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Remove duplicate calc_timestamp and move to 'Registers' struct.

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This commit is contained in:
Corey Schuhen 2025-05-31 09:09:12 +10:00
parent f5658d6833
commit 010744802f
2 changed files with 23 additions and 43 deletions
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17
embassy-stm32/src/can/fd/peripheral.rs
View File

@ -71,6 +71,23 @@ impl Registers {
}
}
#[cfg(feature = "time")]
pub fn calc_timestamp(&self, ns_per_timer_tick: u64, ts_val: u16) -> Timestamp {
let now_embassy = embassy_time::Instant::now();
if ns_per_timer_tick == 0 {
return now_embassy;
}
let cantime = { self.regs.tscv().read().tsc() };
let delta = cantime.overflowing_sub(ts_val).0 as u64;
let ns = ns_per_timer_tick * delta as u64;
now_embassy - embassy_time::Duration::from_nanos(ns)
}
#[cfg(not(feature = "time"))]
pub fn calc_timestamp(&self, _ns_per_timer_tick: u64, ts_val: u16) -> Timestamp {
ts_val
}
pub fn put_tx_frame(&self, bufidx: usize, header: &Header, buffer: &[u8]) {
let mailbox = self.tx_buffer_element(bufidx);
mailbox.reset();

49
embassy-stm32/src/can/fdcan.rs
View File

@ -713,10 +713,10 @@ impl RxMode {
//async fn read_classic<T: Instance>(&self) -> Result<Envelope, BusError> {
fn try_read<T: Instance>(&self, ns_per_timer_tick: u64) -> Option<Result<Envelope, BusError>> {
if let Some((frame, ts)) = T::registers().read(0) {
let ts = T::calc_timestamp(ns_per_timer_tick, ts);
let ts = T::registers().calc_timestamp(ns_per_timer_tick, ts);
Some(Ok(Envelope { ts, frame }))
} else if let Some((frame, ts)) = T::registers().read(1) {
let ts = T::calc_timestamp(ns_per_timer_tick, ts);
let ts = T::registers().calc_timestamp(ns_per_timer_tick, ts);
Some(Ok(Envelope { ts, frame }))
} else if let Some(err) = T::registers().curr_error() {
// TODO: this is probably wrong
@ -728,10 +728,10 @@ impl RxMode {
fn try_read_fd<T: Instance>(&self, ns_per_timer_tick: u64) -> Option<Result<FdEnvelope, BusError>> {
if let Some((frame, ts)) = T::registers().read(0) {
let ts = T::calc_timestamp(ns_per_timer_tick, ts);
let ts = T::registers().calc_timestamp(ns_per_timer_tick, ts);
Some(Ok(FdEnvelope { ts, frame }))
} else if let Some((frame, ts)) = T::registers().read(1) {
let ts = T::calc_timestamp(ns_per_timer_tick, ts);
let ts = T::registers().calc_timestamp(ns_per_timer_tick, ts);
Some(Ok(FdEnvelope { ts, frame }))
} else if let Some(err) = T::registers().curr_error() {
// TODO: this is probably wrong
@ -743,10 +743,10 @@ impl RxMode {
fn read<F: CanHeader>(info: &'static Info, ns_per_timer_tick: u64) -> Option<Result<(F, Timestamp), BusError>> {
if let Some((msg, ts)) = info.regs.read(0) {
let ts = info.calc_timestamp(ns_per_timer_tick, ts);
let ts = info.regs.calc_timestamp(ns_per_timer_tick, ts);
Some(Ok((msg, ts)))
} else if let Some((msg, ts)) = info.regs.read(1) {
let ts = info.calc_timestamp(ns_per_timer_tick, ts);
let ts = info.regs.calc_timestamp(ns_per_timer_tick, ts);
Some(Ok((msg, ts)))
} else if let Some(err) = info.regs.curr_error() {
// TODO: this is probably wrong
@ -947,32 +947,12 @@ struct Info {
state: SharedState,
}
impl Info {
#[cfg(feature = "time")]
fn calc_timestamp(&self, ns_per_timer_tick: u64, ts_val: u16) -> Timestamp {
let now_embassy = embassy_time::Instant::now();
if ns_per_timer_tick == 0 {
return now_embassy;
}
let cantime = { self.regs.regs.tscv().read().tsc() };
let delta = cantime.overflowing_sub(ts_val).0 as u64;
let ns = ns_per_timer_tick * delta as u64;
now_embassy - embassy_time::Duration::from_nanos(ns)
}
#[cfg(not(feature = "time"))]
fn calc_timestamp(&self, _ns_per_timer_tick: u64, ts_val: u16) -> Timestamp {
ts_val
}
}
trait SealedInstance {
const MSG_RAM_OFFSET: usize;
fn info() -> &'static Info;
fn registers() -> crate::can::fd::peripheral::Registers;
fn internal_operation(val: InternalOperation);
fn calc_timestamp(ns_per_timer_tick: u64, ts_val: u16) -> Timestamp;
}
/// Instance trait
@ -1045,23 +1025,6 @@ macro_rules! impl_fdcan {
Registers{regs: crate::pac::$inst, msgram: crate::pac::$msg_ram_inst, msg_ram_offset: Self::MSG_RAM_OFFSET}
}
#[cfg(feature = "time")]
fn calc_timestamp(ns_per_timer_tick: u64, ts_val: u16) -> Timestamp {
let now_embassy = embassy_time::Instant::now();
if ns_per_timer_tick == 0 {
return now_embassy;
}
let cantime = { Self::registers().regs.tscv().read().tsc() };
let delta = cantime.overflowing_sub(ts_val).0 as u64;
let ns = ns_per_timer_tick * delta as u64;
now_embassy - embassy_time::Duration::from_nanos(ns)
}
#[cfg(not(feature = "time"))]
fn calc_timestamp(_ns_per_timer_tick: u64, ts_val: u16) -> Timestamp {
ts_val
}
}
#[allow(non_snake_case)]