update & clean deps

Author: burrbull

.gitattributes

@@ -0,0 +1 @@
+CHANGELOG.md merge=union

Cargo.toml

@@ -21,7 +21,7 @@ cortex-m-rt = "0.7"
 nb = "1"
 stm32f1 = "0.14.0"
 embedded-dma = "0.1.2"
-bxcan = ">=0.4, <0.6"
+bxcan = "0.6"
 cast = { default-features = false, version = "0.3.0" }
 void = { default-features = false, version = "1.0.2" }
 embedded-hal = { features = ["unproven"], version = "0.2.6" }
@@ -32,21 +32,14 @@ optional = true
 
 [dev-dependencies]
 panic-halt = "0.2.0"
-panic-semihosting = "0.5.2"
+panic-semihosting = "0.5.6"
 panic-itm = "0.4.1"
-cortex-m-rtic = "0.6.0-rc.2"
-cortex-m-semihosting = "0.3.3"
-heapless = "0.7.7"
-m = "0.1.1"
+cortex-m-rtic = "1.0.0"
+cortex-m-semihosting = "0.3.7"
+heapless = "0.7.9"
 mfrc522 = "0.2.0"
 usb-device = "0.2.8"
 usbd-serial = "0.1.1"
-byteorder = { default-features = false, version = "1.4.3" }
-cobs = { default-features = false, version = "0.1.4" }
-crc16 = { default-features = false, version = "0.4.0" }
-either = { default-features = false, version = "1.6.1" }
-serde = { default-features = false, version = "1.0.130"}
-serde_derive = "1.0.130"
 
 [features]
 device-selected = []

examples/can-echo.rs

@@ -36,13 +36,13 @@ fn main() -> ! {
         let tx = gpioa.pa12.into_alternate_push_pull(&mut gpioa.crh);
         can.assign_pins((tx, rx), &mut afio.mapr);
 
-        bxcan::Can::new(can)
+        // APB1 (PCLK1): 8MHz, Bit rate: 125kBit/s, Sample Point 87.5%
+        // Value was calculated with http://www.bittiming.can-wiki.info/
+        bxcan::Can::builder(can)
+            .set_bit_timing(0x001c_0003)
+            .leave_disabled()
     };
 
-    // APB1 (PCLK1): 8MHz, Bit rate: 125kBit/s, Sample Point 87.5%
-    // Value was calculated with http://www.bittiming.can-wiki.info/
-    can1.modify_config().set_bit_timing(0x001c_0003);
-
     // Configure filters so that can frames can be received.
     let mut filters = can1.modify_filters();
     filters.enable_bank(0, Mask32::accept_all());
@@ -56,11 +56,11 @@ fn main() -> ! {
         let tx = gpiob.pb6.into_alternate_push_pull(&mut gpiob.crl);
         can.assign_pins((tx, rx), &mut afio.mapr);
 
-        let mut can2 = bxcan::Can::new(can);
-
         // APB1 (PCLK1): 8MHz, Bit rate: 125kBit/s, Sample Point 87.5%
         // Value was calculated with http://www.bittiming.can-wiki.info/
-        can2.modify_config().set_bit_timing(0x001c_0003);
+        let mut can2 = bxcan::Can::builder(can)
+            .set_bit_timing(0x001c_0003)
+            .leave_disabled();
 
         // A total of 28 filters are shared between the two CAN instances.
         // Split them equally between CAN1 and CAN2.
@@ -77,7 +77,7 @@ fn main() -> ! {
     //let mut can = _can2;
 
     // Split the peripheral into transmitter and receiver parts.
-    block!(can.enable()).unwrap();
+    block!(can.enable_non_blocking()).unwrap();
 
     // Echo back received packages in sequence.
     // See the `can-rtfm` example for an echo implementation that adheres to

examples/can-loopback.rs

@@ -31,15 +31,14 @@ fn main() -> ! {
     #[cfg(feature = "connectivity")]
     let can = Can::new(dp.CAN1);
 
-    let mut can = bxcan::Can::new(can);
-
     // Use loopback mode: No pins need to be assigned to peripheral.
     // APB1 (PCLK1): 8MHz, Bit rate: 500Bit/s, Sample Point 87.5%
     // Value was calculated with http://www.bittiming.can-wiki.info/
-    can.modify_config()
+    let mut can = bxcan::Can::builder(can)
         .set_bit_timing(0x001c_0000)
         .set_loopback(true)
-        .set_silent(true);
+        .set_silent(true)
+        .leave_disabled();
 
     let mut filters = can.modify_filters();
     assert!(filters.num_banks() > 3);
@@ -83,7 +82,7 @@ fn main() -> ! {
     drop(filters);
 
     // Sync to the bus and start normal operation.
-    block!(can.enable()).ok();
+    block!(can.enable_non_blocking()).ok();
 
     // Some messages shall pass the filters.
     for &id in &[0, 1, 2, 8, 9, 10, 11] {

examples/can-rtic.rs

@@ -95,19 +95,19 @@ mod app {
         let mut afio = cx.device.AFIO.constrain();
         can.assign_pins((can_tx_pin, can_rx_pin), &mut afio.mapr);
 
-        let mut can = bxcan::Can::new(can);
-
         // APB1 (PCLK1): 16MHz, Bit rate: 1000kBit/s, Sample Point 87.5%
         // Value was calculated with http://www.bittiming.can-wiki.info/
-        can.modify_config().set_bit_timing(0x001c_0000);
+        let mut can = bxcan::Can::builder(can)
+            .set_bit_timing(0x001c_0000)
+            .leave_disabled();
 
         can.modify_filters().enable_bank(0, Mask32::accept_all());
 
         // Sync to the bus and start normal operation.
         can.enable_interrupts(
             Interrupts::TRANSMIT_MAILBOX_EMPTY | Interrupts::FIFO0_MESSAGE_PENDING,
         );
-        nb::block!(can.enable()).unwrap();
+        nb::block!(can.enable_non_blocking()).unwrap();
 
         let (can_tx, can_rx) = can.split();
 
@@ -213,17 +213,19 @@ mod app {
         (&mut tx_queue, &mut tx_count).lock(|tx_queue, tx_count| {
             while let Some(frame) = tx_queue.peek() {
                 match tx.transmit(&frame.0) {
-                    Ok(None) => {
-                        // Frame was successfully placed into a transmit buffer.
-                        tx_queue.pop();
-                        *tx_count += 1;
-                    }
-                    Ok(Some(pending_frame)) => {
-                        // A lower priority frame was replaced with our high priority frame.
-                        // Put the low priority frame back in the transmit queue.
-                        tx_queue.pop();
-                        enqueue_frame(tx_queue, pending_frame);
-                    }
+                    Ok(status) => match status.dequeued_frame() {
+                        None => {
+                            // Frame was successfully placed into a transmit buffer.
+                            tx_queue.pop();
+                            *tx_count += 1;
+                        }
+                        Some(pending_frame) => {
+                            // A lower priority frame was replaced with our high priority frame.
+                            // Put the low priority frame back in the transmit queue.
+                            tx_queue.pop();
+                            enqueue_frame(tx_queue, pending_frame.clone());
+                        }
+                    },
                     Err(nb::Error::WouldBlock) => break,
                     Err(_) => unreachable!(),
                 }