bxcan_ng/

lib.rs

//! Driver for the STM32 bxCAN peripheral.
//!
//! This crate provides a reusable driver for the bxCAN peripheral found in many low- to middle-end
//! STM32 microcontrollers. HALs for compatible chips can reexport this crate and implement its
//! traits to easily expose a featureful CAN driver.
//!
//! # Features
//!
//! - Supports both single- and dual-peripheral configurations (where one bxCAN instance manages the
//!   filters of a secondary instance).
//! - Handles standard and extended frames, and data and remote frames.
//! - Support for interrupts emitted by the bxCAN peripheral.
//! - Transmission respects CAN IDs and protects against priority inversion (a lower-priority frame
//!   may be dequeued when enqueueing a higher-priority one).
//! - Implements the [`embedded-hal`] traits for interoperability.
//! - Support for both RX FIFOs (as [`Rx0`] and [`Rx1`]).
//!
//! # Limitations
//!
//! - Support for querying error states and handling error interrupts is incomplete.
//!
//! # Cargo Features
//!
//! | Feature | Description |
//! |---------|-------------|
//! | `unstable-defmt` | Implements [`defmt`]'s `Format` trait for the types in this crate.[^1] |
//!
//! [^1]: The specific version of defmt is unspecified and may be updated in a patch release.
//!
//! [`defmt`]: https://docs.rs/defmt
//! [`embedded-hal`]: https://docs.rs/embedded-hal

#![doc(html_root_url = "https://docs.rs/bxcan/0.8.0")]
// Deny a few warnings in doctests, since rustdoc `allow`s many warnings by default
#![doc(test(attr(deny(unused_imports, unused_must_use))))]
#![no_std]
#![allow(clippy::unnecessary_operation)] // lint is bugged

mod embedded_can;
#[cfg(feature = "embedded-hal-02")]
mod embedded_hal;
pub mod filter;
mod frame;
mod id;
mod interrupt;

#[allow(clippy::all)] // generated code
mod pac;

pub use id::{ExtendedId, Id, StandardId};

pub use crate::frame::{Data, Frame, FramePriority};
pub use crate::interrupt::{Interrupt, Interrupts};
pub use crate::pac::can::RegisterBlock;

use crate::filter::MasterFilters;
use core::cmp::{Ord, Ordering};
use core::convert::{Infallible, TryInto};
use core::marker::PhantomData;
use core::mem;
use core::ptr::NonNull;

use self::pac::generic::*; // To make the PAC extraction build

/// A bxCAN peripheral instance.
///
/// This trait is meant to be implemented for a HAL-specific type that represent ownership of
/// the CAN peripheral (and any pins required by it, although that is entirely up to the HAL).
///
/// # Safety
///
/// It is only safe to implement this trait, when:
///
/// * The implementing type has ownership of the peripheral, preventing any other accesses to the
///   register block.
/// * `REGISTERS` is a pointer to that peripheral's register block and can be safely accessed for as
///   long as ownership or a borrow of the implementing type is present.
pub unsafe trait Instance {
    /// Pointer to the instance's register block.
    const REGISTERS: *mut RegisterBlock;
}

/// A bxCAN instance that owns filter banks.
///
/// In master-slave-instance setups, only the master instance owns the filter banks, and needs to
/// split some of them off for use by the slave instance. In that case, the master instance should
/// implement [`FilterOwner`] and [`MasterInstance`], while the slave instance should only implement
/// [`Instance`].
///
/// In single-instance configurations, the instance owns all filter banks and they can not be split
/// off. In that case, the instance should implement [`Instance`] and [`FilterOwner`].
///
/// # Safety
///
/// This trait must only be implemented if the instance does, in fact, own its associated filter
/// banks, and `NUM_FILTER_BANKS` must be correct.
pub unsafe trait FilterOwner: Instance {
    /// The total number of filter banks available to the instance.
    ///
    /// This is usually either 14 or 28, and should be specified in the chip's reference manual or
    /// datasheet.
    const NUM_FILTER_BANKS: u8;
}

/// A bxCAN master instance that shares filter banks with a slave instance.
///
/// In master-slave-instance setups, this trait should be implemented for the master instance.
///
/// # Safety
///
/// This trait must only be implemented when there is actually an associated slave instance.
pub unsafe trait MasterInstance: FilterOwner {}

/// Enum of error status codes from the error status register.
#[derive(Debug, Clone, Copy, PartialEq, Eq)]
#[cfg_attr(feature = "unstable-defmt", derive(defmt::Format))]
pub enum Error {
    None,
    Stuff,
    Form,
    Acknowledgement,
    BitRecessive,
    BitDominant,
    Crc,
    Software,
}

/// The peripheral's current error status.
#[derive(Clone, PartialEq, Eq)]
#[cfg_attr(feature = "unstable-defmt", derive(defmt::Format))]
pub struct ErrorStatus {
    pub(crate) recv_count: u8,
    pub(crate) txmt_count: u8,
    pub(crate) code: Error,
    pub(crate) bus_off: bool,
    pub(crate) err_passive: bool,
    pub(crate) err_warning: bool,
}

impl ErrorStatus {
    /// The receive error counter.
    #[inline]
    pub fn receive_counter(&self) -> u8 {
        self.recv_count
    }

    /// The transmit error counter.
    #[inline]
    pub fn transmit_counter(&self) -> u8 {
        self.recv_count
    }

    /// The last error code.
    #[inline]
    pub fn last_error(&self) -> Error {
        self.code
    }

    /// Returns true if the peripheral is currently in bus-off.
    ///
    /// This occurs when the transmit error counter overflows past 255.
    #[inline]
    pub fn bus_off(&self) -> bool {
        self.bus_off
    }

    /// Returns true if the error passive limit has been reached.
    ///
    /// This occurs when the receive or transmit error counters exceed 127.
    #[inline]
    pub fn error_passive(&self) -> bool {
        self.err_passive
    }

    /// Returns true if the error warning limit has been reached.
    ///
    /// This occurs when the receive or transmit error counters are greater than or equal 96.
    #[inline]
    pub fn error_warning(&self) -> bool {
        self.err_warning
    }
}

/// Error that indicates that an incoming message has been lost due to buffer overrun.
#[derive(Debug, Clone, Copy, PartialEq, Eq)]
#[cfg_attr(feature = "unstable-defmt", derive(defmt::Format))]
pub struct OverrunError {
    _priv: (),
}

/// Identifier of a CAN message.
///
/// Can be either a standard identifier (11bit, Range: 0..0x3FF) or a
/// extendended identifier (29bit , Range: 0..0x1FFFFFFF).
///
/// The `Ord` trait can be used to determine the frame’s priority this ID
/// belongs to.
/// Lower identifier values have a higher priority. Additionally standard frames
/// have a higher priority than extended frames and data frames have a higher
/// priority than remote frames.
#[derive(Clone, Copy, Debug, PartialEq, Eq)]
#[cfg_attr(feature = "unstable-defmt", derive(defmt::Format))]
struct IdReg(u32);

impl IdReg {
    const STANDARD_SHIFT: u32 = 21;

    const EXTENDED_SHIFT: u32 = 3;

    const IDE_MASK: u32 = 0x0000_0004;

    const RTR_MASK: u32 = 0x0000_0002;

    /// Creates a new standard identifier (11bit, Range: 0..0x7FF)
    ///
    /// Panics for IDs outside the allowed range.
    fn new_standard(id: StandardId) -> Self {
        Self(u32::from(id.as_raw()) << Self::STANDARD_SHIFT)
    }

    /// Creates a new extendended identifier (29bit , Range: 0..0x1FFFFFFF).
    ///
    /// Panics for IDs outside the allowed range.
    fn new_extended(id: ExtendedId) -> IdReg {
        Self(id.as_raw() << Self::EXTENDED_SHIFT | Self::IDE_MASK)
    }

    fn from_register(reg: u32) -> IdReg {
        Self(reg & 0xFFFF_FFFE)
    }

    /// Sets the remote transmission (RTR) flag. This marks the identifier as
    /// being part of a remote frame.
    #[must_use = "returns a new IdReg without modifying `self`"]
    fn with_rtr(self, rtr: bool) -> IdReg {
        if rtr {
            Self(self.0 | Self::RTR_MASK)
        } else {
            Self(self.0 & !Self::RTR_MASK)
        }
    }

    /// Returns the identifier.
    fn to_id(self) -> Id {
        if self.is_extended() {
            Id::Extended(unsafe { ExtendedId::new_unchecked(self.0 >> Self::EXTENDED_SHIFT) })
        } else {
            Id::Standard(unsafe {
                StandardId::new_unchecked((self.0 >> Self::STANDARD_SHIFT) as u16)
            })
        }
    }

    /// Returns `true` if the identifier is an extended identifier.
    fn is_extended(self) -> bool {
        self.0 & Self::IDE_MASK != 0
    }

    /// Returns `true` if the identifier is a standard identifier.
    fn is_standard(self) -> bool {
        !self.is_extended()
    }

    /// Returns `true` if the identifer is part of a remote frame (RTR bit set).
    fn rtr(self) -> bool {
        self.0 & Self::RTR_MASK != 0
    }
}

/// `IdReg` is ordered by priority.
impl Ord for IdReg {
    fn cmp(&self, other: &Self) -> Ordering {
        // When the IDs match, data frames have priority over remote frames.
        let rtr = self.rtr().cmp(&other.rtr()).reverse();

        let id_a = self.to_id();
        let id_b = other.to_id();
        match (id_a, id_b) {
            (Id::Standard(a), Id::Standard(b)) => {
                // Lower IDs have priority over higher IDs.
                a.as_raw().cmp(&b.as_raw()).reverse().then(rtr)
            }
            (Id::Extended(a), Id::Extended(b)) => a.as_raw().cmp(&b.as_raw()).reverse().then(rtr),
            (Id::Standard(a), Id::Extended(b)) => {
                // Standard frames have priority over extended frames if their Base IDs match.
                a.as_raw()
                    .cmp(&b.standard_id().as_raw())
                    .reverse()
                    .then(Ordering::Greater)
            }
            (Id::Extended(a), Id::Standard(b)) => a
                .standard_id()
                .as_raw()
                .cmp(&b.as_raw())
                .reverse()
                .then(Ordering::Less),
        }
    }
}

impl PartialOrd for IdReg {
    fn partial_cmp(&self, other: &Self) -> Option<Ordering> {
        Some(self.cmp(other))
    }
}

/// Configuration proxy returned by [`Can::modify_config`].
#[must_use = "`CanConfig` leaves the peripheral in uninitialized state, call `CanConfig::enable` or explicitly drop the value"]
pub struct CanConfig<'a, I: Instance> {
    can: &'a mut Can<I>,
}

impl<I: Instance> CanConfig<'_, I> {
    /// Configures the bit timings.
    ///
    /// You can use <http://www.bittiming.can-wiki.info/> to calculate the `btr` parameter. Enter
    /// parameters as follows:
    ///
    /// - *Clock Rate*: The input clock speed to the CAN peripheral (*not* the CPU clock speed).
    ///   This is the clock rate of the peripheral bus the CAN peripheral is attached to (eg. APB1).
    /// - *Sample Point*: Should normally be left at the default value of 87.5%.
    /// - *SJW*: Should normally be left at the default value of 1.
    ///
    /// Then copy the `CAN_BUS_TIME` register value from the table and pass it as the `btr`
    /// parameter to this method.
    pub fn set_bit_timing(self, btr: u32) -> Self {
        self.can.set_bit_timing(btr);
        self
    }

    /// Enables or disables loopback mode: Internally connects the TX and RX
    /// signals together.
    pub fn set_loopback(self, enabled: bool) -> Self {
        let can = self.can.registers();
        can.btr.modify(|_, w| w.lbkm().bit(enabled));
        self
    }

    /// Enables or disables silent mode: Disconnects the TX signal from the pin.
    pub fn set_silent(self, enabled: bool) -> Self {
        let can = self.can.registers();
        can.btr.modify(|_, w| w.silm().bit(enabled));
        self
    }

    /// Enables or disables automatic retransmission of messages.
    ///
    /// If this is enabled, the CAN peripheral will automatically try to retransmit each frame
    /// until it can be sent. Otherwise, it will try only once to send each frame.
    ///
    /// Automatic retransmission is enabled by default.
    pub fn set_automatic_retransmit(self, enabled: bool) -> Self {
        let can = self.can.registers();
        can.mcr.modify(|_, w| w.nart().bit(!enabled));
        self
    }

    /// Leaves initialization mode and enables the peripheral.
    ///
    /// To sync with the CAN bus, this will block until 11 consecutive recessive bits are detected
    /// on the bus.
    ///
    /// If you want to finish configuration without enabling the peripheral, you can call
    /// [`CanConfig::leave_disabled`] or [`drop`] the [`CanConfig`] instead.
    pub fn enable(mut self) {
        self.leave_init_mode();

        match nb::block!(self.can.enable_non_blocking()) {
            Ok(()) => {}
            Err(void) => match void {},
        }

        // Don't run the destructor.
        mem::forget(self);
    }

    /// Leaves initialization mode, but keeps the peripheral in sleep mode.
    ///
    /// Before the [`Can`] instance can be used, you have to enable it by calling
    /// [`Can::enable_non_blocking`].
    pub fn leave_disabled(mut self) {
        self.leave_init_mode();
    }

    /// Leaves initialization mode, enters sleep mode.
    fn leave_init_mode(&mut self) {
        let can = self.can.registers();
        can.mcr
            .modify(|_, w| w.sleep().set_bit().inrq().clear_bit());
        loop {
            let msr = can.msr.read();
            if msr.slak().bit_is_set() && msr.inak().bit_is_clear() {
                break;
            }
        }
    }
}

impl<I: Instance> Drop for CanConfig<'_, I> {
    #[inline]
    fn drop(&mut self) {
        self.leave_init_mode();
    }
}

/// Builder returned by [`Can::builder`].
#[must_use = "`CanBuilder` leaves the peripheral in uninitialized state, call `CanBuilder::enable` or `CanBuilder::leave_disabled`"]
pub struct CanBuilder<I: Instance> {
    can: Can<I>,
}

impl<I: Instance> CanBuilder<I> {
    /// Configures the bit timings.
    ///
    /// You can use <http://www.bittiming.can-wiki.info/> to calculate the `btr` parameter. Enter
    /// parameters as follows:
    ///
    /// - *Clock Rate*: The input clock speed to the CAN peripheral (*not* the CPU clock speed).
    ///   This is the clock rate of the peripheral bus the CAN peripheral is attached to (eg. APB1).
    /// - *Sample Point*: Should normally be left at the default value of 87.5%.
    /// - *SJW*: Should normally be left at the default value of 1.
    ///
    /// Then copy the `CAN_BUS_TIME` register value from the table and pass it as the `btr`
    /// parameter to this method.
    pub fn set_bit_timing(mut self, btr: u32) -> Self {
        self.can.set_bit_timing(btr);
        self
    }

    /// Enables or disables loopback mode: Internally connects the TX and RX
    /// signals together.
    pub fn set_loopback(self, enabled: bool) -> Self {
        let can = self.can.registers();
        can.btr.modify(|_, w| w.lbkm().bit(enabled));
        self
    }

    /// Enables or disables silent mode: Disconnects the TX signal from the pin.
    pub fn set_silent(self, enabled: bool) -> Self {
        let can = self.can.registers();
        can.btr.modify(|_, w| w.silm().bit(enabled));
        self
    }

    /// Enables or disables automatic retransmission of messages.
    ///
    /// If this is enabled, the CAN peripheral will automatically try to retransmit each frame
    /// until it can be sent. Otherwise, it will try only once to send each frame.
    ///
    /// Automatic retransmission is enabled by default.
    pub fn set_automatic_retransmit(self, enabled: bool) -> Self {
        let can = self.can.registers();
        can.mcr.modify(|_, w| w.nart().bit(!enabled));
        self
    }

    /// Leaves initialization mode and enables the peripheral.
    ///
    /// To sync with the CAN bus, this will block until 11 consecutive recessive bits are detected
    /// on the bus.
    ///
    /// If you want to finish configuration without enabling the peripheral, you can call
    /// [`CanBuilder::leave_disabled`] instead.
    pub fn enable(mut self) -> Can<I> {
        self.leave_init_mode();

        match nb::block!(self.can.enable_non_blocking()) {
            Ok(()) => self.can,
            Err(void) => match void {},
        }
    }

    /// Returns the [`Can`] interface without enabling it.
    ///
    /// This leaves initialization mode, but keeps the peripheral in sleep mode instead of enabling
    /// it.
    ///
    /// Before the [`Can`] instance can be used, you have to enable it by calling
    /// [`Can::enable_non_blocking`].
    pub fn leave_disabled(mut self) -> Can<I> {
        self.leave_init_mode();
        self.can
    }

    /// Leaves initialization mode, enters sleep mode.
    fn leave_init_mode(&mut self) {
        let can = self.can.registers();
        can.mcr
            .modify(|_, w| w.sleep().set_bit().inrq().clear_bit());
        loop {
            let msr = can.msr.read();
            if msr.slak().bit_is_set() && msr.inak().bit_is_clear() {
                break;
            }
        }
    }
}

/// Interface to a bxCAN peripheral.
pub struct Can<I: Instance> {
    instance: I,
}

impl<I> Can<I>
where
    I: Instance,
{
    /// Creates a [`CanBuilder`] for constructing a CAN interface.
    pub fn builder(instance: I) -> CanBuilder<I> {
        let can_builder = CanBuilder {
            can: Can { instance },
        };

        let can_reg = can_builder.can.registers();
        // Enter init mode.
        can_reg
            .mcr
            .modify(|_, w| w.sleep().clear_bit().inrq().set_bit());
        loop {
            let msr = can_reg.msr.read();
            if msr.slak().bit_is_clear() && msr.inak().bit_is_set() {
                break;
            }
        }

        can_builder
    }

    fn registers(&self) -> &RegisterBlock {
        unsafe { &*I::REGISTERS }
    }

    fn set_bit_timing(&mut self, btr: u32) {
        // Mask of all non-reserved BTR bits, except the mode flags.
        const MASK: u32 = 0x037F_03FF;

        let can = self.registers();
        can.btr.modify(|r, w| unsafe {
            let mode_bits = r.bits() & 0xC000_0000;
            w.bits(mode_bits | (btr & MASK))
        });
    }

    /// Returns a reference to the peripheral instance.
    ///
    /// This allows accessing HAL-specific data stored in the instance type.
    pub fn instance(&mut self) -> &mut I {
        &mut self.instance
    }

    /// Disables the CAN interface and returns back the raw peripheral it was created from.
    ///
    /// The peripheral is disabled by setting `RESET` in `CAN_MCR`, which causes the peripheral to
    /// enter sleep mode.
    pub fn free(self) -> I {
        self.registers().mcr.write(|w| w.reset().set_bit());
        self.instance
    }

    /// Configure bit timings and silent/loop-back mode.
    ///
    /// Calling this method will enter initialization mode.
    pub fn modify_config(&mut self) -> CanConfig<'_, I> {
        let can = self.registers();

        // Enter init mode.
        can.mcr
            .modify(|_, w| w.sleep().clear_bit().inrq().set_bit());
        loop {
            let msr = can.msr.read();
            if msr.slak().bit_is_clear() && msr.inak().bit_is_set() {
                break;
            }
        }

        CanConfig { can: self }
    }

    /// Configures the automatic wake-up feature.
    ///
    /// This is turned off by default.
    ///
    /// When turned on, an incoming frame will cause the peripheral to wake up from sleep and
    /// receive the frame. If enabled, [`Interrupt::Wakeup`] will also be triggered by the incoming
    /// frame.
    pub fn set_automatic_wakeup(&mut self, enabled: bool) {
        let can = self.registers();
        can.mcr.modify(|_, w| w.awum().bit(enabled));
    }

    /// Leaves initialization mode and enables the peripheral (non-blocking version).
    ///
    /// Usually, it is recommended to call [`CanConfig::enable`] instead. This method is only needed
    /// if you want non-blocking initialization.
    ///
    /// If this returns [`WouldBlock`][nb::Error::WouldBlock], the peripheral will enable itself
    /// in the background. The peripheral is enabled and ready to use when this method returns
    /// successfully.
    pub fn enable_non_blocking(&mut self) -> nb::Result<(), Infallible> {
        let can = self.registers();
        let msr = can.msr.read();
        if msr.slak().bit_is_set() {
            can.mcr
                .modify(|_, w| w.abom().set_bit().sleep().clear_bit());
            Err(nb::Error::WouldBlock)
        } else {
            Ok(())
        }
    }

    /// Puts the peripheral in a sleep mode to save power.
    ///
    /// While in sleep mode, an incoming CAN frame will trigger [`Interrupt::Wakeup`] if enabled.
    pub fn sleep(&mut self) {
        let can = self.registers();
        can.mcr
            .modify(|_, w| w.sleep().set_bit().inrq().clear_bit());
        loop {
            let msr = can.msr.read();
            if msr.slak().bit_is_set() && msr.inak().bit_is_clear() {
                break;
            }
        }
    }

    /// Wakes up from sleep mode.
    ///
    /// Note that this will not trigger [`Interrupt::Wakeup`], only reception of an incoming CAN
    /// frame will cause that interrupt.
    pub fn wakeup(&mut self) {
        let can = self.registers();
        can.mcr
            .modify(|_, w| w.sleep().clear_bit().inrq().clear_bit());
        loop {
            let msr = can.msr.read();
            if msr.slak().bit_is_clear() && msr.inak().bit_is_clear() {
                break;
            }
        }
    }

    /// Starts listening for a CAN interrupt.
    pub fn enable_interrupt(&mut self, interrupt: Interrupt) {
        self.enable_interrupts(Interrupts::from_bits_truncate(interrupt as u32))
    }

    /// Starts listening for a set of CAN interrupts.
    pub fn enable_interrupts(&mut self, interrupts: Interrupts) {
        self.registers()
            .ier
            .modify(|r, w| unsafe { w.bits(r.bits() | interrupts.bits()) })
    }

    /// Stops listening for a CAN interrupt.
    pub fn disable_interrupt(&mut self, interrupt: Interrupt) {
        self.disable_interrupts(Interrupts::from_bits_truncate(interrupt as u32))
    }

    /// Stops listening for a set of CAN interrupts.
    pub fn disable_interrupts(&mut self, interrupts: Interrupts) {
        self.registers()
            .ier
            .modify(|r, w| unsafe { w.bits(r.bits() & !interrupts.bits()) })
    }

    /// Clears the pending flag of [`Interrupt::Sleep`].
    pub fn clear_sleep_interrupt(&self) {
        let can = self.registers();
        // Read-only register with write-1-to-clear, so `&self` is sufficient.
        can.msr.write(|w| w.slaki().set_bit());
    }

    /// Clears the pending flag of [`Interrupt::Wakeup`].
    pub fn clear_wakeup_interrupt(&self) {
        let can = self.registers();
        // Read-only register with write-1-to-clear, so `&self` is sufficient.
        can.msr.write(|w| w.wkui().set_bit());
    }

    /// Clears the "Request Completed" (RQCP) flag of a transmit mailbox.
    ///
    /// Returns the [`Mailbox`] whose flag was cleared. If no mailbox has the flag set, returns
    /// `None`.
    ///
    /// Once this function returns `None`, a pending [`Interrupt::TransmitMailboxEmpty`] is
    /// considered acknowledged.
    pub fn clear_request_completed_flag(&mut self) -> Option<Mailbox> {
        let can = self.registers();
        let tsr = can.tsr.read();
        if tsr.rqcp0().bit_is_set() {
            can.tsr.modify(|_, w| w.rqcp0().set_bit());
            Some(Mailbox::Mailbox0)
        } else if tsr.rqcp1().bit_is_set() {
            can.tsr.modify(|_, w| w.rqcp1().set_bit());
            Some(Mailbox::Mailbox1)
        } else if tsr.rqcp2().bit_is_set() {
            can.tsr.modify(|_, w| w.rqcp2().set_bit());
            Some(Mailbox::Mailbox2)
        } else {
            None
        }
    }

    /// Clears a pending TX interrupt ([`Interrupt::TransmitMailboxEmpty`]).
    ///
    /// This does not return the mailboxes that have finished tranmission. If you need that
    /// information, call [`Can::clear_request_completed_flag`] instead.
    pub fn clear_tx_interrupt(&mut self) {
        while self.clear_request_completed_flag().is_some() {}
    }

    /// Clears the error interrupt flag ([`Interrupt::Error`]).
    ///
    /// To read the error status, use [`Can::error_status`] to get the [`ErrorStatus`] before
    /// clearing the interrupt flag.
    pub fn clear_error_interrupt(&mut self) {
        let can = self.registers();
        can.msr.write(|w| w.erri().set_bit());
    }

    /// Reads the error status register's data.
    ///
    /// This does not clear the error interrupt flag.
    pub fn error_status(&self) -> ErrorStatus {
        let can = self.registers();
        let esr = can.esr.read();

        ErrorStatus {
            recv_count: esr.rec().bits,
            txmt_count: esr.tec().bits,
            code: (match esr.lec().bits {
                0b000 => Error::None,
                0b001 => Error::Stuff,
                0b010 => Error::Form,
                0b011 => Error::Acknowledgement,
                0b100 => Error::BitRecessive,
                0b101 => Error::BitDominant,
                0b110 => Error::Crc,
                0b111 => Error::Software,
                _ => unreachable!(),
            }),
            bus_off: esr.boff().bits,
            err_passive: esr.epvf().bits,
            err_warning: esr.ewgf().bits,
        }
    }

    /// Puts a CAN frame in a free transmit mailbox for transmission on the bus.
    ///
    /// Frames are transmitted to the bus based on their priority (see [`FramePriority`]).
    /// Transmit order is preserved for frames with identical priority.
    ///
    /// If all transmit mailboxes are full, and `frame` has a higher priority than the
    /// lowest-priority message in the transmit mailboxes, transmission of the enqueued frame is
    /// cancelled and `frame` is enqueued instead. The frame that was replaced is returned as
    /// [`TransmitStatus::dequeued_frame`].
    pub fn transmit(&mut self, frame: &Frame) -> nb::Result<TransmitStatus, Infallible> {
        // Safety: We have a `&mut self` and have unique access to the peripheral.
        unsafe { Tx::<I>::conjure().transmit(frame) }
    }

    /// Returns `true` if no frame is pending for transmission.
    pub fn is_transmitter_idle(&self) -> bool {
        // Safety: Read-only operation.
        unsafe { Tx::<I>::conjure().is_idle() }
    }

    /// Attempts to abort the sending of a frame that is pending in a mailbox.
    ///
    /// If there is no frame in the provided mailbox, or its transmission succeeds before it can be
    /// aborted, this function has no effect and returns `false`.
    ///
    /// If there is a frame in the provided mailbox, and it is canceled successfully, this function
    /// returns `true`.
    pub fn abort(&mut self, mailbox: Mailbox) -> bool {
        // Safety: We have a `&mut self` and have unique access to the peripheral.
        unsafe { Tx::<I>::conjure().abort(mailbox) }
    }

    /// Returns a received frame if available.
    ///
    /// This will first check FIFO 0 for a message or error. If none are available, FIFO 1 is
    /// checked.
    ///
    /// Returns `Err` when a frame was lost due to buffer overrun.
    pub fn receive(&mut self) -> nb::Result<Frame, OverrunError> {
        // Safety: We have a `&mut self` and have unique access to the peripheral.
        let mut rx0 = unsafe { Rx0::<I>::conjure() };
        let mut rx1 = unsafe { Rx1::<I>::conjure() };

        match rx0.receive() {
            Err(nb::Error::WouldBlock) => rx1.receive(),
            result => result,
        }
    }

    /// Returns a reference to the RX FIFO 0.
    pub fn rx0(&mut self) -> &mut Rx0<I> {
        // Safety: We take `&mut self` and the return value lifetimes are tied to `self`'s lifetime.
        unsafe { Rx0::conjure_by_ref() }
    }

    /// Returns a reference to the RX FIFO 1.
    pub fn rx1(&mut self) -> &mut Rx1<I> {
        // Safety: We take `&mut self` and the return value lifetimes are tied to `self`'s lifetime.
        unsafe { Rx1::conjure_by_ref() }
    }

    /// Splits this `Can` instance into transmitting and receiving halves, by reference.
    pub fn split_by_ref(&mut self) -> (&mut Tx<I>, &mut Rx0<I>, &mut Rx1<I>) {
        // Safety: We take `&mut self` and the return value lifetimes are tied to `self`'s lifetime.
        let tx = unsafe { Tx::conjure_by_ref() };
        let rx0 = unsafe { Rx0::conjure_by_ref() };
        let rx1 = unsafe { Rx1::conjure_by_ref() };
        (tx, rx0, rx1)
    }

    /// Consumes this `Can` instance and splits it into transmitting and receiving halves.
    pub fn split(self) -> (Tx<I>, Rx0<I>, Rx1<I>) {
        // Safety: `Self` is not `Copy` and is destroyed by moving it into this method.
        unsafe { (Tx::conjure(), Rx0::conjure(), Rx1::conjure()) }
    }
}

impl<I: FilterOwner> Can<I> {
    /// Accesses the filter banks owned by this CAN peripheral.
    ///
    /// To modify filters of a slave peripheral, `modify_filters` has to be called on the master
    /// peripheral instead.
    pub fn modify_filters(&mut self) -> MasterFilters<'_, I> {
        unsafe { MasterFilters::new() }
    }
}

/// Interface to the CAN transmitter part.
pub struct Tx<I> {
    _can: PhantomData<I>,
}

#[inline]
const fn ok_mask(idx: usize) -> u32 {
    0x02 << (8 * idx)
}

#[inline]
const fn abort_mask(idx: usize) -> u32 {
    0x80 << (8 * idx)
}

impl<I> Tx<I>
where
    I: Instance,
{
    unsafe fn conjure() -> Self {
        Self { _can: PhantomData }
    }

    /// Creates a `&mut Self` out of thin air.
    ///
    /// This is only safe if it is the only way to access a `Tx<I>`.
    unsafe fn conjure_by_ref<'a>() -> &'a mut Self {
        // Cause out of bounds access when `Self` is not zero-sized.
        [()][core::mem::size_of::<Self>()];

        // Any aligned pointer is valid for ZSTs.
        &mut *NonNull::dangling().as_ptr()
    }

    fn registers(&self) -> &RegisterBlock {
        unsafe { &*I::REGISTERS }
    }

    /// Puts a CAN frame in a transmit mailbox for transmission on the bus.
    ///
    /// Frames are transmitted to the bus based on their priority (see [`FramePriority`]).
    /// Transmit order is preserved for frames with identical priority.
    ///
    /// If all transmit mailboxes are full, and `frame` has a higher priority than the
    /// lowest-priority message in the transmit mailboxes, transmission of the enqueued frame is
    /// cancelled and `frame` is enqueued instead. The frame that was replaced is returned as
    /// [`TransmitStatus::dequeued_frame`].
    pub fn transmit(&mut self, frame: &Frame) -> nb::Result<TransmitStatus, Infallible> {
        let can = self.registers();

        // Get the index of the next free mailbox or the one with the lowest priority.
        let tsr = can.tsr.read();
        let idx = tsr.code().bits() as usize;

        let frame_is_pending =
            tsr.tme0().bit_is_clear() || tsr.tme1().bit_is_clear() || tsr.tme2().bit_is_clear();
        let pending_frame = if frame_is_pending {
            // High priority frames are transmitted first by the mailbox system.
            // Frames with identical identifier shall be transmitted in FIFO order.
            // The controller schedules pending frames of same priority based on the
            // mailbox index instead. As a workaround check all pending mailboxes
            // and only accept higher priority frames.
            self.check_priority(0, frame.id)?;
            self.check_priority(1, frame.id)?;
            self.check_priority(2, frame.id)?;

            let all_frames_are_pending =
                tsr.tme0().bit_is_clear() && tsr.tme1().bit_is_clear() && tsr.tme2().bit_is_clear();
            if all_frames_are_pending {
                // No free mailbox is available. This can only happen when three frames with
                // ascending priority (descending IDs) were requested for transmission and all
                // of them are blocked by bus traffic with even higher priority.
                // To prevent a priority inversion abort and replace the lowest priority frame.
                self.read_pending_mailbox(idx)
            } else {
                // There was a free mailbox.
                None
            }
        } else {
            // All mailboxes are available: Send frame without performing any checks.
            None
        };

        self.write_mailbox(idx, frame);

        let mailbox = match idx {
            0 => Mailbox::Mailbox0,
            1 => Mailbox::Mailbox1,
            2 => Mailbox::Mailbox2,
            _ => unreachable!(),
        };
        Ok(TransmitStatus {
            dequeued_frame: pending_frame,
            mailbox,
        })
    }

    /// Returns `Ok` when the mailbox is free or if it contains pending frame with a
    /// lower priority (higher ID) than the identifier `id`.
    fn check_priority(&self, idx: usize, id: IdReg) -> nb::Result<(), Infallible> {
        let can = self.registers();

        // Read the pending frame's id to check its priority.
        assert!(idx < 3);
        let tir = &can.tx[idx].tir.read();

        // Check the priority by comparing the identifiers. But first make sure the
        // frame has not finished the transmission (`TXRQ` == 0) in the meantime.
        if tir.txrq().bit_is_set() && id <= IdReg::from_register(tir.bits()) {
            // There's a mailbox whose priority is higher or equal
            // the priority of the new frame.
            return Err(nb::Error::WouldBlock);
        }

        Ok(())
    }

    fn write_mailbox(&mut self, idx: usize, frame: &Frame) {
        let can = self.registers();

        debug_assert!(idx < 3);
        let mb = unsafe { &can.tx.get_unchecked(idx) };

        mb.tdtr
            .write(|w| unsafe { w.dlc().bits(frame.dlc() as u8) });
        mb.tdlr.write(|w| unsafe {
            w.bits(u32::from_ne_bytes(
                frame.data.bytes[0..4].try_into().unwrap(),
            ))
        });
        mb.tdhr.write(|w| unsafe {
            w.bits(u32::from_ne_bytes(
                frame.data.bytes[4..8].try_into().unwrap(),
            ))
        });
        mb.tir
            .write(|w| unsafe { w.bits(frame.id.0).txrq().set_bit() });
    }

    fn read_pending_mailbox(&mut self, idx: usize) -> Option<Frame> {
        if self.abort_by_index(idx) {
            let can = self.registers();
            debug_assert!(idx < 3);
            let mb = unsafe { &can.tx.get_unchecked(idx) };

            // Read back the pending frame.
            let mut pending_frame = Frame {
                id: IdReg(mb.tir.read().bits()),
                data: Data::empty(),
            };
            pending_frame.data.bytes[0..4].copy_from_slice(&mb.tdlr.read().bits().to_ne_bytes());
            pending_frame.data.bytes[4..8].copy_from_slice(&mb.tdhr.read().bits().to_ne_bytes());
            pending_frame.data.len = mb.tdtr.read().dlc().bits();

            Some(pending_frame)
        } else {
            // Abort request failed because the frame was already sent (or being sent) on
            // the bus. All mailboxes are now free. This can happen for small prescaler
            // values (e.g. 1MBit/s bit timing with a source clock of 8MHz) or when an ISR
            // has preempted the execution.
            None
        }
    }

    /// Tries to abort a pending frame. Returns `true` when aborted.
    fn abort_by_index(&mut self, idx: usize) -> bool {
        let can = self.registers();

        can.tsr.write(|w| unsafe { w.bits(abort_mask(idx)) });

        // Wait for the abort request to be finished.
        loop {
            let tsr = can.tsr.read().bits();
            if tsr & abort_mask(idx) == 0 {
                break tsr & ok_mask(idx) == 0;
            }
        }
    }

    /// Attempts to abort the sending of a frame that is pending in a mailbox.
    ///
    /// If there is no frame in the provided mailbox, or its transmission succeeds before it can be
    /// aborted, this function has no effect and returns `false`.
    ///
    /// If there is a frame in the provided mailbox, and it is canceled successfully, this function
    /// returns `true`.
    pub fn abort(&mut self, mailbox: Mailbox) -> bool {
        // If the mailbox is empty, the value of TXOKx depends on what happened with the previous
        // frame in that mailbox. Only call abort_by_index() if the mailbox is not empty.
        let tsr = self.registers().tsr.read();
        let mailbox_empty = match mailbox {
            Mailbox::Mailbox0 => tsr.tme0().bit_is_set(),
            Mailbox::Mailbox1 => tsr.tme1().bit_is_set(),
            Mailbox::Mailbox2 => tsr.tme2().bit_is_set(),
        };
        if mailbox_empty {
            false
        } else {
            self.abort_by_index(mailbox as usize)
        }
    }

    /// Returns `true` if no frame is pending for transmission.
    pub fn is_idle(&self) -> bool {
        let can = self.registers();
        let tsr = can.tsr.read();
        tsr.tme0().bit_is_set() && tsr.tme1().bit_is_set() && tsr.tme2().bit_is_set()
    }

    /// Clears the request complete flag for all mailboxes.
    pub fn clear_interrupt_flags(&mut self) {
        let can = self.registers();
        can.tsr
            .write(|w| w.rqcp2().set_bit().rqcp1().set_bit().rqcp0().set_bit());
    }
}

/// Interface to receiver FIFO 0.
pub struct Rx0<I> {
    _can: PhantomData<I>,
}

impl<I> Rx0<I>
where
    I: Instance,
{
    unsafe fn conjure() -> Self {
        Self { _can: PhantomData }
    }

    /// Creates a `&mut Self` out of thin air.
    ///
    /// This is only safe if it is the only way to access an `Rx<I>`.
    unsafe fn conjure_by_ref<'a>() -> &'a mut Self {
        // Cause out of bounds access when `Self` is not zero-sized.
        [()][core::mem::size_of::<Self>()];

        // Any aligned pointer is valid for ZSTs.
        &mut *NonNull::dangling().as_ptr()
    }

    /// Returns a received frame if available.
    ///
    /// Returns `Err` when a frame was lost due to buffer overrun.
    pub fn receive(&mut self) -> nb::Result<Frame, OverrunError> {
        receive_fifo(self.registers(), 0)
    }

    fn registers(&self) -> &RegisterBlock {
        unsafe { &*I::REGISTERS }
    }
}

/// Interface to receiver FIFO 1.
pub struct Rx1<I> {
    _can: PhantomData<I>,
}

impl<I> Rx1<I>
where
    I: Instance,
{
    unsafe fn conjure() -> Self {
        Self { _can: PhantomData }
    }

    /// Creates a `&mut Self` out of thin air.
    ///
    /// This is only safe if it is the only way to access an `Rx<I>`.
    unsafe fn conjure_by_ref<'a>() -> &'a mut Self {
        // Cause out of bounds access when `Self` is not zero-sized.
        [()][core::mem::size_of::<Self>()];

        // Any aligned pointer is valid for ZSTs.
        &mut *NonNull::dangling().as_ptr()
    }

    /// Returns a received frame if available.
    ///
    /// Returns `Err` when a frame was lost due to buffer overrun.
    pub fn receive(&mut self) -> nb::Result<Frame, OverrunError> {
        receive_fifo(self.registers(), 1)
    }

    fn registers(&self) -> &RegisterBlock {
        unsafe { &*I::REGISTERS }
    }
}

fn receive_fifo(can: &RegisterBlock, fifo_nr: usize) -> nb::Result<Frame, OverrunError> {
    assert!(fifo_nr < 2);
    let rfr = &can.rfr[fifo_nr];
    let rx = &can.rx[fifo_nr];

    // Check if a frame is available in the mailbox.
    let rfr_read = rfr.read();
    if rfr_read.fmp().bits() == 0 {
        return Err(nb::Error::WouldBlock);
    }

    // Check for RX FIFO overrun.
    if rfr_read.fovr().bit_is_set() {
        rfr.write(|w| w.fovr().set_bit());
        return Err(nb::Error::Other(OverrunError { _priv: () }));
    }

    // Read the frame.
    let mut frame = Frame {
        id: IdReg(rx.rir.read().bits()),
        data: [0; 8].into(),
    };
    frame.data[0..4].copy_from_slice(&rx.rdlr.read().bits().to_ne_bytes());
    frame.data[4..8].copy_from_slice(&rx.rdhr.read().bits().to_ne_bytes());
    frame.data.len = rx.rdtr.read().dlc().bits();

    // Release the mailbox.
    rfr.write(|w| w.rfom().set_bit());

    Ok(frame)
}

/// Identifies one of the two receive FIFOs.
#[derive(Debug, Clone, Copy, PartialEq, Eq, PartialOrd, Ord)]
#[cfg_attr(feature = "unstable-defmt", derive(defmt::Format))]
pub enum Fifo {
    Fifo0 = 0,
    Fifo1 = 1,
}

/// Identifies one of the three transmit mailboxes.
#[derive(Debug, Copy, Clone, Ord, PartialOrd, Eq, PartialEq)]
#[cfg_attr(feature = "unstable-defmt", derive(defmt::Format))]
pub enum Mailbox {
    /// Transmit mailbox 0
    Mailbox0 = 0,
    /// Transmit mailbox 1
    Mailbox1 = 1,
    /// Transmit mailbox 2
    Mailbox2 = 2,
}

/// Contains information about a frame enqueued for transmission via [`Can::transmit`] or
/// [`Tx::transmit`].
pub struct TransmitStatus {
    dequeued_frame: Option<Frame>,
    mailbox: Mailbox,
}

impl TransmitStatus {
    /// Returns the lower-priority frame that was dequeued to make space for the new frame.
    #[inline]
    pub fn dequeued_frame(&self) -> Option<&Frame> {
        self.dequeued_frame.as_ref()
    }

    /// Returns the [`Mailbox`] the frame was enqueued in.
    #[inline]
    pub fn mailbox(&self) -> Mailbox {
        self.mailbox
    }
}