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CAN: Unify API's between BXCAN and FDCAN. Use Envelope for all read methods instead of a tuple sometimes.

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This commit is contained in:
Corey Schuhen
2024-03-24 15:13:55 +10:00
parent f5daa50a7b
commit 2217b80278
12 changed files with 294 additions and 151 deletions
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24
tests/stm32/src/bin/fdcan.rs
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@@ -79,8 +79,8 @@ async fn main(_spawner: Spawner) {
let options = options();
let peripherals = embassy_stm32::init(options.config);
let mut can = can::FdcanConfigurator::new(peripherals.FDCAN1, peripherals.PB8, peripherals.PB9, Irqs1);
let mut can2 = can::FdcanConfigurator::new(peripherals.FDCAN2, peripherals.PB12, peripherals.PB13, Irqs2);
let mut can = can::CanConfigurator::new(peripherals.FDCAN1, peripherals.PB8, peripherals.PB9, Irqs1);
let mut can2 = can::CanConfigurator::new(peripherals.FDCAN2, peripherals.PB12, peripherals.PB13, Irqs2);
// 250k bps
can.set_bitrate(250_000);
@@ -102,13 +102,13 @@ async fn main(_spawner: Spawner) {
let mut i: u8 = 0;
loop {
let tx_frame = can::frame::ClassicFrame::new_standard(0x123, &[i; 1]).unwrap();
let tx_frame = can::frame::Frame::new_standard(0x123, &[i; 1]).unwrap();
info!("Transmitting frame...");
let tx_ts = Instant::now();
can.write(&tx_frame).await;
let (frame, timestamp) = can.read().await.unwrap();
let (frame, timestamp) = can.read().await.unwrap().parts();
info!("Frame received!");
// Check data.
@@ -139,13 +139,13 @@ async fn main(_spawner: Spawner) {
let mut i: u8 = 0;
loop {
let tx_frame = can::frame::ClassicFrame::new_standard(0x123, &[i; 1]).unwrap();
let tx_frame = can::frame::Frame::new_standard(0x123, &[i; 1]).unwrap();
info!("Transmitting frame...");
let tx_ts = Instant::now();
can2.write(&tx_frame).await;
let (frame, timestamp) = can2.read().await.unwrap();
let (frame, timestamp) = can2.read().await.unwrap().parts();
info!("Frame received!");
//print_regs().await;
@@ -182,20 +182,20 @@ async fn main(_spawner: Spawner) {
// in each FIFO so make sure we write enough to fill them both up before reading.
for i in 0..3 {
// Try filling up the RX FIFO0 buffers with standard packets
let tx_frame = can::frame::ClassicFrame::new_standard(0x123, &[i; 1]).unwrap();
let tx_frame = can::frame::Frame::new_standard(0x123, &[i; 1]).unwrap();
info!("Transmitting frame {}", i);
can.write(&tx_frame).await;
}
for i in 3..max_buffered {
// Try filling up the RX FIFO0 buffers with extended packets
let tx_frame = can::frame::ClassicFrame::new_extended(0x1232344, &[i; 1]).unwrap();
let tx_frame = can::frame::Frame::new_extended(0x1232344, &[i; 1]).unwrap();
info!("Transmitting frame {}", i);
can.write(&tx_frame).await;
}
// Try and receive all 6 packets
for i in 0..max_buffered {
let (frame, _ts) = can.read().await.unwrap();
let (frame, _ts) = can.read().await.unwrap().parts();
match frame.id() {
embedded_can::Id::Extended(id) => {
info!("Extended received! {:x} {} {}", id.as_raw(), frame.data()[0], i);
@@ -210,20 +210,20 @@ async fn main(_spawner: Spawner) {
let (mut tx, mut rx) = can.split();
for i in 0..3 {
// Try filling up the RX FIFO0 buffers with standard packets
let tx_frame = can::frame::ClassicFrame::new_standard(0x123, &[i; 1]).unwrap();
let tx_frame = can::frame::Frame::new_standard(0x123, &[i; 1]).unwrap();
info!("Transmitting frame {}", i);
tx.write(&tx_frame).await;
}
for i in 3..max_buffered {
// Try filling up the RX FIFO0 buffers with extended packets
let tx_frame = can::frame::ClassicFrame::new_extended(0x1232344, &[i; 1]).unwrap();
let tx_frame = can::frame::Frame::new_extended(0x1232344, &[i; 1]).unwrap();
info!("Transmitting frame {}", i);
tx.write(&tx_frame).await;
}
// Try and receive all 6 packets
for i in 0..max_buffered {
let (frame, _ts) = rx.read().await.unwrap();
let (frame, _ts) = rx.read().await.unwrap().parts();
match frame.id() {
embedded_can::Id::Extended(id) => {
info!("Extended received! {:x} {} {}", id.as_raw(), frame.data()[0], i);