From 7c405250a77c08740524529757f8203b5b7e0a60 Mon Sep 17 00:00:00 2001
From: Timo Kröger <timokroeger93@gmail.com>
Date: Fri, 6 Aug 2021 00:08:24 +0200
Subject: CAN support with bxcan crate

---
 examples/stm32f4/Cargo.toml     |  1 +
 examples/stm32f4/src/bin/can.rs | 39 +++++++++++++++++++++++++++++++++++++++
 2 files changed, 40 insertions(+)
 create mode 100644 examples/stm32f4/src/bin/can.rs

(limited to 'examples')

diff --git a/examples/stm32f4/Cargo.toml b/examples/stm32f4/Cargo.toml
index c254573f8..95c8441d9 100644
--- a/examples/stm32f4/Cargo.toml
+++ b/examples/stm32f4/Cargo.toml
@@ -32,3 +32,4 @@ panic-probe = { version = "0.2.0", features= ["print-defmt"] }
 futures = { version = "0.3.8", default-features = false, features = ["async-await"] }
 rtt-target = { version = "0.3", features = ["cortex-m"] }
 heapless = { version = "0.7.1", default-features = false }
+nb = { version = "1.0" }
diff --git a/examples/stm32f4/src/bin/can.rs b/examples/stm32f4/src/bin/can.rs
new file mode 100644
index 000000000..d35a81d1d
--- /dev/null
+++ b/examples/stm32f4/src/bin/can.rs
@@ -0,0 +1,39 @@
+#![no_std]
+#![no_main]
+#![feature(trait_alias)]
+#![feature(type_alias_impl_trait)]
+#![allow(incomplete_features)]
+
+#[path = "../example_common.rs"]
+mod example_common;
+
+use cortex_m_rt::entry;
+use embassy_stm32::bxcan::{Can, Frame, StandardId};
+use embassy_stm32::dbgmcu::Dbgmcu;
+use example_common::*;
+
+#[entry]
+fn main() -> ! {
+    info!("Hello World!");
+
+    unsafe {
+        Dbgmcu::enable_all();
+    }
+
+    let p = embassy_stm32::init(Default::default());
+
+    let mut can = Can::new(p.CAN1, p.PA11, p.PA12);
+
+    can.modify_config().set_loopback(true);
+    unwrap!(nb::block!(can.enable()));
+
+    let mut i: u8 = 0;
+    loop {
+        let tx_frame = Frame::new_data(unwrap!(StandardId::new(i as _)), [i]);
+        unwrap!(nb::block!(can.transmit(&tx_frame)));
+        while !can.is_transmitter_idle() {}
+        let rx_frame = unwrap!(nb::block!(can.receive()));
+        info!("loopback frame {=u8}", unwrap!(rx_frame.data())[0]);
+        i += 1;
+    }
+}
-- 
cgit 


From 191a589820159a69fbc72f996c4be91093dc2b44 Mon Sep 17 00:00:00 2001
From: Timo Kröger <timokroeger93@gmail.com>
Date: Fri, 6 Aug 2021 11:59:16 +0200
Subject: bxcan: namechange "bxcan_v1" -> "can_bxcan"

---
 examples/stm32f4/src/bin/can.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'examples')

diff --git a/examples/stm32f4/src/bin/can.rs b/examples/stm32f4/src/bin/can.rs
index d35a81d1d..04f3417c6 100644
--- a/examples/stm32f4/src/bin/can.rs
+++ b/examples/stm32f4/src/bin/can.rs
@@ -8,7 +8,7 @@
 mod example_common;
 
 use cortex_m_rt::entry;
-use embassy_stm32::bxcan::{Can, Frame, StandardId};
+use embassy_stm32::can::{Can, Frame, StandardId};
 use embassy_stm32::dbgmcu::Dbgmcu;
 use example_common::*;
 
-- 
cgit 


From dacf75d911058dd09d2a825a5b23d758f1f7a92d Mon Sep 17 00:00:00 2001
From: Timo Kröger <timokroeger93@gmail.com>
Date: Mon, 9 Aug 2021 15:59:05 +0200
Subject: bxcan: Fix the flaky CAN example

---
 examples/stm32f4/src/bin/can.rs | 17 +++++++++++++++--
 1 file changed, 15 insertions(+), 2 deletions(-)

(limited to 'examples')

diff --git a/examples/stm32f4/src/bin/can.rs b/examples/stm32f4/src/bin/can.rs
index 04f3417c6..2bb24f045 100644
--- a/examples/stm32f4/src/bin/can.rs
+++ b/examples/stm32f4/src/bin/can.rs
@@ -8,8 +8,10 @@
 mod example_common;
 
 use cortex_m_rt::entry;
+use embassy_stm32::can::filter::Mask32;
 use embassy_stm32::can::{Can, Frame, StandardId};
 use embassy_stm32::dbgmcu::Dbgmcu;
+use embassy_stm32::gpio::{Input, Pull};
 use example_common::*;
 
 #[entry]
@@ -20,11 +22,22 @@ fn main() -> ! {
         Dbgmcu::enable_all();
     }
 
-    let p = embassy_stm32::init(Default::default());
+    let mut p = embassy_stm32::init(Default::default());
+
+    // The next two lines are a workaround for testing without transceiver.
+    // To synchronise to the bus the RX input needs to see a high level.
+    // Use `mem::forget()` to release the borrow on the pin but keep the
+    // pull-up resistor enabled.
+    let rx_pin = Input::new(&mut p.PA11, Pull::Up);
+    core::mem::forget(rx_pin);
 
     let mut can = Can::new(p.CAN1, p.PA11, p.PA12);
 
-    can.modify_config().set_loopback(true);
+    can.modify_config()
+        .set_bit_timing(0x001c0003) // http://www.bittiming.can-wiki.info/
+        .set_loopback(true) // Receive own frames
+        .set_silent(true);
+    can.modify_filters().enable_bank(0, Mask32::accept_all());
     unwrap!(nb::block!(can.enable()));
 
     let mut i: u8 = 0;
-- 
cgit