From f47a148f51c7c0de52a1c202fefe6f863c669854 Mon Sep 17 00:00:00 2001
From: Philipp Scheff <philippscheff@me.com>
Date: Thu, 22 Jun 2023 17:18:55 +0200
Subject: [PATCH] add stm32f7 can example

---
 examples/stm32f7/src/bin/can.rs | 63 +++++++++++++++++++++++++++++++++
 1 file changed, 63 insertions(+)
 create mode 100644 examples/stm32f7/src/bin/can.rs

diff --git a/examples/stm32f7/src/bin/can.rs b/examples/stm32f7/src/bin/can.rs
new file mode 100644
index 00000000..cf027cc3
--- /dev/null
+++ b/examples/stm32f7/src/bin/can.rs
@@ -0,0 +1,63 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use core::borrow::BorrowMut;
+use core::borrow::Borrow;
+use cortex_m_rt::entry;
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_stm32::bind_interrupts;
+use embassy_stm32::can::bxcan::filter::Mask32;
+use embassy_stm32::can::bxcan::{Fifo, Frame, StandardId, Data};
+use embassy_stm32::can::{Can,CanTx,CanRx, Rx0InterruptHandler, Rx1InterruptHandler, SceInterruptHandler, TxInterruptHandler};
+use embassy_stm32::gpio::{Input, Pull};
+use embassy_stm32::peripherals::CAN3;
+use {defmt_rtt as _, panic_probe as _};
+
+bind_interrupts!(struct Irqs {
+    CAN3_RX0 => Rx0InterruptHandler<CAN3>;
+    CAN3_RX1 => Rx1InterruptHandler<CAN3>;
+    CAN3_SCE => SceInterruptHandler<CAN3>;
+    CAN3_TX => TxInterruptHandler<CAN3>;
+});
+
+#[embassy_executor::task]
+pub async fn send_can_message(tx: &'static mut CanTx<'static, 'static, CAN3>) {
+    loop {
+        let frame = Frame::new_data(unwrap!(StandardId::new(0 as _)), [0]);
+        tx.write(&frame).await;
+        embassy_time::Timer::after(embassy_time::Duration::from_secs(1)).await;
+    }
+}
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+    info!("Hello World!");
+
+    let mut p = embassy_stm32::init(Default::default());
+
+    // 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(&mut p.PA15, Pull::Up);
+    core::mem::forget(rx_pin);
+
+    let CAN: &'static mut Can<'static,CAN3> = static_cell::make_static!(Can::new(p.CAN3, p.PA8, p.PA15, Irqs));
+    CAN.can.borrow_mut().modify_filters().enable_bank(0, Fifo::Fifo0, Mask32::accept_all());
+
+    CAN.can.borrow_mut()
+        .modify_config()
+        .set_bit_timing(0x001c0001) // http://www.bittiming.can-wiki.info/
+        .enable();
+
+    let (tx, mut rx) = CAN.split();
+    let TX: &'static mut CanTx<'static, 'static, CAN3> = static_cell::make_static!(tx);
+    spawner.spawn(send_can_message(TX)).unwrap();
+
+    loop {
+        let frame = rx.read().await.unwrap();
+        println!("Received: {:?}", frame);
+    }
+}