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|
#![no_std]
#![no_main]
use defmt::*;
use embassy_executor::Spawner;
use embassy_stm32::peripherals::*;
use embassy_stm32::time::Hertz;
use embassy_stm32::{bind_interrupts, can, Config};
use embassy_time::Timer;
use static_cell::StaticCell;
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 mut config = Config::default();
{
use embassy_stm32::rcc::*;
config.rcc.hse = Some(Hse {
freq: Hertz(24_000_000),
mode: HseMode::Oscillator,
});
config.rcc.pll = Some(Pll {
source: PllSource::HSE,
prediv: PllPreDiv::DIV6,
mul: PllMul::MUL85,
divp: None,
divq: Some(PllQDiv::DIV8), // 42.5 Mhz for fdcan.
divr: Some(PllRDiv::DIV2), // Main system clock at 170 MHz
});
config.rcc.mux.fdcansel = mux::Fdcansel::PLL1_Q;
config.rcc.sys = Sysclk::PLL1_R;
}
let peripherals = embassy_stm32::init(config);
let mut can = can::CanConfigurator::new(peripherals.FDCAN1, peripherals.PA11, peripherals.PA12, Irqs);
can.properties().set_extended_filter(
can::filter::ExtendedFilterSlot::_0,
can::filter::ExtendedFilter::accept_all_into_fifo1(),
);
// 250k bps
can.set_bitrate(250_000);
let use_fd = false;
// 1M bps
if use_fd {
can.set_fd_data_bitrate(1_000_000, false);
}
info!("Configured");
let mut can = can.start(match use_fd {
true => can::OperatingMode::InternalLoopbackMode,
false => can::OperatingMode::NormalOperationMode,
});
let mut i = 0;
let mut last_read_ts = embassy_time::Instant::now();
loop {
let frame = can::frame::Frame::new_extended(0x123456F, &[i; 8]).unwrap();
info!("Writing frame");
_ = can.write(&frame).await;
match can.read().await {
Ok(envelope) => {
let (ts, rx_frame) = (envelope.ts, envelope.frame);
let delta = (ts - last_read_ts).as_millis();
last_read_ts = ts;
info!(
"Rx: {} {:02x} --- {}ms",
rx_frame.header().len(),
rx_frame.data()[0..rx_frame.header().len() as usize],
delta,
)
}
Err(_err) => error!("Error in frame"),
}
Timer::after_millis(250).await;
i += 1;
if i > 2 {
break;
}
}
// Use the FD API's even if we don't get FD packets.
loop {
if use_fd {
let frame = can::frame::FdFrame::new_extended(0x123456F, &[i; 16]).unwrap();
info!("Writing frame using FD API");
_ = can.write_fd(&frame).await;
} else {
let frame = can::frame::FdFrame::new_extended(0x123456F, &[i; 8]).unwrap();
info!("Writing frame using FD API");
_ = can.write_fd(&frame).await;
}
match can.read_fd().await {
Ok(envelope) => {
let (ts, rx_frame) = (envelope.ts, envelope.frame);
let delta = (ts - last_read_ts).as_millis();
last_read_ts = ts;
info!(
"Rx: {} {:02x} --- using FD API {}ms",
rx_frame.header().len(),
rx_frame.data()[0..rx_frame.header().len() as usize],
delta,
)
}
Err(_err) => error!("Error in frame"),
}
Timer::after_millis(250).await;
i += 1;
if i > 4 {
break;
}
}
i = 0;
let (mut tx, mut rx, _props) = can.split();
// With split
loop {
let frame = can::frame::Frame::new_extended(0x123456F, &[i; 8]).unwrap();
info!("Writing frame");
_ = tx.write(&frame).await;
match rx.read().await {
Ok(envelope) => {
let (ts, rx_frame) = (envelope.ts, envelope.frame);
let delta = (ts - last_read_ts).as_millis();
last_read_ts = ts;
info!(
"Rx: {} {:02x} --- {}ms",
rx_frame.header().len(),
rx_frame.data()[0..rx_frame.header().len() as usize],
delta,
)
}
Err(_err) => error!("Error in frame"),
}
Timer::after_millis(250).await;
i += 1;
if i > 2 {
break;
}
}
let can = can::Can::join(tx, rx);
info!("\n\n\nBuffered\n");
if use_fd {
static TX_BUF: StaticCell<can::TxFdBuf<8>> = StaticCell::new();
static RX_BUF: StaticCell<can::RxFdBuf<10>> = StaticCell::new();
let mut can = can.buffered_fd(
TX_BUF.init(can::TxFdBuf::<8>::new()),
RX_BUF.init(can::RxFdBuf::<10>::new()),
);
loop {
let frame = can::frame::FdFrame::new_extended(0x123456F, &[i; 16]).unwrap();
info!("Writing frame");
_ = can.write(frame).await;
match can.read().await {
Ok(envelope) => {
let (ts, rx_frame) = (envelope.ts, envelope.frame);
let delta = (ts - last_read_ts).as_millis();
last_read_ts = ts;
info!(
"Rx: {} {:02x} --- {}ms",
rx_frame.header().len(),
rx_frame.data()[0..rx_frame.header().len() as usize],
delta,
)
}
Err(_err) => error!("Error in frame"),
}
Timer::after_millis(250).await;
i = i.wrapping_add(1);
}
} else {
static TX_BUF: StaticCell<can::TxBuf<8>> = StaticCell::new();
static RX_BUF: StaticCell<can::RxBuf<10>> = StaticCell::new();
let mut can = can.buffered(
TX_BUF.init(can::TxBuf::<8>::new()),
RX_BUF.init(can::RxBuf::<10>::new()),
);
loop {
let frame = can::frame::Frame::new_extended(0x123456F, &[i; 8]).unwrap();
info!("Writing frame");
// You can use any of these approaches to send. The writer makes it
// easy to share sending from multiple tasks.
//_ = can.write(frame).await;
//can.writer().try_write(frame).unwrap();
can.writer().write(frame).await;
match can.read().await {
Ok(envelope) => {
let (ts, rx_frame) = (envelope.ts, envelope.frame);
let delta = (ts - last_read_ts).as_millis();
last_read_ts = ts;
info!(
"Rx: {} {:02x} --- {}ms",
rx_frame.header().len(),
rx_frame.data()[0..rx_frame.header().len() as usize],
delta,
)
}
Err(_err) => error!("Error in frame"),
}
Timer::after_millis(250).await;
i = i.wrapping_add(1);
}
}
}
|
