From ec321595765ee63f1c14b72fb62d9d02344fa8dd Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Ren=C3=A9=20Herrero?= <rene@sevenseas.io>
Date: Tue, 21 May 2024 17:14:31 -0500
Subject: [PATCH] added CAN example

---
 examples/stm32l4/src/bin/can.rs | 68 +++++++++++++++++++++++++++++++++
 1 file changed, 68 insertions(+)
 create mode 100644 examples/stm32l4/src/bin/can.rs

diff --git a/examples/stm32l4/src/bin/can.rs b/examples/stm32l4/src/bin/can.rs
new file mode 100644
index 000000000..3c4cdac24
--- /dev/null
+++ b/examples/stm32l4/src/bin/can.rs
@@ -0,0 +1,68 @@
+#![no_std]
+#![no_main]
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_stm32::can::filter::Mask32;
+use embassy_stm32::can::{
+    Can, Fifo, Frame, Rx0InterruptHandler, Rx1InterruptHandler, SceInterruptHandler, TxInterruptHandler,
+};
+use embassy_stm32::peripherals::CAN1;
+use embassy_stm32::{bind_interrupts, Config};
+use embassy_time::Timer;
+use {defmt_rtt as _, panic_probe as _};
+
+bind_interrupts!(struct Irqs {
+    CAN1_RX0 => Rx0InterruptHandler<CAN1>;
+    CAN1_RX1 => Rx1InterruptHandler<CAN1>;
+    CAN1_SCE => SceInterruptHandler<CAN1>;
+    CAN1_TX => TxInterruptHandler<CAN1>;
+});
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let p = embassy_stm32::init(Config::default());
+
+    let mut can = Can::new(p.CAN1, p.PA11, p.PA12, Irqs);
+
+    can.modify_filters().enable_bank(0, Fifo::Fifo0, Mask32::accept_all());
+
+    can.modify_config()
+        .set_loopback(true) // Receive own frames
+        .set_silent(true)
+        .set_bitrate(250_000);
+
+    can.enable().await;
+    println!("CAN enabled");
+
+    let mut i = 0;
+    let mut last_read_ts = embassy_time::Instant::now();
+    loop {
+        let frame = Frame::new_extended(0x123456F, &[i; 8]).unwrap();
+        info!("Writing frame");
+
+        _ = can.write(&frame).await;
+
+        match can.read().await {
+            Ok(envelope) => {
+                let (ts, rx_frame) = (envelope.ts, envelope.frame);
+                let delta = (ts - last_read_ts).as_millis();
+                last_read_ts = ts;
+                info!(
+                    "Rx: {} {:02x} --- {}ms",
+                    rx_frame.header().len(),
+                    rx_frame.data()[0..rx_frame.header().len() as usize],
+                    delta,
+                )
+            }
+            Err(err) => error!("Error in frame: {}", err),
+        }
+
+        Timer::after_millis(250).await;
+
+        i += 1;
+        if i > 2 {
+            break;
+        }
+    }
+}