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#![no_std]
#![no_main]
use core::num::{NonZeroU8, NonZeroU16};
use defmt::*;
use embassy_executor::Spawner;
use embassy_stm32::can::filter::Mask32;
use embassy_stm32::can::{
Can, CanTx, Fifo, Frame, Rx0InterruptHandler, Rx1InterruptHandler, SceInterruptHandler, StandardId,
TxInterruptHandler,
};
use embassy_stm32::gpio::{Input, Pull};
use embassy_stm32::peripherals::CAN3;
use embassy_stm32::{bind_interrupts, can};
use static_cell::StaticCell;
use {defmt_rtt as _, panic_probe as _};
bind_interrupts!(struct Irqs {
CAN3_RX0 => Rx0InterruptHandler<CAN3>;
CAN3_RX1 => Rx1InterruptHandler<CAN3>;
CAN3_SCE => SceInterruptHandler<CAN3>;
CAN3_TX => TxInterruptHandler<CAN3>;
});
#[embassy_executor::task]
pub async fn send_can_message(tx: &'static mut CanTx<'static>) {
loop {
let frame = Frame::new_data(unwrap!(StandardId::new(0 as _)), &[0]).unwrap();
tx.write(&frame).await;
embassy_time::Timer::after_secs(1).await;
}
}
#[embassy_executor::main]
async fn main(spawner: Spawner) {
info!("Hello World!");
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(p.PA15.reborrow(), Pull::Up);
core::mem::forget(rx_pin);
static CAN: StaticCell<Can<'static>> = StaticCell::new();
let can = CAN.init(Can::new(p.CAN3, p.PA8, p.PA15, Irqs));
can.modify_filters().enable_bank(0, Fifo::Fifo0, Mask32::accept_all());
can.modify_config()
.set_bit_timing(can::util::NominalBitTiming {
prescaler: NonZeroU16::new(2).unwrap(),
seg1: NonZeroU8::new(13).unwrap(),
seg2: NonZeroU8::new(2).unwrap(),
sync_jump_width: NonZeroU8::new(1).unwrap(),
}) // http://www.bittiming.can-wiki.info/
.set_loopback(true);
can.enable().await;
let (tx, mut rx) = can.split();
static CAN_TX: StaticCell<CanTx<'static>> = StaticCell::new();
let tx = CAN_TX.init(tx);
spawner.spawn(send_can_message(tx).unwrap());
loop {
let envelope = rx.read().await.unwrap();
println!("Received: {:?}", envelope);
}
}
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