58 lines
1.7 KiB
Plaintext
58 lines
1.7 KiB
Plaintext
#![no_std]
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#![no_main]
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#![feature(trait_alias)]
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#![feature(type_alias_impl_trait)]
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#![feature(min_type_alias_impl_trait)]
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#![feature(impl_trait_in_bindings)]
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#[path = "../example_common.rs"]
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mod example_common;
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use example_common::{panic, *};
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use bxcan::filter::Mask32;
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use cortex_m_rt::entry;
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use embassy::executor::Executor;
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use embassy::util::Forever;
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use embassy_stm32::hal::prelude::*;
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use embassy_stm32::hal::{can::Can, stm32};
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use embassy_stm32::{can, interrupt};
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#[embassy::task]
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async fn run(dp: stm32::Peripherals, _cp: cortex_m::Peripherals) {
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let gpioa = dp.GPIOA.split();
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let rx = gpioa.pa11.into_alternate_af9();
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let tx = gpioa.pa12.into_alternate_af9();
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let mut can = bxcan::Can::new(Can::new(dp.CAN1, (tx, rx)));
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// APB1 (PCLK1): 24MHz, Bit rate: 20kBit/s, Sample Point 87.5%
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// Value was calculated with http://www.bittiming.can-wiki.info/
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can.modify_config().set_bit_timing(0x001c_004a);
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// Configure filters so that can frames can be received.
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can.modify_filters().enable_bank(0, Mask32::accept_all());
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let mut can = can::Can::new(can, interrupt::take!(CAN1_TX), interrupt::take!(CAN1_RX0));
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let _frame = can.receive().await;
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}
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static EXECUTOR: Forever<Executor> = Forever::new();
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#[entry]
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fn main() -> ! {
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let dp = stm32::Peripherals::take().unwrap();
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let cp = cortex_m::peripheral::Peripherals::take().unwrap();
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dp.DBGMCU.cr.modify(|_, w| {
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w.dbg_sleep().set_bit();
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w.dbg_standby().set_bit();
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w.dbg_stop().set_bit()
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});
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dp.RCC.ahb1enr.modify(|_, w| w.dma1en().enabled());
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let executor = EXECUTOR.put(Executor::new());
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executor.run(|spawner| {
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unwrap!(spawner.spawn(run(dp, cp)));
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});
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}
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