rust/va416xx-rs
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first CAN test works

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This commit is contained in:
Robin Müller
2025-05-13 12:30:20 +02:00
parent d4163c5021
commit 172e319720
7 changed files with 157 additions and 68 deletions
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1
examples/embassy/Cargo.toml
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@ -7,6 +7,7 @@ edition = "2021"
cortex-m-rt = "0.7"
cfg-if = "1"
embedded-io = "0.6"
embedded-can = "0.4"
embedded-hal-async = "1"
embedded-io-async = "0.6"

60
examples/embassy/src/bin/can.rs
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@ -31,26 +31,66 @@ async fn main(_spawner: Spawner) {
va416xx_embassy::init(dp.tim15, dp.tim14, &clocks);
defmt::info!("creating CAN peripheral driver");
defmt::info!("clocks: {}", clocks);
let clk_config = ClockConfig::from_bitrate_and_segments(&clocks, 250.kHz(), 4, 14, 5)
let clk_config = ClockConfig::from_bitrate_and_segments(&clocks, 250.kHz(), 14, 5, 4)
.expect("CAN clock config error");
let mut can = Can::new(dp.can0, clk_config);
can.set_loopback(true);
can.set_bufflock(true);
can.modify_control(|mut val| {
val.set_loopback(true);
val.set_ignore_ack(true);
val.set_internal(true);
val.set_bufflock(true);
val.set_diag_enable(true);
val
});
can.set_base_mask_for_all_match();
can.enable();
let err_counter = can.read_error_counters();
defmt::info!(
"error count tx {}, error count rx {}",
err_counter.transmit(),
err_counter.receive()
);
let mut channels = can.take_channels().unwrap();
// Transmit channel.
let mut tx = CanTx::new(channels.take(0).unwrap(), None);
// Base channel which has dedicated mask.
let mut rx = CanRx::new(channels.take(14).unwrap());
let send_frame = CanFrame::Normal(CanFrameNormal::new(
can::Id::Standard(can::StandardId::new(0x1).unwrap()),
&[1, 2, 3, 4],
));
let mut rx_dedicated = CanRx::new(channels.take(1).unwrap());
// Base channel which has dedicated mask.
let mut rx_base = CanRx::new(channels.take(14).unwrap());
let standard_id = can::StandardId::new(0x42).unwrap();
let send_frame = CanFrame::Normal(
CanFrameNormal::new(can::Id::Standard(standard_id), &[1, 2, 3, 4]).unwrap(),
);
rx_dedicated
.configure_for_reception_with_standard_id(standard_id, false)
.unwrap();
rx_base.configure_for_reception();
defmt::info!("sending CAN frame");
tx.transmit_frame(send_frame).unwrap();
let _frame = nb::block!(rx.receive(true)).expect("invalid CAN rx state");
defmt::info!("received CAN frame with data");
let frame = nb::block!(rx_dedicated.receive(true)).expect("invalid CAN rx state");
let err_counter = can.read_error_counters();
defmt::info!(
"error count tx {}, error count rx {}",
err_counter.transmit(),
err_counter.receive()
);
let diag = can.read_error_diagnostics();
defmt::info!("EFID: {}, EBID: {}", diag.efid(), diag.ebid());
match frame {
CanFrame::Normal(can_frame_normal) => match can_frame_normal.id() {
can::Id::Standard(standard_id) => {
defmt::info!(
"received CAN frame with ID {} and data {}",
standard_id.as_raw(),
can_frame_normal.data()
);
}
can::Id::Extended(_) => (),
},
_ => {
defmt::error!("received unexpected CAN remote frame");
}
}
loop {}
}