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Count all users of a given CAN instance and cleanup pins and RCC when the last user gets dropped

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This commit is contained in:
Tobias Naumann 2025-05-18 22:09:00 +02:00
parent 3ad9b73dd5
commit e0c5e93e78
1 changed files with 62 additions and 9 deletions
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71
embassy-stm32/src/can/fdcan.rs
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@ -10,7 +10,7 @@ use embassy_sync::channel::Channel;
use embassy_sync::waitqueue::AtomicWaker;
use crate::can::fd::peripheral::Registers;
use crate::gpio::{AfType, OutputType, Pull, Speed};
use crate::gpio::{AfType, OutputType, Pull, SealedPin as _, Speed};
use crate::interrupt::typelevel::Interrupt;
use crate::rcc::{self, RccPeripheral};
use crate::{interrupt, peripherals, Peri};
@ -187,13 +187,17 @@ impl<'d> CanConfigurator<'d> {
rcc::enable_and_reset::<T>();
let info = T::info();
let state = unsafe { T::mut_state() };
state.tx_pin_port = Some(tx.pin_port());
state.rx_pin_port = Some(rx.pin_port());
(info.internal_operation)(InternalOperation::NotifySenderCreated);
(info.internal_operation)(InternalOperation::NotifyReceiverCreated);
let mut config = crate::can::fd::config::FdCanConfig::default();
config.timestamp_source = TimestampSource::Prescaler(TimestampPrescaler::_1);
T::registers().into_config_mode(config);
rx.set_as_af(rx.af_num(), AfType::input(Pull::None));
tx.set_as_af(tx.af_num(), AfType::output(OutputType::PushPull, Speed::VeryHigh));
unsafe {
T::IT0Interrupt::unpend(); // Not unsafe
T::IT0Interrupt::enable();
@ -204,8 +208,8 @@ impl<'d> CanConfigurator<'d> {
Self {
_phantom: PhantomData,
config,
info: T::info(),
state: T::state(),
info,
state,
properties: Properties::new(T::info()),
periph_clock: T::frequency(),
}
@ -265,6 +269,8 @@ impl<'d> CanConfigurator<'d> {
}
});
self.info.regs.into_mode(self.config, mode);
(self.info.internal_operation)(InternalOperation::NotifySenderCreated);
(self.info.internal_operation)(InternalOperation::NotifyReceiverCreated);
Can {
_phantom: PhantomData,
config: self.config,
@ -291,6 +297,13 @@ impl<'d> CanConfigurator<'d> {
}
}
impl<'d> Drop for CanConfigurator<'d> {
fn drop(&mut self) {
(self.info.internal_operation)(InternalOperation::NotifySenderDestroyed);
(self.info.internal_operation)(InternalOperation::NotifyReceiverDestroyed);
}
}
/// FDCAN Instance
pub struct Can<'d> {
_phantom: PhantomData<&'d ()>,
@ -353,6 +366,8 @@ impl<'d> Can<'d> {
/// Split instance into separate portions: Tx(write), Rx(read), common properties
pub fn split(self) -> (CanTx<'d>, CanRx<'d>, Properties) {
(self.info.internal_operation)(InternalOperation::NotifySenderCreated);
(self.info.internal_operation)(InternalOperation::NotifyReceiverCreated);
(
CanTx {
_phantom: PhantomData,
@ -367,11 +382,15 @@ impl<'d> Can<'d> {
state: self.state,
_mode: self._mode,
},
self.properties,
Properties {
info: self.properties.info,
},
)
}
/// Join split rx and tx portions back together
pub fn join(tx: CanTx<'d>, rx: CanRx<'d>) -> Self {
(tx.info.internal_operation)(InternalOperation::NotifySenderCreated);
(tx.info.internal_operation)(InternalOperation::NotifyReceiverCreated);
Can {
_phantom: PhantomData,
config: tx.config,
@ -401,6 +420,13 @@ impl<'d> Can<'d> {
}
}
impl<'d> Drop for Can<'d> {
fn drop(&mut self) {
(self.info.internal_operation)(InternalOperation::NotifySenderDestroyed);
(self.info.internal_operation)(InternalOperation::NotifyReceiverDestroyed);
}
}
/// User supplied buffer for RX Buffering
pub type RxBuf<const BUF_SIZE: usize> = Channel<CriticalSectionRawMutex, Result<Envelope, BusError>, BUF_SIZE>;
@ -426,6 +452,8 @@ impl<'c, 'd, const TX_BUF_SIZE: usize, const RX_BUF_SIZE: usize> BufferedCan<'d,
tx_buf: &'static TxBuf<TX_BUF_SIZE>,
rx_buf: &'static RxBuf<RX_BUF_SIZE>,
) -> Self {
(info.internal_operation)(InternalOperation::NotifySenderCreated);
(info.internal_operation)(InternalOperation::NotifyReceiverCreated);
BufferedCan {
_phantom: PhantomData,
info,
@ -532,6 +560,8 @@ impl<'c, 'd, const TX_BUF_SIZE: usize, const RX_BUF_SIZE: usize> BufferedCanFd<'
tx_buf: &'static TxFdBuf<TX_BUF_SIZE>,
rx_buf: &'static RxFdBuf<RX_BUF_SIZE>,
) -> Self {
(info.internal_operation)(InternalOperation::NotifySenderCreated);
(info.internal_operation)(InternalOperation::NotifyReceiverCreated);
BufferedCanFd {
_phantom: PhantomData,
info,
@ -627,6 +657,12 @@ impl<'d> CanRx<'d> {
}
}
impl<'d> Drop for CanRx<'d> {
fn drop(&mut self) {
(self.info.internal_operation)(InternalOperation::NotifyReceiverDestroyed);
}
}
/// FDCAN Tx only Instance
pub struct CanTx<'d> {
_phantom: PhantomData<&'d ()>,
@ -654,6 +690,12 @@ impl<'c, 'd> CanTx<'d> {
}
}
impl<'d> Drop for CanTx<'d> {
fn drop(&mut self) {
(self.info.internal_operation)(InternalOperation::NotifySenderDestroyed);
}
}
enum RxMode {
NonBuffered(AtomicWaker),
ClassicBuffered(super::common::ClassicBufferedRxInner),
@ -898,6 +940,8 @@ struct State {
pub ns_per_timer_tick: u64,
receiver_instance_count: usize,
sender_instance_count: usize,
tx_pin_port: Option<u8>,
rx_pin_port: Option<u8>,
pub err_waker: AtomicWaker,
}
@ -909,8 +953,10 @@ impl State {
tx_mode: TxMode::NonBuffered(AtomicWaker::new()),
ns_per_timer_tick: 0,
err_waker: AtomicWaker::new(),
receiver_instance_count: 1,
sender_instance_count: 1,
receiver_instance_count: 0,
sender_instance_count: 0,
tx_pin_port: None,
rx_pin_port: None,
}
}
}
@ -998,6 +1044,13 @@ macro_rules! impl_fdcan {
}
}
}
if mut_state.sender_instance_count == 0 && mut_state.receiver_instance_count == 0 {
let tx_pin = crate::gpio::AnyPin::steal(mut_state.tx_pin_port.unwrap());
tx_pin.set_as_disconnected();
let rx_pin = crate::gpio::AnyPin::steal(mut_state.rx_pin_port.unwrap());
rx_pin.set_as_disconnected();
rcc::disable::<peripherals::$inst>();
}
}
});
}