Merge pull request #3033 from cschuhen/feature/fdcan_no_generics2

Remove generic argument from FDCAN CanBuilder.

embassy-stm32/src/can/fd/peripheral.rs

@@ -73,7 +73,6 @@ impl Registers {
 
     pub fn put_tx_frame(&self, bufidx: usize, header: &Header, buffer: &[u8]) {
         let mailbox = self.tx_buffer_element(bufidx);
-
         mailbox.reset();
         put_tx_header(mailbox, header);
         put_tx_data(mailbox, &buffer[..header.len() as usize]);
@@ -245,12 +244,12 @@ impl Registers {
     }
 
     #[inline]
-    fn reset_msg_ram(&mut self) {
+    fn reset_msg_ram(&self) {
         self.msg_ram_mut().reset();
     }
 
     #[inline]
-    fn enter_init_mode(&mut self) {
+    fn enter_init_mode(&self) {
         self.regs.cccr().modify(|w| w.set_init(true));
         while false == self.regs.cccr().read().init() {}
         self.regs.cccr().modify(|w| w.set_cce(true));
@@ -259,7 +258,7 @@ impl Registers {
     /// Enables or disables loopback mode: Internally connects the TX and RX
     /// signals together.
     #[inline]
-    fn set_loopback_mode(&mut self, mode: LoopbackMode) {
+    fn set_loopback_mode(&self, mode: LoopbackMode) {
         let (test, mon, lbck) = match mode {
             LoopbackMode::None => (false, false, false),
             LoopbackMode::Internal => (true, true, true),
@@ -274,34 +273,34 @@ impl Registers {
 
     /// Enables or disables silent mode: Disconnects the TX signal from the pin.
     #[inline]
-    fn set_bus_monitoring_mode(&mut self, enabled: bool) {
+    fn set_bus_monitoring_mode(&self, enabled: bool) {
         self.regs.cccr().modify(|w| w.set_mon(enabled));
     }
 
     #[inline]
-    fn set_restricted_operations(&mut self, enabled: bool) {
+    fn set_restricted_operations(&self, enabled: bool) {
         self.regs.cccr().modify(|w| w.set_asm(enabled));
     }
 
     #[inline]
-    fn set_normal_operations(&mut self, _enabled: bool) {
+    fn set_normal_operations(&self, _enabled: bool) {
         self.set_loopback_mode(LoopbackMode::None);
     }
 
     #[inline]
-    fn set_test_mode(&mut self, enabled: bool) {
+    fn set_test_mode(&self, enabled: bool) {
         self.regs.cccr().modify(|w| w.set_test(enabled));
     }
 
     #[inline]
-    fn set_power_down_mode(&mut self, enabled: bool) {
+    fn set_power_down_mode(&self, enabled: bool) {
         self.regs.cccr().modify(|w| w.set_csr(enabled));
         while self.regs.cccr().read().csa() != enabled {}
     }
 
     /// Moves out of PoweredDownMode and into ConfigMode
     #[inline]
-    pub fn into_config_mode(mut self, _config: FdCanConfig) {
+    pub fn into_config_mode(self, _config: FdCanConfig) {
         self.set_power_down_mode(false);
         self.enter_init_mode();
         self.reset_msg_ram();
@@ -328,7 +327,7 @@ impl Registers {
 
     /// Applies the settings of a new FdCanConfig See [`FdCanConfig`]
     #[inline]
-    pub fn apply_config(&mut self, config: FdCanConfig) {
+    pub fn apply_config(&self, config: FdCanConfig) {
         self.set_tx_buffer_mode(config.tx_buffer_mode);
 
         // set standard filters list size to 28
@@ -389,7 +388,7 @@ impl Registers {
     }
 
     #[inline]
-    fn leave_init_mode(&mut self, config: FdCanConfig) {
+    fn leave_init_mode(&self, config: FdCanConfig) {
         self.apply_config(config);
 
         self.regs.cccr().modify(|w| w.set_cce(false));
@@ -399,7 +398,7 @@ impl Registers {
 
     /// Moves out of ConfigMode and into specified mode
     #[inline]
-    pub fn into_mode(mut self, config: FdCanConfig, mode: crate::can::_version::OperatingMode) {
+    pub fn into_mode(&self, config: FdCanConfig, mode: crate::can::_version::OperatingMode) {
         match mode {
             crate::can::OperatingMode::InternalLoopbackMode => self.set_loopback_mode(LoopbackMode::Internal),
             crate::can::OperatingMode::ExternalLoopbackMode => self.set_loopback_mode(LoopbackMode::External),
@@ -423,7 +422,7 @@ impl Registers {
     /// Then copy the `CAN_BUS_TIME` register value from the table and pass it as the `btr`
     /// parameter to this method.
     #[inline]
-    pub fn set_nominal_bit_timing(&mut self, btr: NominalBitTiming) {
+    pub fn set_nominal_bit_timing(&self, btr: NominalBitTiming) {
         self.regs.nbtp().write(|w| {
             w.set_nbrp(btr.nbrp() - 1);
             w.set_ntseg1(btr.ntseg1() - 1);
@@ -435,7 +434,7 @@ impl Registers {
     /// Configures the data bit timings for the FdCan Variable Bitrates.
     /// This is not used when frame_transmit is set to anything other than AllowFdCanAndBRS.
     #[inline]
-    pub fn set_data_bit_timing(&mut self, btr: DataBitTiming) {
+    pub fn set_data_bit_timing(&self, btr: DataBitTiming) {
         self.regs.dbtp().write(|w| {
             w.set_dbrp(btr.dbrp() - 1);
             w.set_dtseg1(btr.dtseg1() - 1);
@@ -451,39 +450,39 @@ impl Registers {
     ///
     /// Automatic retransmission is enabled by default.
     #[inline]
-    pub fn set_automatic_retransmit(&mut self, enabled: bool) {
+    pub fn set_automatic_retransmit(&self, enabled: bool) {
         self.regs.cccr().modify(|w| w.set_dar(!enabled));
     }
 
     /// Configures the transmit pause feature. See
     /// [`FdCanConfig::set_transmit_pause`]
     #[inline]
-    pub fn set_transmit_pause(&mut self, enabled: bool) {
+    pub fn set_transmit_pause(&self, enabled: bool) {
         self.regs.cccr().modify(|w| w.set_txp(!enabled));
     }
 
     /// Configures non-iso mode. See [`FdCanConfig::set_non_iso_mode`]
     #[inline]
-    pub fn set_non_iso_mode(&mut self, enabled: bool) {
+    pub fn set_non_iso_mode(&self, enabled: bool) {
         self.regs.cccr().modify(|w| w.set_niso(enabled));
     }
 
     /// Configures edge filtering. See [`FdCanConfig::set_edge_filtering`]
     #[inline]
-    pub fn set_edge_filtering(&mut self, enabled: bool) {
+    pub fn set_edge_filtering(&self, enabled: bool) {
         self.regs.cccr().modify(|w| w.set_efbi(enabled));
     }
 
     /// Configures TX Buffer Mode
     #[inline]
-    pub fn set_tx_buffer_mode(&mut self, tbm: TxBufferMode) {
+    pub fn set_tx_buffer_mode(&self, tbm: TxBufferMode) {
         self.regs.txbc().write(|w| w.set_tfqm(tbm.into()));
     }
 
     /// Configures frame transmission mode. See
     /// [`FdCanConfig::set_frame_transmit`]
     #[inline]
-    pub fn set_frame_transmit(&mut self, fts: FrameTransmissionConfig) {
+    pub fn set_frame_transmit(&self, fts: FrameTransmissionConfig) {
         let (fdoe, brse) = match fts {
             FrameTransmissionConfig::ClassicCanOnly => (false, false),
             FrameTransmissionConfig::AllowFdCan => (true, false),
@@ -501,14 +500,14 @@ impl Registers {
 
     /// Sets the protocol exception handling on/off
     #[inline]
-    pub fn set_protocol_exception_handling(&mut self, enabled: bool) {
+    pub fn set_protocol_exception_handling(&self, enabled: bool) {
         self.regs.cccr().modify(|w| w.set_pxhd(!enabled));
     }
 
     /// Configures and resets the timestamp counter
     #[inline]
     #[allow(unused)]
-    pub fn set_timestamp_counter_source(&mut self, select: TimestampSource) {
+    pub fn set_timestamp_counter_source(&self, select: TimestampSource) {
         #[cfg(can_fdcan_h7)]
         let (tcp, tss) = match select {
             TimestampSource::None => (0, 0),
@@ -532,7 +531,7 @@ impl Registers {
     #[cfg(not(can_fdcan_h7))]
     /// Configures the global filter settings
     #[inline]
-    pub fn set_global_filter(&mut self, filter: GlobalFilter) {
+    pub fn set_global_filter(&self, filter: GlobalFilter) {
         let anfs = match filter.handle_standard_frames {
             crate::can::fd::config::NonMatchingFilter::IntoRxFifo0 => stm32_metapac::can::vals::Anfs::ACCEPT_FIFO_0,
             crate::can::fd::config::NonMatchingFilter::IntoRxFifo1 => stm32_metapac::can::vals::Anfs::ACCEPT_FIFO_1,
@@ -555,7 +554,7 @@ impl Registers {
     #[cfg(can_fdcan_h7)]
     /// Configures the global filter settings
     #[inline]
-    pub fn set_global_filter(&mut self, filter: GlobalFilter) {
+    pub fn set_global_filter(&self, filter: GlobalFilter) {
         let anfs = match filter.handle_standard_frames {
             crate::can::fd::config::NonMatchingFilter::IntoRxFifo0 => 0,
             crate::can::fd::config::NonMatchingFilter::IntoRxFifo1 => 1,
@@ -577,10 +576,10 @@ impl Registers {
     }
 
     #[cfg(not(can_fdcan_h7))]
-    fn configure_msg_ram(&mut self) {}
+    fn configure_msg_ram(&self) {}
 
     #[cfg(can_fdcan_h7)]
-    fn configure_msg_ram(&mut self) {
+    fn configure_msg_ram(&self) {
         let r = self.regs;
 
         use crate::can::fd::message_ram::*;

embassy-stm32/src/can/fdcan.rs

@@ -141,13 +141,16 @@ pub enum OperatingMode {
     //TestMode,
 }
 
-fn calc_ns_per_timer_tick<T: Instance>(mode: crate::can::fd::config::FrameTransmissionConfig) -> u64 {
+fn calc_ns_per_timer_tick(
+    info: &'static Info,
+    freq: crate::time::Hertz,
+    mode: crate::can::fd::config::FrameTransmissionConfig,
+) -> u64 {
     match mode {
         // Use timestamp from Rx FIFO to adjust timestamp reported to user
         crate::can::fd::config::FrameTransmissionConfig::ClassicCanOnly => {
-            let freq = T::frequency();
+            let prescale: u64 = ({ info.regs.regs.nbtp().read().nbrp() } + 1) as u64
-            let prescale: u64 = ({ T::registers().regs.nbtp().read().nbrp() } + 1) as u64
+                * ({ info.regs.regs.tscc().read().tcp() } + 1) as u64;
-                * ({ T::registers().regs.tscc().read().tcp() } + 1) as u64;
             1_000_000_000 as u64 / (freq.0 as u64 * prescale)
         }
         // For VBR this is too hard because the FDCAN timer switches clock rate you need to configure to use
@@ -158,28 +161,28 @@ fn calc_ns_per_timer_tick<T: Instance>(mode: crate::can::fd::config::FrameTransm
 
 /// FDCAN Configuration instance instance
 /// Create instance of this first
-pub struct CanConfigurator<'d, T: Instance> {
+pub struct CanConfigurator<'d> {
+    _phantom: PhantomData<&'d ()>,
     config: crate::can::fd::config::FdCanConfig,
     info: &'static Info,
     state: &'static State,
     /// Reference to internals.
-    _instance: FdcanInstance<'d, T>,
     properties: Properties,
     periph_clock: crate::time::Hertz,
 }
 
-impl<'d, T: Instance> CanConfigurator<'d, T> {
+impl<'d> CanConfigurator<'d> {
     /// Creates a new Fdcan instance, keeping the peripheral in sleep mode.
     /// You must call [Fdcan::enable_non_blocking] to use the peripheral.
-    pub fn new(
+    pub fn new<T: Instance>(
-        peri: impl Peripheral<P = T> + 'd,
+        _peri: impl Peripheral<P = T> + 'd,
         rx: impl Peripheral<P = impl RxPin<T>> + 'd,
         tx: impl Peripheral<P = impl TxPin<T>> + 'd,
         _irqs: impl interrupt::typelevel::Binding<T::IT0Interrupt, IT0InterruptHandler<T>>
             + interrupt::typelevel::Binding<T::IT1Interrupt, IT1InterruptHandler<T>>
             + 'd,
-    ) -> CanConfigurator<'d, T> {
+    ) -> CanConfigurator<'d> {
-        into_ref!(peri, rx, tx);
+        into_ref!(_peri, rx, tx);
 
         rx.set_as_af(rx.af_num(), AFType::Input);
         tx.set_as_af(tx.af_num(), AFType::OutputPushPull);
@@ -201,10 +204,10 @@ impl<'d, T: Instance> CanConfigurator<'d, T> {
             T::IT1Interrupt::enable();
         }
         Self {
+            _phantom: PhantomData,
             config,
             info: T::info(),
             state: T::state(),
-            _instance: FdcanInstance(peri),
             properties: Properties::new(T::info()),
             periph_clock: T::frequency(),
         }
@@ -255,7 +258,7 @@ impl<'d, T: Instance> CanConfigurator<'d, T> {
 
     /// Start in mode.
     pub fn start(self, mode: OperatingMode) -> Can<'d> {
-        let ns_per_timer_tick = calc_ns_per_timer_tick::<T>(self.config.frame_transmit);
+        let ns_per_timer_tick = calc_ns_per_timer_tick(self.info, self.periph_clock, self.config.frame_transmit);
         critical_section::with(|_| {
             let state = self.state as *const State;
             unsafe {
@@ -263,15 +266,14 @@ impl<'d, T: Instance> CanConfigurator<'d, T> {
                 (*mut_state).ns_per_timer_tick = ns_per_timer_tick;
             }
         });
-        T::registers().into_mode(self.config, mode);
+        self.info.regs.into_mode(self.config, mode);
         Can {
             _phantom: PhantomData,
             config: self.config,
             info: self.info,
             state: self.state,
-            instance: T::info().regs.regs,
             _mode: mode,
-            properties: Properties::new(T::info()),
+            properties: Properties::new(self.info),
         }
     }
 
@@ -297,7 +299,6 @@ pub struct Can<'d> {
     config: crate::can::fd::config::FdCanConfig,
     info: &'static Info,
     state: &'static State,
-    instance: crate::pac::can::Fdcan,
     _mode: OperatingMode,
     properties: Properties,
 }
@@ -360,14 +361,12 @@ impl<'d> Can<'d> {
                 info: self.info,
                 state: self.state,
                 config: self.config,
-                _instance: self.instance,
                 _mode: self._mode,
             },
             CanRx {
                 _phantom: PhantomData,
                 info: self.info,
                 state: self.state,
-                _instance: self.instance,
                 _mode: self._mode,
             },
             self.properties,
@@ -380,7 +379,6 @@ impl<'d> Can<'d> {
             config: tx.config,
             info: tx.info,
             state: tx.state,
-            instance: tx._instance,
             _mode: rx._mode,
             properties: Properties::new(tx.info),
         }
@@ -392,7 +390,7 @@ impl<'d> Can<'d> {
         tx_buf: &'static mut TxBuf<TX_BUF_SIZE>,
         rxb: &'static mut RxBuf<RX_BUF_SIZE>,
     ) -> BufferedCan<'d, TX_BUF_SIZE, RX_BUF_SIZE> {
-        BufferedCan::new(self.info, self.state, self.info.regs.regs, self._mode, tx_buf, rxb)
+        BufferedCan::new(self.info, self.state, self._mode, tx_buf, rxb)
     }
 
     /// Return a buffered instance of driver with CAN FD support. User must supply Buffers
@@ -401,7 +399,7 @@ impl<'d> Can<'d> {
         tx_buf: &'static mut TxFdBuf<TX_BUF_SIZE>,
         rxb: &'static mut RxFdBuf<RX_BUF_SIZE>,
     ) -> BufferedCanFd<'d, TX_BUF_SIZE, RX_BUF_SIZE> {
-        BufferedCanFd::new(self.info, self.state, self.info.regs.regs, self._mode, tx_buf, rxb)
+        BufferedCanFd::new(self.info, self.state, self._mode, tx_buf, rxb)
     }
 }
 
@@ -416,7 +414,6 @@ pub struct BufferedCan<'d, const TX_BUF_SIZE: usize, const RX_BUF_SIZE: usize> {
     _phantom: PhantomData<&'d ()>,
     info: &'static Info,
     state: &'static State,
-    _instance: crate::pac::can::Fdcan,
     _mode: OperatingMode,
     tx_buf: &'static TxBuf<TX_BUF_SIZE>,
     rx_buf: &'static RxBuf<RX_BUF_SIZE>,
@@ -427,7 +424,6 @@ impl<'c, 'd, const TX_BUF_SIZE: usize, const RX_BUF_SIZE: usize> BufferedCan<'d,
     fn new(
         info: &'static Info,
         state: &'static State,
-        _instance: crate::pac::can::Fdcan,
         _mode: OperatingMode,
         tx_buf: &'static TxBuf<TX_BUF_SIZE>,
         rx_buf: &'static RxBuf<RX_BUF_SIZE>,
@@ -436,7 +432,6 @@ impl<'c, 'd, const TX_BUF_SIZE: usize, const RX_BUF_SIZE: usize> BufferedCan<'d,
             _phantom: PhantomData,
             info,
             state,
-            _instance,
             _mode,
             tx_buf,
             rx_buf,
@@ -549,7 +544,6 @@ pub struct BufferedCanFd<'d, const TX_BUF_SIZE: usize, const RX_BUF_SIZE: usize>
     _phantom: PhantomData<&'d ()>,
     info: &'static Info,
     state: &'static State,
-    _instance: crate::pac::can::Fdcan,
     _mode: OperatingMode,
     tx_buf: &'static TxFdBuf<TX_BUF_SIZE>,
     rx_buf: &'static RxFdBuf<RX_BUF_SIZE>,
@@ -560,7 +554,6 @@ impl<'c, 'd, const TX_BUF_SIZE: usize, const RX_BUF_SIZE: usize> BufferedCanFd<'
     fn new(
         info: &'static Info,
         state: &'static State,
-        _instance: crate::pac::can::Fdcan,
         _mode: OperatingMode,
         tx_buf: &'static TxFdBuf<TX_BUF_SIZE>,
         rx_buf: &'static RxFdBuf<RX_BUF_SIZE>,
@@ -569,7 +562,6 @@ impl<'c, 'd, const TX_BUF_SIZE: usize, const RX_BUF_SIZE: usize> BufferedCanFd<'
             _phantom: PhantomData,
             info,
             state,
-            _instance,
             _mode,
             tx_buf,
             rx_buf,
@@ -646,7 +638,6 @@ pub struct CanRx<'d> {
     _phantom: PhantomData<&'d ()>,
     info: &'static Info,
     state: &'static State,
-    _instance: crate::pac::can::Fdcan,
     _mode: OperatingMode,
 }
 
@@ -668,7 +659,6 @@ pub struct CanTx<'d> {
     info: &'static Info,
     state: &'static State,
     config: crate::can::fd::config::FdCanConfig,
-    _instance: crate::pac::can::Fdcan,
     _mode: OperatingMode,
 }