1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
|
#![no_std]
#![no_main]
use defmt::*;
use embassy_executor::Spawner;
use embassy_stm32::can::frame::Envelope;
use embassy_stm32::can::{
filter, Can, Fifo, Frame, Id, Rx0InterruptHandler, Rx1InterruptHandler, SceInterruptHandler, StandardId,
TxInterruptHandler,
};
use embassy_stm32::peripherals::CAN;
use embassy_stm32::{bind_interrupts, Config};
use static_cell::StaticCell;
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.
fn handle_frame(env: Envelope, read_mode: &str) {
match env.frame.id() {
Id::Extended(id) => {
defmt::println!(
"{} Extended Frame id={:x} {:02x}",
read_mode,
id.as_raw(),
env.frame.data()
);
}
Id::Standard(id) => {
defmt::println!(
"{} Standard Frame id={:x} {:02x}",
read_mode,
id.as_raw(),
env.frame.data()
);
}
}
}
#[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));
static RX_BUF: StaticCell<embassy_stm32::can::RxBuf<10>> = StaticCell::new();
static TX_BUF: StaticCell<embassy_stm32::can::TxBuf<10>> = StaticCell::new();
let mut can = Can::new(p.CAN, p.PB8, p.PB9, Irqs);
can.modify_filters()
.enable_bank(0, Fifo::Fifo0, filter::Mask32::accept_all());
can.modify_config()
.set_loopback(false)
.set_silent(false)
.set_bitrate(250_000);
can.enable().await;
let mut i: u8 = 0;
/*
// Example for using buffered Tx and Rx without needing to
// split first as is done below.
let mut can = can.buffered(
TX_BUF.init(embassy_stm32::can::TxBuf::<10>::new()),
RX_BUF.init(embassy_stm32::can::RxBuf::<10>::new()));
loop {
let tx_frame = Frame::new_data(unwrap!(StandardId::new(i as _)), &[i, 0, 1, 2, 3, 4, 5, 6]).unwrap();
can.write(&tx_frame).await;
match can.read().await {
Ok((frame, ts)) => {
handle_frame(Envelope { ts, frame }, "Buf");
}
Err(err) => {
defmt::println!("Error {}", err);
}
}
i = i.wrapping_add(1);
}
*/
let (mut tx, mut rx) = can.split();
// This example shows using the wait_not_empty API before try read
while i < 3 {
let tx_frame = Frame::new_data(unwrap!(StandardId::new(i as _)), &[i, 0, 1, 2, 3, 4, 5, 6]).unwrap();
tx.write(&tx_frame).await;
rx.wait_not_empty().await;
let env = rx.try_read().unwrap();
handle_frame(env, "Wait");
i += 1;
}
// This example shows using the full async non-buffered API
while i < 6 {
let tx_frame = Frame::new_data(unwrap!(StandardId::new(i as _)), &[i, 0, 1, 2, 3, 4, 5, 6]).unwrap();
tx.write(&tx_frame).await;
match rx.read().await {
Ok(env) => {
handle_frame(env, "NoBuf");
}
Err(err) => {
defmt::println!("Error {}", err);
}
}
i += 1;
}
// This example shows using buffered RX and TX. User passes in desired buffer (size)
// It's possible this way to have just RX or TX buffered.
let mut rx = rx.buffered(RX_BUF.init(embassy_stm32::can::RxBuf::<10>::new()));
let mut tx = tx.buffered(TX_BUF.init(embassy_stm32::can::TxBuf::<10>::new()));
loop {
let tx_frame = Frame::new_data(unwrap!(StandardId::new(i as _)), &[i, 0, 1, 2, 3, 4, 5, 6]).unwrap();
tx.write(&tx_frame).await;
match rx.read().await {
Ok(envelope) => {
handle_frame(envelope, "Buf");
}
Err(err) => {
defmt::println!("Error {}", err);
}
}
i = i.wrapping_add(1);
}
}
|
