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|
#![no_std]
#![no_main]
use defmt::*;
use embassy_executor::Spawner;
use embassy_stm32::peripherals::*;
use embassy_stm32::{bind_interrupts, can, Config};
use embassy_time::Timer;
use {defmt_rtt as _, panic_probe as _};
bind_interrupts!(struct Irqs {
FDCAN1_IT0 => can::IT0InterruptHandler<FDCAN1>;
FDCAN1_IT1 => can::IT1InterruptHandler<FDCAN1>;
});
#[embassy_executor::main]
async fn main(_spawner: Spawner) {
let config = Config::default();
let peripherals = embassy_stm32::init(config);
let mut can = can::Fdcan::new(peripherals.FDCAN1, peripherals.PA11, peripherals.PA12, Irqs);
// 250k bps
can.set_bitrate(250_000);
info!("Configured");
//let mut can = can.into_external_loopback_mode();
let mut can = can.into_normal_mode();
let mut i = 0;
loop {
let frame = can::TxFrame::new(
can::TxFrameHeader {
len: 1,
frame_format: can::FrameFormat::Standard,
id: can::StandardId::new(0x123).unwrap().into(),
bit_rate_switching: false,
marker: None,
},
&[i],
)
.unwrap();
info!("Writing frame");
_ = can.write(&frame).await;
match can.read().await {
Ok(rx_frame) => info!("Rx: {}", rx_frame.data()[0]),
Err(_err) => error!("Error in frame"),
}
Timer::after_millis(250).await;
i += 1;
}
}
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