80 lines
2.0 KiB
Rust
80 lines
2.0 KiB
Rust
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#![no_std]
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#![no_main]
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#![feature(type_alias_impl_trait)]
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use defmt::*;
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use embassy_executor::Spawner;
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use embassy_stm32::bind_interrupts;
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use embassy_stm32::can::bxcan::filter::Mask32;
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use embassy_stm32::can::bxcan::{Fifo, Frame, StandardId, Id};
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use embassy_stm32::can::{Can, Rx0InterruptHandler, Rx1InterruptHandler, SceInterruptHandler, TxInterruptHandler};
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use embassy_stm32::Config;
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use embassy_stm32::peripherals::CAN;
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use {defmt_rtt as _, panic_probe as _};
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bind_interrupts!(struct Irqs {
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USB_LP_CAN1_RX0 => Rx0InterruptHandler<CAN>;
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CAN1_RX1 => Rx1InterruptHandler<CAN>;
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CAN1_SCE => SceInterruptHandler<CAN>;
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USB_HP_CAN1_TX => TxInterruptHandler<CAN>;
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});
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// This example is configured to work with real CAN transceivers on B8/B9.
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// See other examples for loopback.
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#[embassy_executor::main]
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async fn main(_spawner: Spawner) {
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let p = embassy_stm32::init(Config::default());
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// Set alternate pin mapping to B8/B9
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embassy_stm32::pac::AFIO.mapr().modify(|w| w.set_can1_remap(2));
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let mut can = Can::new(p.CAN, p.PB8, p.PB9, Irqs);
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can.as_mut()
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.modify_filters()
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.enable_bank(0, Fifo::Fifo0, Mask32::accept_all());
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can.as_mut()
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.modify_config()
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.set_loopback(false)
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.set_silent(false)
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.leave_disabled();
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can.set_bitrate(250_000);
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can.enable().await;
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let mut i: u8 = 0;
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loop {
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let tx_frame = Frame::new_data(unwrap!(StandardId::new(i as _)), [i]);
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can.write(&tx_frame).await;
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match can.read().await {
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Ok(env) => {
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match env.frame.id() {
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Id::Extended(id) => {
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defmt::println!("Extended Frame id={:x}", id.as_raw());
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},
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Id::Standard(id) => {
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defmt::println!("Standard Frame id={:x}", id.as_raw());
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},
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}
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},
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Err(err) => {
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defmt::println!("Error {}", err);
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}
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}
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i += 1;
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}
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}
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