Initial FDCAN support

Author: Cor Peters

Cargo.toml

@@ -16,6 +16,9 @@ cortex-m = "0.7.1"
 nb = "0.1.1"
 stm32g4 = "0.13.0"
 paste = "1.0"
+bitflags = "1.2"
+vcell = "0.1"
+static_assertions = "1.1"
 
 [dependencies.cast]
 version = "0.2.7"
@@ -40,6 +43,10 @@ version = "1.0.2"
 default-features = false
 version = "1.1"
 
+[dependencies.defmt]
+version = "0.2.3"
+optional = true
+
 [dev-dependencies]
 cortex-m-rt = "0.6.10"
 cortex-m-rtfm = "0.5.1"
@@ -55,6 +62,7 @@ rtt-target = { version = "0.3.0", features = ["cortex-m"] }
 panic-rtt-target = { version = "0.1.1", features = ["cortex-m"] }
 mpu6050 = "0.1.4"
 
+#TODO: Separate feature sets
 [features]
 default = ["rt"]
 rt = ["stm32g4/rt"]
@@ -70,6 +78,7 @@ stm32g4a1 = ["stm32g4/stm32g4a1"]
 log-itm = ["cortex-m-log/itm"]
 log-rtt = []
 log-semihost = ["cortex-m-log/semihosting"]
+unstable-defmt = ["defmt"]
 
 [profile.dev]
 codegen-units = 1

examples/can-echo.rs

@@ -0,0 +1,154 @@
+#![no_main]
+#![no_std]
+
+use crate::hal::{
+    fdcan::{
+        config::NominalBitTiming,
+        filter::{StandardFilter, StandardFilterSlot},
+        frame::{FrameFormat, TxFrameHeader},
+        id::StandardId,
+        FdCan,
+    },
+    gpio::{GpioExt as _, Speed},
+    nb::block,
+    rcc::{Config, RccExt, SysClockSrc},
+    stm32::Peripherals,
+    time::U32Ext,
+};
+use stm32g4xx_hal as hal;
+
+use core::num::{NonZeroU16, NonZeroU8};
+
+use cortex_m_rt::entry;
+
+use log::info;
+
+#[macro_use]
+mod utils;
+
+#[entry]
+fn main() -> ! {
+    utils::logger::init();
+
+    info!("Start");
+
+    // APB1 (HSE): 24MHz, Bit rate: 125kBit/s, Sample Point 87.5%
+    // Value was calculated with http://www.bittiming.can-wiki.info/
+    // TODO: use the can_bit_timings crate
+    let btr = NominalBitTiming {
+        prescaler: NonZeroU16::new(12).unwrap(),
+        seg1: NonZeroU8::new(13).unwrap(),
+        seg2: NonZeroU8::new(2).unwrap(),
+        sync_jump_width: NonZeroU8::new(1).unwrap(),
+    };
+
+    info!("Init Clocks");
+
+    let dp = Peripherals::take().unwrap();
+    let _cp = cortex_m::Peripherals::take().expect("cannot take core peripherals");
+    let rcc = dp.RCC.constrain();
+    let mut rcc = rcc.freeze(Config::new(SysClockSrc::HSE(24.mhz())));
+
+    info!("Split GPIO");
+
+    let gpiob = dp.GPIOB.split(&mut rcc);
+
+    let can1 = {
+        info!("Init CAN 1");
+        let rx = gpiob.pb8.into_alternate().set_speed(Speed::VeryHigh);
+        let tx = gpiob.pb9.into_alternate().set_speed(Speed::VeryHigh);
+
+        info!("-- Create CAN 1 instance");
+        let can = FdCan::new(dp.FDCAN1, tx, rx, &rcc);
+
+        info!("-- Set CAN 1 in Config Mode");
+        let mut can = can.into_config_mode();
+        can.set_protocol_exception_handling(false);
+
+        info!("-- Configure nominal timing");
+        can.set_nominal_bit_timing(btr);
+
+        info!("-- Configure Filters");
+        can.set_standard_filter(
+            StandardFilterSlot::_0,
+            StandardFilter::accept_all_into_fifo0(),
+        );
+
+        info!("-- Current Config: {:#?}", can.get_config());
+
+        info!("-- Set CAN1 in to normal mode");
+        // can.into_external_loopback()
+        can.into_normal()
+    };
+
+    let can2 = {
+        info!("Init CAN 2");
+        let rx = gpiob.pb5.into_alternate().set_speed(Speed::VeryHigh);
+        let tx = gpiob.pb13.into_alternate().set_speed(Speed::VeryHigh);
+
+        info!("-- Create CAN 2 instance");
+        let can = FdCan::new(dp.FDCAN2, tx, rx, &rcc);
+
+        info!("-- Set CAN in Config Mode");
+        let mut can = can.into_config_mode();
+
+        info!("-- Configure nominal timing");
+        can.set_nominal_bit_timing(btr);
+
+        info!("-- Configure Filters");
+        can.set_standard_filter(
+            StandardFilterSlot::_0,
+            StandardFilter::accept_all_into_fifo0(),
+        );
+
+        info!("-- Set CAN2 in to normal mode");
+        // can.into_external_loopback()
+        can.into_normal()
+    };
+
+    let mut can = can2;
+
+    info!("Create Message Data");
+    let mut buffer = [0xAAAAAAAA, 0xFFFFFFFF, 0x0, 0x0, 0x0, 0x0];
+    info!("Create Message Header");
+    let header = TxFrameHeader {
+        len: 2 * 4,
+        id: StandardId::new(0x1).unwrap().into(),
+        frame_format: FrameFormat::Standard,
+        bit_rate_switching: false,
+        marker: None,
+    };
+    info!("Initial Header: {:#X?}", &header);
+
+    info!("Transmit initial message");
+    block!(can.transmit(header, &mut |b| {
+        let len = b.len();
+        for i in 0..len {
+            b[i] = buffer[i];
+        }
+    },))
+    .unwrap();
+
+    loop {
+        if let Ok(rxheader) = block!(can.receive0(&mut |h, b| {
+            info!("Received Header: {:#X?}", &h);
+            info!("received data: {:X?}", &b);
+
+            for (i, d) in b.iter().enumerate() {
+                buffer[i] = *d;
+            }
+            h
+        })) {
+            block!(
+                can.transmit(rxheader.unwrap().to_tx_header(None), &mut |b| {
+                    let len = b.len();
+                    for i in 0..len {
+                        b[i] = buffer[i];
+                    }
+                    info!("Transmit: {:X?}", b);
+                })
+            )
+            .unwrap();
+        }
+    }
+}