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#![no_std]
#![no_main]
use defmt::*;
use embassy_executor::Spawner;
use embassy_stm32::peripherals::*;
use embassy_stm32::{Config, bind_interrupts, can, rcc};
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 mut config = Config::default();
config.rcc.hse = Some(rcc::Hse {
freq: embassy_stm32::time::Hertz(25_000_000),
mode: rcc::HseMode::Oscillator,
});
config.rcc.mux.fdcansel = rcc::mux::Fdcansel::HSE;
let peripherals = embassy_stm32::init(config);
let mut can = can::CanConfigurator::new(peripherals.FDCAN1, peripherals.PA11, peripherals.PA12, Irqs);
// 250k bps
can.set_bitrate(250_000);
//let mut can = can.into_internal_loopback_mode();
let mut can = can.into_normal_mode();
info!("CAN Configured");
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 (rx_frame, ts) = envelope.parts();
let delta = (ts - last_read_ts).as_millis();
last_read_ts = ts;
info!(
"Rx: {:x} {:x} {:x} {:x} --- NEW {}",
rx_frame.data()[0],
rx_frame.data()[1],
rx_frame.data()[2],
rx_frame.data()[3],
delta,
)
}
Err(_err) => error!("Error in frame"),
}
Timer::after_millis(250).await;
i += 1;
if i > 3 {
break;
}
}
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 (rx_frame, ts) = envelope.parts();
let delta = (ts - last_read_ts).as_millis();
last_read_ts = ts;
info!(
"Rx: {:x} {:x} {:x} {:x} --- NEW {}",
rx_frame.data()[0],
rx_frame.data()[1],
rx_frame.data()[2],
rx_frame.data()[3],
delta,
)
}
Err(_err) => error!("Error in frame"),
}
Timer::after_millis(250).await;
i = i.wrapping_add(1);
}
}
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