74 lines
2 KiB
Rust
74 lines
2 KiB
Rust
#![no_std]
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#![no_main]
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use defmt::*;
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use embassy_executor::Spawner;
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use embassy_stm32::peripherals::*;
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use embassy_stm32::{bind_interrupts, can, rcc, Config};
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use embassy_time::Timer;
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use {defmt_rtt as _, panic_probe as _};
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bind_interrupts!(struct Irqs {
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FDCAN1_IT0 => can::IT0InterruptHandler<FDCAN1>;
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FDCAN1_IT1 => can::IT1InterruptHandler<FDCAN1>;
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});
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#[embassy_executor::main]
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async fn main(_spawner: Spawner) {
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let mut config = Config::default();
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// configure FDCAN to use PLL1_Q at 64 MHz
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config.rcc.pll1 = Some(rcc::Pll {
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source: rcc::PllSource::HSI,
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prediv: rcc::PllPreDiv::DIV4,
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mul: rcc::PllMul::MUL8,
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divp: None,
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divq: Some(rcc::PllDiv::DIV2),
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divr: None,
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});
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config.rcc.fdcan_clock_source = rcc::FdCanClockSource::PLL1_Q;
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let peripherals = embassy_stm32::init(config);
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let mut can = can::Fdcan::new(peripherals.FDCAN1, peripherals.PA11, peripherals.PA12, Irqs);
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can.can.apply_config(
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can::config::FdCanConfig::default().set_nominal_bit_timing(can::config::NominalBitTiming {
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sync_jump_width: 1.try_into().unwrap(),
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prescaler: 8.try_into().unwrap(),
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seg1: 13.try_into().unwrap(),
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seg2: 2.try_into().unwrap(),
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}),
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);
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info!("Configured");
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let mut can = can.into_external_loopback_mode();
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//let mut can = can.into_normal_mode();
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let mut i = 0;
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loop {
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let frame = can::TxFrame::new(
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can::TxFrameHeader {
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len: 1,
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frame_format: can::FrameFormat::Standard,
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id: can::StandardId::new(0x123).unwrap().into(),
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bit_rate_switching: false,
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marker: None,
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},
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&[i],
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)
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.unwrap();
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info!("Writing frame");
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_ = can.write(&frame).await;
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match can.read().await {
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Ok(rx_frame) => info!("Rx: {}", rx_frame.data()[0]),
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Err(_err) => error!("Error in frame"),
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}
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Timer::after_millis(250).await;
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i += 1;
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}
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}
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