refactor(can): gen pin and instance trait impls

Author: andelf

Cargo.toml

@@ -26,7 +26,7 @@ embedded-hal-02 = { package = "embedded-hal", version = "0.2.6", features = [
 ] }
 embedded-hal = { package = "embedded-hal", version = "1.0" }
 embedded-hal-async = "1.0.0"
-embedded-can = { version = "0.4.1", optional = true }
+embedded-can = "0.4.1"
 
 critical-section = { version = "1.2.0" }
 defmt = { version = "0.3.8", optional = true }
@@ -89,7 +89,6 @@ time-driver-tim8 = ["_time-driver"]
 time-driver-tim9 = ["_time-driver"]
 ## Use TIM10 as time driver
 time-driver-tim10 = ["_time-driver"]
-can = ["dep:embedded-can"]
 rt-wfi = []
 
 # Chip-selection features

build.rs

@@ -396,6 +396,8 @@ fn main() {
         // USBPD, handled by usbpd/mod.rs
         //(("usbpd", "CC1"), quote!(crate::usbpd::Cc1Pin)),
         //(("usbpd", "CC2"), quote!(crate::usbpd::Cc2Pin)),
+        (("can", "TX"), quote!(crate::can::TxPin)),
+        (("can", "RX"), quote!(crate::can::RxPin)),
     ]
     .into();
 

examples/ch32v203/Cargo.toml

@@ -10,7 +10,6 @@ ch32-hal = { path = "../../", features = [
     "embassy",
     "rt",
     "time-driver-tim2",
-    "can"
 ], default-features = false }
 
 embassy-executor = { version = "0.6.0", features = [

src/can/can.rs

@@ -1,10 +1,9 @@
 use super::enums::*;
 use super::filter::{BitMode, FilterMode};
 use super::{CanFilter, CanFrame};
-use crate as hal;
 use crate::can::registers::Registers;
 use crate::can::util;
-use crate::{into_ref, pac, Peripheral, PeripheralRef, RccPeripheral};
+use crate::{self as hal, into_ref, pac, peripherals, Peripheral, PeripheralRef, RccPeripheral, RemapPeripheral};
 
 pub struct Can<'d, T: Instance> {
     _peri: PeripheralRef<'d, T>,
@@ -21,10 +20,10 @@ impl<'d, T: Instance> Can<'d, T> {
     /// Assumes AFIO & PORTB clocks have been enabled by HAL.
     ///
     /// CAN_RX is mapped to PB8, and CAN_TX is mapped to PB9.
-    pub fn new(
+    pub fn new<const REMAP: u8>(
         peri: impl Peripheral<P = T> + 'd,
-        rx: impl Peripheral<P = impl RxPin<T>> + 'd,
-        tx: impl Peripheral<P = impl TxPin<T>> + 'd,
+        rx: impl Peripheral<P = impl RxPin<T, REMAP>> + 'd,
+        tx: impl Peripheral<P = impl TxPin<T, REMAP>> + 'd,
         fifo: CanFifo,
         mode: CanMode,
         bitrate: u32,
@@ -47,6 +46,7 @@ impl<'d, T: Instance> Can<'d, T> {
             pac::gpio::vals::Mode::OUTPUT_50MHZ,
             pac::gpio::vals::Cnf::PULL_IN__AF_PUSH_PULL_OUT,
         );
+        T::set_remap(REMAP);
 
         // //here should remap functionality be added
         // T::remap(0b10);
@@ -134,29 +134,27 @@ where
     }
 }
 
-pub trait SealedInstance: RccPeripheral {
+pub trait SealedInstance: RccPeripheral + RemapPeripheral {
     fn regs() -> pac::can::Can;
-    /// Either `0b00`, `0b10` or `b11` on CAN1. `0` or `1` on CAN2.
-    fn remap(rm: u8) -> ();
+    // Either `0b00`, `0b10` or `b11` on CAN1. `0` or `1` on CAN2.
+    // fn remap(rm: u8) -> ();
 }
 
 pub trait Instance: SealedInstance + 'static {}
-pub trait RxPin<T: Instance>: hal::gpio::Pin {}
-pub trait TxPin<T: Instance>: hal::gpio::Pin {}
 
-impl SealedInstance for hal::peripherals::CAN1 {
-    fn regs() -> pac::can::Can {
-        pac::CAN1
-    }
-    fn remap(rm: u8) {
-        pac::AFIO.pcfr1().modify(|w| w.set_can1_rm(rm));
-    }
-}
+pin_trait!(RxPin, Instance);
+pin_trait!(TxPin, Instance);
 
-impl Instance for hal::peripherals::CAN1 {}
-
-impl RxPin<hal::peripherals::CAN1> for hal::peripherals::PB8 {}
-impl TxPin<hal::peripherals::CAN1> for hal::peripherals::PB9 {}
+foreach_peripheral!(
+    (can, $inst:ident) => {
+        impl SealedInstance for peripherals::$inst {
+            fn regs() -> crate::pac::can::Can {
+                crate::pac::$inst
+            }
+        }
 
-impl RxPin<hal::peripherals::CAN1> for hal::peripherals::PA11 {}
-impl TxPin<hal::peripherals::CAN1> for hal::peripherals::PA12 {}
+        impl Instance for peripherals::$inst {
+           // type Interrupt = crate::_generated::peripheral_interrupts::$inst::GLOBAL;
+        }
+    };
+);

src/can/mod.rs

@@ -5,7 +5,7 @@ mod frame;
 mod registers;
 mod util;
 
-pub use can::Can;
+pub use can::{Can, Instance, TxPin, RxPin};
 pub use embedded_can::{ExtendedId, Id, StandardId};
 pub use enums::{CanError, CanFifo, CanMode, TxStatus};
 pub use filter::{Bit16Mode, Bit32Mode, CanFilter, ListMode, MaskMode};

src/lib.rs

@@ -14,9 +14,6 @@ pub(crate) mod internal;
 
 mod macros;
 
-#[cfg(feature = "can")]
-pub mod can;
-
 pub mod time;
 /// Operating modes for peripherals.
 pub mod mode {
@@ -93,6 +90,9 @@ pub mod usbhs;
 #[cfg(usbpd)]
 pub mod usbpd;
 
+#[cfg(can)]
+pub mod can;
+
 #[cfg(feature = "embassy")]
 pub mod embassy;