99 lines
2.7 KiB
Rust
99 lines
2.7 KiB
Rust
#![no_std]
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#![no_main]
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use defmt::*;
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use embassy_executor::Spawner;
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use embassy_stm32::peripherals::*;
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use embassy_stm32::{bind_interrupts, can, rcc, Config};
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use embassy_time::Timer;
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use {defmt_rtt as _, panic_probe as _};
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bind_interrupts!(struct Irqs {
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FDCAN1_IT0 => can::IT0InterruptHandler<FDCAN1>;
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FDCAN1_IT1 => can::IT1InterruptHandler<FDCAN1>;
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});
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#[embassy_executor::main]
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async fn main(_spawner: Spawner) {
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let mut config = Config::default();
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config.rcc.hse = Some(rcc::Hse {
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freq: embassy_stm32::time::Hertz(25_000_000),
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mode: rcc::HseMode::Oscillator,
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});
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config.rcc.mux.fdcansel = rcc::mux::Fdcansel::HSE;
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let peripherals = embassy_stm32::init(config);
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let mut can = can::CanConfigurator::new(peripherals.FDCAN1, peripherals.PA11, peripherals.PA12, Irqs);
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// 250k bps
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can.set_bitrate(250_000);
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//let mut can = can.into_internal_loopback_mode();
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let mut can = can.into_normal_mode();
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info!("CAN Configured");
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let mut i = 0;
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let mut last_read_ts = embassy_time::Instant::now();
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loop {
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let frame = can::frame::Frame::new_extended(0x123456F, &[i; 8]).unwrap();
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info!("Writing frame");
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_ = can.write(&frame).await;
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match can.read().await {
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Ok(envelope) => {
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let (rx_frame, ts) = envelope.parts();
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let delta = (ts - last_read_ts).as_millis();
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last_read_ts = ts;
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info!(
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"Rx: {:x} {:x} {:x} {:x} --- NEW {}",
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rx_frame.data()[0],
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rx_frame.data()[1],
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rx_frame.data()[2],
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rx_frame.data()[3],
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delta,
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)
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}
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Err(_err) => error!("Error in frame"),
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}
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Timer::after_millis(250).await;
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i += 1;
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if i > 3 {
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break;
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}
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}
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let (mut tx, mut rx, _props) = can.split();
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// With split
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loop {
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let frame = can::frame::Frame::new_extended(0x123456F, &[i; 8]).unwrap();
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info!("Writing frame");
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_ = tx.write(&frame).await;
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match rx.read().await {
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Ok(envelope) => {
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let (rx_frame, ts) = envelope.parts();
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let delta = (ts - last_read_ts).as_millis();
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last_read_ts = ts;
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info!(
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"Rx: {:x} {:x} {:x} {:x} --- NEW {}",
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rx_frame.data()[0],
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rx_frame.data()[1],
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rx_frame.data()[2],
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rx_frame.data()[3],
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delta,
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)
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}
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Err(_err) => error!("Error in frame"),
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}
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Timer::after_millis(250).await;
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i = i.wrapping_add(1);
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}
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}
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