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artifacts of non-existent feature: imxrt-rs#122 (comment) remove constrain function and use core::cmp::Ordering::clamp trait: imxrt-rs#122 (comment)
aqueductfluidics · Dec 12, 2022 · 68677eb · 68677eb
1 parent 081d027
commit 68677eb
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Showing 3 changed files with 16 additions and 23 deletions.
diff --git a/imxrt-hal/src/can/frame.rs b/imxrt-hal/src/can/frame.rs
@@ -430,13 +430,6 @@ impl PartialEq for Data {
 
 impl Eq for Data {}
 
-#[cfg(feature = "unstable-defmt")]
-impl defmt::Format for Data {
-    fn format(&self, fmt: defmt::Formatter<'_>) {
-        self.as_ref().format(fmt)
-    }
-}
-
 macro_rules! data_from_array {
     ( $($len:literal),+ ) => {
         $(

diff --git a/imxrt-hal/src/can/mod.rs b/imxrt-hal/src/can/mod.rs
@@ -16,7 +16,6 @@ use core::marker::PhantomData;
 
 /// 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: (),
 }
@@ -127,15 +126,6 @@ pub struct MailboxData {
     pub mailbox_number: u8,
 }
 
-#[inline]
-fn constrain<T: PartialOrd>(value: T, min: T, max: T) -> T {
-    match value {
-        v if v < min => min,
-        v if v > max => max,
-        _ => value,
-    }
-}
-
 impl<M> CAN<M>
 where
     M: Unsigned,
@@ -498,7 +488,7 @@ where
     }
 
     pub fn set_max_mailbox(&mut self, last: u8) {
-        let last = constrain(last, 1, 64) - 1;
+        let last = last.clamp(1, 64) - 1;
         self.while_frozen(|this| {
             let fifo_cleared = this.fifo_enabled();
             this.disable_fifo();
@@ -643,7 +633,7 @@ where
                 let offset = this.mailbox_offset();
                 for i in 0..max_fifo_filters {
                     this.write_mailbox_idflt_tab(i as u8, Some(0x00));
-                    if i < constrain(offset as usize, 0, 32) as u32 {
+                    if i < offset.clamp(0, 32) as u32 {
                         this.write_mailbox_rximr(i as u8, Some(0x00));
                     }
                 }
@@ -654,7 +644,7 @@ where
                     let offset = this.mailbox_offset();
                     for i in 0..max_fifo_filters {
                         this.write_mailbox_idflt_tab(i as u8, Some(0xFFFFFFFF));
-                        if i < constrain(offset, 0, 32) as u32 {
+                        if i < offset.clamp(0, 32) as u32 {
                             this.write_mailbox_rximr(i as u8, Some(0x3FFFFFFF));
                         }
                     }
@@ -664,7 +654,7 @@ where
                     let offset = this.mailbox_offset();
                     for i in 0..max_fifo_filters {
                         this.write_mailbox_idflt_tab(i as u8, Some(0xFFFFFFFF));
-                        if i < constrain(offset as usize, 0, 32) as u32 {
+                        if i < offset.clamp(0, 32) as u32 {
                             this.write_mailbox_rximr(i as u8, Some(0x7FFF7FFF));
                         }
                     }
@@ -715,7 +705,7 @@ where
                 };
                 this.write_mailbox_idflt_tab(filter_id, Some(filter));
                 let offset = this.mailbox_offset();
-                if filter_id < constrain(offset, 0, 32) as u8 {
+                if filter_id < offset.clamp(0, 32) as u8 {
                     this.write_mailbox_rximr(filter_id, Some(mask));
                 }
                 write_reg!(ral::can, this.reg, RXFGMASK, 0x3FFFFFFF);
@@ -764,7 +754,7 @@ where
                     });
                 this.write_mailbox_idflt_tab(filter_id, Some(filter));
                 let offset = this.mailbox_offset();
-                if filter_id < constrain(offset as usize, 0, 32) as u8 {
+                if filter_id < offset.clamp(0, 32) as u8 {
                     this.write_mailbox_rximr(filter_id, Some(mask));
                 }
                 write_reg!(ral::can, this.reg, RXFGMASK, 0x7FFF7FFF);

diff --git a/imxrt-hal/src/lib.rs b/imxrt-hal/src/lib.rs
@@ -28,6 +28,7 @@ pub mod iomuxc {
 }
 
 pub mod adc;
+pub mod can;
 pub mod ccm;
 pub mod dma;
 pub mod gpio;
@@ -55,6 +56,7 @@ pub mod dcdc {
 pub struct Peripherals {
     pub adc: adc::Unclocked,
     pub iomuxc: iomuxc::Pads,
+    pub can: can::Unclocked,
     pub ccm: ccm::CCM,
     pub pit: pit::UnclockedPIT,
     pub dcdc: dcdc::DCDC,
@@ -89,6 +91,10 @@ impl Peripherals {
                 adc2: ral::adc::ADC2::steal(),
             },
             iomuxc: iomuxc::pads(ral::iomuxc::IOMUXC::steal()),
+            can: can::Unclocked {
+                can1: ral::can::CAN1::steal(),
+                can2: ral::can::CAN2::steal(),
+            },
             ccm: ccm::CCM::new(ral::ccm::CCM::steal(), ral::ccm_analog::CCM_ANALOG::steal()),
             pit: pit::UnclockedPIT::new(ral::pit::PIT::steal()),
             dcdc: dcdc::DCDC(ral::dcdc::DCDC::steal()),
@@ -139,6 +145,10 @@ impl Peripherals {
                 adc2: ral::adc::ADC2::take()?,
             },
             iomuxc: iomuxc::pads(ral::iomuxc::IOMUXC::take()?),
+            can: can::Unclocked {
+                can1: ral::can::CAN1::take()?,
+                can2: ral::can::CAN2::take()?,
+            },
             ccm: ccm::CCM::new(ral::ccm::CCM::take()?, ral::ccm_analog::CCM_ANALOG::take()?),
             pit: pit::UnclockedPIT::new(ral::pit::PIT::take()?),
             dcdc: dcdc::DCDC(ral::dcdc::DCDC::take()?),