69 lines
2.1 KiB
Rust
69 lines
2.1 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::bind_interrupts;
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use embassy_stm32::can::bxcan::filter::Mask32;
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use embassy_stm32::can::bxcan::{Fifo, Frame, StandardId};
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use embassy_stm32::can::{
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Can, CanTx, Rx0InterruptHandler, Rx1InterruptHandler, SceInterruptHandler, TxInterruptHandler,
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};
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use embassy_stm32::gpio::{Input, Pull};
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use embassy_stm32::peripherals::CAN3;
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use static_cell::StaticCell;
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use {defmt_rtt as _, panic_probe as _};
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bind_interrupts!(struct Irqs {
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CAN3_RX0 => Rx0InterruptHandler<CAN3>;
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CAN3_RX1 => Rx1InterruptHandler<CAN3>;
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CAN3_SCE => SceInterruptHandler<CAN3>;
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CAN3_TX => TxInterruptHandler<CAN3>;
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});
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#[embassy_executor::task]
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pub async fn send_can_message(tx: &'static mut CanTx<'static, 'static, CAN3>) {
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loop {
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let frame = Frame::new_data(unwrap!(StandardId::new(0 as _)), [0]);
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tx.write(&frame).await;
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embassy_time::Timer::after_secs(1).await;
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}
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}
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#[embassy_executor::main]
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async fn main(spawner: Spawner) {
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info!("Hello World!");
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let mut p = embassy_stm32::init(Default::default());
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// The next two lines are a workaround for testing without transceiver.
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// To synchronise to the bus the RX input needs to see a high level.
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// Use `mem::forget()` to release the borrow on the pin but keep the
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// pull-up resistor enabled.
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let rx_pin = Input::new(&mut p.PA15, Pull::Up);
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core::mem::forget(rx_pin);
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static CAN: StaticCell<Can<'static, CAN3>> = StaticCell::new();
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let can = CAN.init(Can::new(p.CAN3, p.PA8, p.PA15, Irqs));
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can.as_mut()
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.modify_filters()
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.enable_bank(0, Fifo::Fifo0, Mask32::accept_all());
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can.as_mut()
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.modify_config()
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.set_bit_timing(0x001c0001) // http://www.bittiming.can-wiki.info/
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.set_loopback(true)
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.enable();
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let (tx, mut rx) = can.split();
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static CAN_TX: StaticCell<CanTx<'static, 'static, CAN3>> = StaticCell::new();
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let tx = CAN_TX.init(tx);
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spawner.spawn(send_can_message(tx)).unwrap();
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loop {
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let envelope = rx.read().await.unwrap();
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println!("Received: {:?}", envelope);
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}
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}
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