stm32f7xx-hal 0.7.0

//! # Controller Area Network (CAN) Interface
//!
//! ## Alternate function remapping
//!
//! TX: Alternate Push-Pull Output
//! RX: Alternate AF9 Alternate
//!
//! ### CAN1
//!
//! | Function | NoRemap | Remap |
//! |----------|---------|-------|
//! | TX       | PA12    | PB9   |
//! | RX       | PA11    | PB8   |
//!
//! ### CAN2
//!
//! | Function | NoRemap | Remap |
//! |----------|---------|-------|
//! | TX       | PB6     | PB13  |
//! | RX       | PB5     | PB12  |

use crate::gpio::gpiob::{PB12, PB13, PB5, PB6, PB8, PB9};
use crate::gpio::{
    gpioa::{PA11, PA12},
    Alternate,
};
use crate::pac::CAN1;
use crate::pac::CAN2;
use crate::rcc::APB1;

mod sealed {
    pub trait Sealed {}
}

pub trait Pins: sealed::Sealed {
    type Instance;
}

impl sealed::Sealed for (PA12<Alternate<9>>, PA11<Alternate<9>>) {}
impl Pins for (PA12<Alternate<9>>, PA11<Alternate<9>>) {
    type Instance = CAN1;
}

impl sealed::Sealed for (PB9<Alternate<9>>, PB8<Alternate<9>>) {}
impl Pins for (PB9<Alternate<9>>, PB8<Alternate<9>>) {
    type Instance = CAN1;
}

impl sealed::Sealed for (PB6<Alternate<9>>, PB5<Alternate<9>>) {}
impl Pins for (PB6<Alternate<9>>, PB5<Alternate<9>>) {
    type Instance = CAN2;
}

impl sealed::Sealed for (PB13<Alternate<9>>, PB12<Alternate<9>>) {}
impl Pins for (PB13<Alternate<9>>, PB12<Alternate<9>>) {
    type Instance = CAN2;
}

/// Interface to the CAN peripheral.
pub struct Can<Instance> {
    _peripheral: Instance,
}

impl<Instance> Can<Instance>
where
    Instance: crate::rcc::Enable<Bus = APB1>,
{
    /// Creates a CAN interaface.
    pub fn new<P>(can: Instance, apb: &mut APB1, _pins: P) -> Can<Instance>
    where
        P: Pins<Instance = Instance>,
    {
        Instance::enable(apb);
        Can { _peripheral: can }
    }
}

unsafe impl bxcan::Instance for Can<CAN1> {
    const REGISTERS: *mut bxcan::RegisterBlock = CAN1::ptr() as *mut _;
}

unsafe impl bxcan::Instance for Can<CAN2> {
    const REGISTERS: *mut bxcan::RegisterBlock = CAN2::ptr() as *mut _;
}

unsafe impl bxcan::FilterOwner for Can<CAN1> {
    const NUM_FILTER_BANKS: u8 = 28;
}

unsafe impl bxcan::MasterInstance for Can<CAN1> {}