46 lines
1.4 KiB
Rust
46 lines
1.4 KiB
Rust
#![no_std]
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#![no_main]
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#![feature(type_alias_impl_trait)]
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use cortex_m_rt::entry;
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use defmt::*;
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use embassy_stm32::can::bxcan::filter::Mask32;
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use embassy_stm32::can::bxcan::{Fifo, Frame, StandardId};
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use embassy_stm32::can::Can;
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use embassy_stm32::gpio::{Input, Pull};
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use {defmt_rtt as _, panic_probe as _};
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#[entry]
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fn main() -> ! {
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info!("Hello World!");
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let mut p = embassy_stm32::init(Default::default());
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// The next two lines are a workaround for testing without transceiver.
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// To synchronise to the bus the RX input needs to see a high level.
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// Use `mem::forget()` to release the borrow on the pin but keep the
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// pull-up resistor enabled.
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let rx_pin = Input::new(&mut p.PA11, Pull::Up);
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core::mem::forget(rx_pin);
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let mut can = Can::new(p.CAN1, p.PA11, p.PA12);
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can.modify_filters().enable_bank(0, Fifo::Fifo0, Mask32::accept_all());
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can.modify_config()
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.set_bit_timing(0x001c0003) // http://www.bittiming.can-wiki.info/
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.set_loopback(true) // Receive own frames
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.set_silent(true)
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.enable();
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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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unwrap!(nb::block!(can.transmit(&tx_frame)));
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while !can.is_transmitter_idle() {}
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let rx_frame = unwrap!(nb::block!(can.receive()));
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info!("loopback frame {=u8}", unwrap!(rx_frame.data())[0]);
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i += 1;
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}
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}
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