_jump_width = core::num::NonZeroU8::new(1)?;
+
+    let seg1 = core::num::NonZeroU8::new(bs1)?;
+    let seg2 = core::num::NonZeroU8::new(bs2)?;
+    let nz_prescaler = core::num::NonZeroU16::new(prescaler as u16)?;
+
+    Some(NominalBitTiming {
+        sync_jump_width,
+        prescaler: nz_prescaler,
+        seg1,
+        seg2,
+    })
+}
diff --git a/embassy-stm32/src/rcc/g4.rs b/embassy-stm32/src/rcc/g4.rs
index fca364c21..891f0490b 100644
--- a/embassy-stm32/src/rcc/g4.rs
+++ b/embassy-stm32/src/rcc/g4.rs
@@ -3,8 +3,8 @@ use stm32_metapac::rcc::vals::{Adcsel, Pllsrc, Sw};
 use stm32_metapac::FLASH;
 
 pub use crate::pac::rcc::vals::{
-    Adcsel as AdcClockSource, Hpre as AHBPrescaler, Pllm as PllM, Plln as PllN, Pllp as PllP, Pllq as PllQ,
-    Pllr as PllR, Ppre as APBPrescaler,
+    Adcsel as AdcClockSource, Fdcansel as FdCanClockSource, Hpre as AHBPrescaler, Pllm as PllM, Plln as PllN,
+    Pllp as PllP, Pllq as PllQ, Pllr as PllR, Ppre as APBPrescaler,
 };
 use crate::pac::{PWR, RCC};
 use crate::rcc::{set_freqs, Clocks};
@@ -87,6 +87,7 @@ pub struct Config {
     pub clock_48mhz_src: Option<Clock48MhzSrc>,
     pub adc12_clock_source: AdcClockSource,
     pub adc345_clock_source: AdcClockSource,
+    pub fdcan_clock_source: FdCanClockSource,
 
     pub ls: super::LsConfig,
 }
@@ -104,6 +105,7 @@ impl Default for Config {
             clock_48mhz_src: Some(Clock48MhzSrc::Hsi48(Default::default())),
             adc12_clock_source: Adcsel::DISABLE,
             adc345_clock_source: Adcsel::DISABLE,
+            fdcan_clock_source: FdCanClockSource::PCLK1,
             ls: Default::default(),
         }
     }
@@ -282,6 +284,7 @@ pub(crate) unsafe fn init(config: Config) {
 
     RCC.ccipr().modify(|w| w.set_adc12sel(config.adc12_clock_source));
     RCC.ccipr().modify(|w| w.set_adc345sel(config.adc345_clock_source));
+    RCC.ccipr().modify(|w| w.set_fdcansel(config.fdcan_clock_source));
 
     let adc12_ck = match config.adc12_clock_source {
         AdcClockSource::DISABLE => None,
diff --git a/embassy-stm32/src/rcc/h.rs b/embassy-stm32/src/rcc/h.rs
index 15b51a398..85e12637e 100644
--- a/embassy-stm32/src/rcc/h.rs
+++ b/embassy-stm32/src/rcc/h.rs
@@ -6,6 +6,7 @@ use crate::pac::pwr::vals::Vos;
 pub use crate::pac::rcc::vals::Adcdacsel as AdcClockSource;
 #[cfg(stm32h7)]
 pub use crate::pac::rcc::vals::Adcsel as AdcClockSource;
+pub use crate::pac::rcc::vals::Fdcansel as FdCanClockSource;
 pub use crate::pac::rcc::vals::{
     Ckpersel as PerClockSource, Hsidiv as HSIPrescaler, Plldiv as PllDiv, Pllm as PllPreDiv, Plln as PllMul,
     Pllsrc as PllSource, Sw as Sysclk,
@@ -212,6 +213,8 @@ pub struct Config {
 
     pub per_clock_source: PerClockSource,
     pub adc_clock_source: AdcClockSource,
+    pub fdcan_clock_source: FdCanClockSource,
+
     pub timer_prescaler: TimerPrescaler,
     pub voltage_scale: VoltageScale,
     pub ls: super::LsConfig,
@@ -248,6 +251,8 @@ impl Default for Config {
             #[cfg(stm32h7)]
             adc_clock_source: AdcClockSource::PER,
 
+            fdcan_clock_source: FdCanClockSource::from_bits(0), // HSE
+
             timer_prescaler: TimerPrescaler::DefaultX2,
             voltage_scale: VoltageScale::Scale0,
             ls: Default::default(),
@@ -585,7 +590,8 @@ pub(crate) unsafe fn init(config: Config) {
 
         RCC.ccipr5().modify(|w| {
             w.set_ckpersel(config.per_clock_source);
-            w.set_adcdacsel(config.adc_clock_source)
+            w.set_adcdacsel(config.adc_clock_source);
+            w.set_fdcan1sel(config.fdcan_clock_source)
         });
     }