5 files changed, 66 insertions, 4 deletions

diff --git a/examples/stm32f1/src/bin/adc.rs b/examples/stm32f1/src/bin/adc.rs
index 1edac3d83..1440460a9 100644
--- a/examples/stm32f1/src/bin/adc.rs
+++ b/examples/stm32f1/src/bin/adc.rs
@@ -1,6 +1,5 @@
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use defmt::*;
 use embassy_executor::Spawner;
diff --git a/examples/stm32f1/src/bin/blinky.rs b/examples/stm32f1/src/bin/blinky.rs
index 3425b0536..cc43f85f4 100644
--- a/examples/stm32f1/src/bin/blinky.rs
+++ b/examples/stm32f1/src/bin/blinky.rs
@@ -1,6 +1,5 @@
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use defmt::*;
 use embassy_executor::Spawner;
diff --git a/examples/stm32f1/src/bin/can.rs b/examples/stm32f1/src/bin/can.rs
new file mode 100644
index 000000000..c1c4f8359
--- /dev/null
+++ b/examples/stm32f1/src/bin/can.rs
@@ -0,0 +1,66 @@
+#![no_std]
+#![no_main]
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_stm32::can::bxcan::filter::Mask32;
+use embassy_stm32::can::bxcan::{Fifo, Frame, Id, StandardId};
+use embassy_stm32::can::{Can, Rx0InterruptHandler, Rx1InterruptHandler, SceInterruptHandler, TxInterruptHandler};
+use embassy_stm32::peripherals::CAN;
+use embassy_stm32::{bind_interrupts, Config};
+use {defmt_rtt as _, panic_probe as _};
+
+bind_interrupts!(struct Irqs {
+    USB_LP_CAN1_RX0 => Rx0InterruptHandler<CAN>;
+    CAN1_RX1 => Rx1InterruptHandler<CAN>;
+    CAN1_SCE => SceInterruptHandler<CAN>;
+    USB_HP_CAN1_TX => TxInterruptHandler<CAN>;
+});
+
+// This example is configured to work with real CAN transceivers on B8/B9.
+// See other examples for loopback.
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let p = embassy_stm32::init(Config::default());
+
+    // Set alternate pin mapping to B8/B9
+    embassy_stm32::pac::AFIO.mapr().modify(|w| w.set_can1_remap(2));
+
+    let mut can = Can::new(p.CAN, p.PB8, p.PB9, Irqs);
+
+    can.as_mut()
+        .modify_filters()
+        .enable_bank(0, Fifo::Fifo0, Mask32::accept_all());
+
+    can.as_mut()
+        .modify_config()
+        .set_loopback(false)
+        .set_silent(false)
+        .leave_disabled();
+
+    can.set_bitrate(250_000);
+
+    can.enable().await;
+
+    let mut i: u8 = 0;
+    loop {
+        let tx_frame = Frame::new_data(unwrap!(StandardId::new(i as _)), [i]);
+        can.write(&tx_frame).await;
+
+        match can.read().await {
+            Ok(env) => match env.frame.id() {
+                Id::Extended(id) => {
+                    defmt::println!("Extended Frame id={:x}", id.as_raw());
+                }
+                Id::Standard(id) => {
+                    defmt::println!("Standard Frame id={:x}", id.as_raw());
+                }
+            },
+            Err(err) => {
+                defmt::println!("Error {}", err);
+            }
+        }
+        i += 1;
+    }
+}
diff --git a/examples/stm32f1/src/bin/hello.rs b/examples/stm32f1/src/bin/hello.rs
index e63bcaae0..7b761ecc1 100644
--- a/examples/stm32f1/src/bin/hello.rs
+++ b/examples/stm32f1/src/bin/hello.rs
@@ -1,6 +1,5 @@
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use defmt::info;
 use embassy_executor::Spawner;
diff --git a/examples/stm32f1/src/bin/usb_serial.rs b/examples/stm32f1/src/bin/usb_serial.rs
index 31519555f..e28381893 100644
--- a/examples/stm32f1/src/bin/usb_serial.rs
+++ b/examples/stm32f1/src/bin/usb_serial.rs
@@ -1,6 +1,5 @@
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 use defmt::{panic, *};
 use embassy_executor::Spawner;