Added small CAN loopback example

Author: korken89

Cargo.toml

@@ -100,6 +100,10 @@ lto = true
 name = "adc"
 required-features = ["rt", "stm32l4x3"]
 
+[[example]]
+name = "can-loopback"
+required-features = ["rt", "stm32l4x1"]
+
 [[example]]
 name = "irq_button"
 required-features = ["rt"]

examples/can-loopback.rs

@@ -0,0 +1,95 @@
+//! Run the bxCAN peripheral in loopback mode.
+
+#![deny(unsafe_code)]
+#![deny(warnings)]
+#![no_main]
+#![no_std]
+
+use bxcan::{
+    filter::Mask32,
+    {Frame, StandardId},
+};
+use panic_halt as _;
+use rtic::app;
+use rtt_target::{rtt_init_print, rprintln};
+use stm32l4xx_hal::{can::Can, prelude::*};
+
+#[app(device = stm32l4xx_hal::stm32, peripherals = true)]
+const APP: () = {
+    #[init]
+    fn init(cx: init::Context) {
+
+        rtt_init_print!();
+
+        let dp = cx.device;
+
+        let mut flash = dp.FLASH.constrain();
+        let mut rcc = dp.RCC.constrain();
+        let mut pwr = dp.PWR.constrain(&mut rcc.apb1r1);
+        let mut gpioa = dp.GPIOA.split(&mut rcc.ahb2);
+
+        // Set the clocks to 80 MHz
+        let _clocks = rcc.cfgr.sysclk(80.mhz()).freeze(&mut flash.acr, &mut pwr);
+
+        rprintln!("  - CAN init");
+
+        let mut can = {
+            let rx = gpioa.pa11.into_af9(&mut gpioa.moder, &mut gpioa.afrh);
+            let tx = gpioa.pa12.into_af9(&mut gpioa.moder, &mut gpioa.afrh);
+
+            let can = Can::new(dp.CAN1, (tx, rx));
+
+            bxcan::Can::new(can)
+        };
+        can.configure(|config| {
+            // APB1 (PCLK1): 80 MHz, Bit rate: 100kBit/s, Sample Point 87.5%
+            // Value was calculated with http://www.bittiming.can-wiki.info/
+            config.set_bit_timing(0x001c_0031);
+            config.set_loopback(true);
+        });
+
+        // Configure filters so that can frames can be received.
+        let mut filters = can.modify_filters();
+        filters.enable_bank(0, Mask32::accept_all());
+
+        // Drop filters to leave filter configuraiton mode.
+        drop(filters);
+
+        // Enable and wait for bxCAN sync to bus
+        while let Err(_) = can.enable() {}
+
+        // Send a frame
+        let mut test: [u8; 8] = [0; 8];
+        let id: u16 = 0x500;
+
+        test[0] = 72;
+        test[1] = 1;
+        test[2] = 2;
+        test[3] = 3;
+        test[4] = 4;
+        test[5] = 5;
+        test[6] = 6;
+        test[7] = 7;
+        let test_frame = Frame::new_data(StandardId::new(id).unwrap(), test);
+        can.transmit(&test_frame).unwrap();
+
+        // Wait for TX to finish
+        while !can.is_transmitter_idle() {}
+
+        rprintln!("  - CAN tx complete: {:?}", test_frame);
+
+        // Receive the packet back
+        let r = can.receive();
+
+        rprintln!("  - CAN rx {:?}", r);
+
+        assert_eq!(Ok(test_frame), r);
+    }
+
+    #[idle]
+    fn idle(_: idle::Context) -> ! {
+        loop {
+            continue;
+        }
+    }
+};