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Minor TWAI cleanup (#3679)

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* Deduplicate twai register access

* Clean up
This commit is contained in:
Dániel Buga 2025-06-23 16:42:37 +02:00 committed by GitHub
parent e82328c2cf
commit 85877f6731
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GPG Key ID: B5690EEEBB952194
1 changed files with 18 additions and 38 deletions
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56
esp-hal/src/twai/mod.rs
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@ -120,6 +120,8 @@
use core::marker::PhantomData;
use procmacros::handler;
use self::filter::{Filter, FilterType};
use crate::{
Async,
@ -1299,9 +1301,6 @@ where
/// TWAI peripheral instance.
#[doc(hidden)]
pub trait PrivateInstance: crate::private::Sealed {
/// The identifier number for this TWAI instance.
fn number(&self) -> usize;
/// Returns the system peripheral marker for this instance.
fn peripheral(&self) -> crate::system::Peripheral;
@ -1483,10 +1482,6 @@ fn write_frame(register_block: &RegisterBlock, frame: &EspTwaiFrame) {
}
impl PrivateInstance for crate::peripherals::TWAI0<'_> {
fn number(&self) -> usize {
0
}
fn peripheral(&self) -> crate::system::Peripheral {
crate::system::Peripheral::Twai0
}
@ -1516,7 +1511,13 @@ impl PrivateInstance for crate::peripherals::TWAI0<'_> {
}
fn async_handler(&self) -> InterruptHandler {
asynch::twai0
#[handler]
fn twai0() {
let twai = unsafe { crate::peripherals::TWAI0::steal() };
asynch::handle_interrupt(twai.register_block(), twai.async_state());
}
twai0
}
#[inline(always)]
@ -1532,10 +1533,6 @@ impl PrivateInstance for crate::peripherals::TWAI0<'_> {
#[cfg(soc_has_twai1)]
impl PrivateInstance for crate::peripherals::TWAI1<'_> {
fn number(&self) -> usize {
1
}
fn peripheral(&self) -> crate::system::Peripheral {
crate::system::Peripheral::Twai1
}
@ -1553,7 +1550,13 @@ impl PrivateInstance for crate::peripherals::TWAI1<'_> {
}
fn async_handler(&self) -> InterruptHandler {
asynch::twai1
#[handler]
fn twai1() {
let twai = unsafe { crate::peripherals::TWAI1::steal() };
asynch::handle_interrupt(twai.register_block(), twai.async_state());
}
twai1
}
#[inline(always)]
@ -1585,7 +1588,6 @@ impl PrivateInstance for AnyTwai<'_> {
#[cfg(soc_has_twai1)]
AnyTwaiInner::Twai1(twai) => twai,
} {
fn number(&self) -> usize;
fn peripheral(&self) -> crate::system::Peripheral;
fn input_signal(&self) -> InputSignal;
fn output_signal(&self) -> OutputSignal;
@ -1614,13 +1616,8 @@ mod asynch {
channel::Channel,
waitqueue::AtomicWaker,
};
use procmacros::handler;
use super::*;
#[cfg(soc_has_twai0)]
use crate::peripherals::TWAI0;
#[cfg(soc_has_twai1)]
use crate::peripherals::TWAI1;
pub struct TwaiAsyncState {
pub tx_waker: AtomicWaker,
@ -1762,26 +1759,23 @@ mod asynch {
}
}
fn handle_interrupt(register_block: &RegisterBlock, async_state: &TwaiAsyncState) {
pub(super) fn handle_interrupt(register_block: &RegisterBlock, async_state: &TwaiAsyncState) {
cfg_if::cfg_if! {
if #[cfg(any(esp32, esp32c3, esp32s2, esp32s3))] {
let intr_enable = register_block.int_ena().read();
let intr_status = register_block.int_raw().read();
let int_ena_reg = register_block.int_ena();
let tx_int_status = intr_status.tx_int_st();
let rx_int_status = intr_status.rx_int_st();
} else {
let intr_enable = register_block.interrupt_enable().read();
let intr_status = register_block.interrupt().read();
let int_ena_reg = register_block.interrupt_enable();
let tx_int_status = intr_status.transmit_int_st();
let rx_int_status = intr_status.receive_int_st();
}
}
let intr_enable = int_ena_reg.read();
if tx_int_status.bit_is_set() {
async_state.tx_waker.wake();
@ -1829,18 +1823,4 @@ mod asynch {
int_ena_reg.modify(|_, w| w.bits(intr_enable.bits() & (!intr_status.bits() | 1)));
}
}
#[cfg(soc_has_twai0)]
#[handler]
pub(super) fn twai0() {
let twai = unsafe { TWAI0::steal() };
handle_interrupt(twai.register_block(), twai.async_state());
}
#[cfg(soc_has_twai1)]
#[handler]
pub(super) fn twai1() {
let twai = unsafe { TWAI1::steal() };
handle_interrupt(twai.register_block(), twai.async_state());
}
}