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#![no_std]
#![no_main]
// required-features: can
#[path = "../common.rs"]
mod common;
use common::*;
use embassy_executor::Spawner;
use embassy_stm32::bind_interrupts;
use embassy_stm32::can::filter::Mask32;
use embassy_stm32::can::{Fifo, Rx0InterruptHandler, Rx1InterruptHandler, SceInterruptHandler, TxInterruptHandler};
use embassy_stm32::gpio::{Input, Pull};
use embassy_stm32::peripherals::CAN1;
use embassy_time::Duration;
use {defmt_rtt as _, panic_probe as _};
#[path = "../can_common.rs"]
mod can_common;
use can_common::*;
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 = init();
info!("Hello World!");
let options = TestOptions {
max_latency: Duration::from_micros(1200),
max_buffered: 2,
};
let can = peri!(p, CAN);
let tx = peri!(p, CAN_TX);
let mut rx = peri!(p, CAN_RX);
// 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(rx.reborrow(), Pull::Up);
core::mem::forget(rx_pin);
let mut can = embassy_stm32::can::Can::new(can, rx, tx, Irqs);
info!("Configuring can...");
can.modify_filters().enable_bank(0, Fifo::Fifo0, Mask32::accept_all());
can.modify_config()
.set_loopback(true) // Receive own frames
.set_silent(true)
// .set_bit_timing(0x001c0003)
.set_bitrate(1_000_000);
can.enable().await;
info!("Can configured");
run_can_tests(&mut can, &options).await;
// Test again with a split
let (mut tx, mut rx) = can.split();
run_split_can_tests(&mut tx, &mut rx, &options).await;
info!("Test OK");
cortex_m::asm::bkpt();
}
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