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Transition to the fdcan-rs crate #39

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Merged
merged 1 commit into from
Feb 15, 2023
Merged

Transition to the fdcan-rs crate #39

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4 changes: 4 additions & 0 deletions Cargo.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,10 @@ static_assertions = "1.1"
version = "0.7.7"
features = ["critical-section-single-core"]

[dependencies.fdcan]
version = "0.1.2"
features = ["fdcan_g0_g4_l5"]

[dependencies.cast]
version = "0.2.7"
default-features = false
Expand Down
52 changes: 14 additions & 38 deletions examples/can-echo.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -2,19 +2,19 @@
#![no_std]

use crate::hal::{
fdcan::{
config::NominalBitTiming,
filter::{StandardFilter, StandardFilterSlot},
frame::{FrameFormat, TxFrameHeader},
id::StandardId,
FdCan,
},
can::CanExt,
gpio::{GpioExt as _, Speed},
nb::block,
rcc::{Config, RccExt, SysClockSrc},
stm32::Peripherals,
time::U32Ext,
};
use fdcan::{
config::NominalBitTiming,
filter::{StandardFilter, StandardFilterSlot},
frame::{FrameFormat, TxFrameHeader},
id::StandardId,
};
use stm32g4xx_hal as hal;

use core::num::{NonZeroU16, NonZeroU8};
Expand Down Expand Up @@ -59,10 +59,7 @@ fn main() -> ! {
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();
let mut can = dp.FDCAN1.fdcan(tx, rx, &rcc);
can.set_protocol_exception_handling(false);

info!("-- Configure nominal timing");
Expand All @@ -87,10 +84,8 @@ fn main() -> ! {
// 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();
// let mut can = dp.FDCAN2.fdcan(tx, rx, &rcc);
// can.set_protocol_exception_handling(false);

// info!("-- Configure nominal timing");
// can.set_nominal_bit_timing(btr);
Expand All @@ -109,7 +104,7 @@ fn main() -> ! {
let mut can = can1;

info!("Create Message Data");
let mut buffer = [0xAAAAAAAA, 0xFFFFFFFF, 0x0, 0x0, 0x0, 0x0];
let mut buffer: [u8; 8] = [0xAA, 0xAA, 0xAA, 0xAA, 0xFF, 0xFF, 0xFF, 0xFF];
info!("Create Message Header");
let header = TxFrameHeader {
len: 2 * 4,
Expand All @@ -121,30 +116,11 @@ fn main() -> ! {
info!("Initial Header: {:#X?}", &header);

info!("Transmit initial message");
block!(can.transmit(header, &mut |b| {
let len = b.len();
b[..len].clone_from_slice(&buffer[..len]);
},))
.unwrap();
block!(can.transmit(header, &buffer)).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();
b[..len].clone_from_slice(&buffer[..len]);
info!("Transmit: {:X?}", b);
})
)
.unwrap();
if let Ok(rxheader) = block!(can.receive0(&mut buffer)) {
block!(can.transmit(rxheader.unwrap().to_tx_header(None), &mut buffer)).unwrap();
}
}
}
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