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#![no_std]
#![no_main]
use defmt::*;
use embassy_executor::Spawner;
use embassy_stm32::can::filter::Mask32;
use embassy_stm32::can::{
Can, Fifo, Frame, Rx0InterruptHandler, Rx1InterruptHandler, SceInterruptHandler, TxInterruptHandler,
};
use embassy_stm32::peripherals::CAN1;
use embassy_stm32::{Config, bind_interrupts};
use embassy_time::Timer;
use {defmt_rtt as _, panic_probe as _};
bind_interrupts!(struct Irqs {
CAN1_RX0 => Rx0InterruptHandler<CAN1>;
CAN1_RX1 => Rx1InterruptHandler<CAN1>;
CAN1_SCE => SceInterruptHandler<CAN1>;
CAN1_TX => TxInterruptHandler<CAN1>;
});
#[embassy_executor::main]
async fn main(_spawner: Spawner) {
let p = embassy_stm32::init(Config::default());
let mut can = Can::new(p.CAN1, p.PA11, p.PA12, Irqs);
can.modify_filters().enable_bank(0, Fifo::Fifo0, Mask32::accept_all());
can.modify_config()
.set_loopback(true) // Receive own frames
.set_silent(true)
.set_bitrate(250_000);
can.enable().await;
println!("CAN enabled");
let mut i = 0;
let mut last_read_ts = embassy_time::Instant::now();
loop {
let 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: {}", err),
}
Timer::after_millis(250).await;
i += 1;
if i > 2 {
break;
}
}
}
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