rust/va416xx-rs
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improve docs

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This commit is contained in:
Robin Müller 2025-05-13 16:49:32 +02:00
parent 72aae605d8
commit efe62ea39e
Signed by: muellerr
GPG Key ID: A649FB78196E3849
2 changed files with 25 additions and 2 deletions
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25
va416xx-hal/src/can/mod.rs
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@ -1,6 +1,22 @@
//! CAN driver.
//! CAN peripheral driver.
//!
//! The VA416xx CAN module is based on the CP3UB26 module.
//!
//! Using the CAN bus generally involves the following steps:
//!
//! 1. Create a [Can] instance
//! 2. The [CanChannels] resource management singleton can be retrieved by using
//! [Can::take_channels].
//! 3. Individual [CanRx] and [CanTx] channels can be created using the [CanChannels::take]
//! function. These allow to send or receive CAN frames on individual channels.
//! 4. The [asynch::CanTxAsync] structure can be created to transmit frames asynchronously.
//! The [asynch::on_interrupt_can] function should be called in the user interrupt handler
//! for CAN0 and CAN1 for this to work properly. The interrupt handler can also take care of
//! receiving frames on [CanRx] channels with enabled interrupts.
//!
//! # Example
//!
//! - [CAN example](https://egit.irs.uni-stuttgart.de/rust/va416xx-rs/src/branch/main/examples/embassy/src/bin/can.rs)
use core::sync::atomic::AtomicBool;
use arbitrary_int::{u11, u15, u2, u3, u4, u7, Number};
@ -319,6 +335,7 @@ pub enum ClockConfigError {
CanNotFindPrescaler,
}
/// The main CAN peripheral driver.
pub struct Can {
regs: regs::MmioCan<'static>,
id: CanId,
@ -358,6 +375,7 @@ impl Can {
self.regs.write_gmskb(BaseId::new_with_raw_value(0));
}
/// Retrieve a resource management singleton for the 15 CAN channels.
pub fn take_channels(&self) -> Option<CanChannels> {
if CHANNELS_TAKEN[self.id() as usize].swap(true, core::sync::atomic::Ordering::SeqCst) {
return None;
@ -412,11 +430,13 @@ impl Can {
&mut self.regs
}
/// Clear all interrupts.
#[inline]
pub fn clear_interrupts(&mut self) {
self.regs
.write_iclr(regs::InterruptClear::new_with_raw_value(0xFFFF_FFFF));
}
/// This function only enable the CAN interrupt vector in the NVIC.
///
/// The interrupts for the individual channels or errors still need to be enabled
@ -518,6 +538,7 @@ pub enum RxState {
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub struct InvalidRxStateError(pub RxState);
/// Driver instance to use an individual CAN channel as a transmission channel.
#[derive(Debug)]
pub struct CanTx {
ll: CanChannelLowLevel,
@ -646,6 +667,7 @@ impl CanTx {
}
}
/// Driver instance to use an individual CAN channel as a reception channel.
pub struct CanRx {
ll: CanChannelLowLevel,
mode: RxState,
@ -760,6 +782,7 @@ impl CanChannels {
self.id
}
/// Take the indidivual CAN channel low level driver instance.
pub fn take(&mut self, idx: usize) -> Option<CanChannelLowLevel> {
if idx > 14 {
return None;

2
va416xx-hal/src/can/regs.rs
View File

@ -261,7 +261,7 @@ pub struct ExtendedId {
#[bitbybit::bitfield(u32, default = 0x0)]
#[derive(Debug)]
pub struct BaseId {
/// This will contain ID\[10:0\] for standard frames and bits [28:18] for extended frames.
/// This will contain ID\[10:0\] for standard frames and bits \[28:18\] for extended frames.
#[bits(5..=15, rw)]
mask_28_18: u11,
/// This is the RTR bit for standard frames, and the SRR bit for extended frames.