Support for CAN peripherals with the bxcan crate

Author: timokroeger

Cargo.toml

@@ -21,6 +21,7 @@ nb = "0.1.2"
 cortex-m-rt = "0.6.8"
 stm32f1 = "0.11.0"
 embedded-dma = "0.1.2"
+bxcan = { git = "https://github.com/stm32-rs/bxcan" }
 
 [dependencies.void]
 default-features = false
@@ -45,7 +46,7 @@ panic-semihosting = "0.5.2"
 panic-itm = "0.4.1"
 cortex-m-rtfm = "0.5"
 cortex-m-semihosting = "0.3.3"
-heapless = "0.4.3"
+heapless = "0.5.6"
 m = "0.1.1"
 mfrc522 = "0.2.0"
 serde_derive = "1.0.90"
@@ -78,7 +79,7 @@ doc = []
 rt = ["stm32f1/rt"]
 stm32f100 = ["stm32f1/stm32f100", "device-selected"]
 stm32f101 = ["stm32f1/stm32f101", "device-selected"]
-stm32f103 = ["stm32f1/stm32f103", "device-selected"]
+stm32f103 = ["stm32f1/stm32f103", "device-selected", "has-can"]
 stm32f105 = ["stm32f1/stm32f107", "device-selected", "connectivity"]
 stm32f107 = ["stm32f1/stm32f107", "device-selected", "connectivity"]
 
@@ -89,7 +90,9 @@ high = ["medium"]
 # Devices with 768 Kb ROM or more
 xl = ["high"]
 # Connectivity line devices (`stm32f105xx` and `stm32f107xx`)
-connectivity = ["medium"]
+connectivity = ["medium", "has-can"]
+# Devices with CAN interface
+has-can = []
 
 [profile.dev]
 incremental = false
@@ -131,3 +134,15 @@ required-features = ["rt", "medium"]
 [[example]]
 name = "exti"
 required-features = ["rt"]
+
+[[example]]
+name = "can-echo"
+required-features = ["has-can"]
+
+[[example]]
+name = "can-loopback"
+required-features = ["has-can"]
+
+[[example]]
+name = "can-rtfm"
+required-features = ["has-can", "rt"]

examples/can-echo.rs

@@ -0,0 +1,93 @@
+//! Simple CAN example.
+//! Requires a transceiver connected to PA11, PA12 (CAN1) or PB5 PB6 (CAN2).
+
+#![no_main]
+#![no_std]
+
+use panic_halt as _;
+
+use bxcan::filter::Mask32;
+use cortex_m_rt::entry;
+use nb::block;
+use stm32f1xx_hal::{can::Can, pac, prelude::*};
+
+#[entry]
+fn main() -> ! {
+    let dp = pac::Peripherals::take().unwrap();
+
+    let mut flash = dp.FLASH.constrain();
+    let mut rcc = dp.RCC.constrain();
+
+    // To meet CAN clock accuracy requirements an external crystal or ceramic
+    // resonator must be used. The blue pill has a 8MHz external crystal.
+    // Other boards might have a crystal with another frequency or none at all.
+    rcc.cfgr.use_hse(8.mhz()).freeze(&mut flash.acr);
+
+    let mut afio = dp.AFIO.constrain(&mut rcc.apb2);
+
+    let mut can1 = {
+        #[cfg(not(feature = "connectivity"))]
+        let can = Can::new(dp.CAN1, &mut rcc.apb1, dp.USB);
+        #[cfg(feature = "connectivity")]
+        let can = Can::new(dp.CAN1, &mut rcc.apb1);
+
+        let mut gpioa = dp.GPIOA.split(&mut rcc.apb2);
+        let rx = gpioa.pa11.into_floating_input(&mut gpioa.crh);
+        let tx = gpioa.pa12.into_alternate_push_pull(&mut gpioa.crh);
+        can.assign_pins((tx, rx), &mut afio.mapr);
+
+        bxcan::Can::new(can)
+    };
+    can1.configure(|config| {
+        // APB1 (PCLK1): 8MHz, Bit rate: 125kBit/s, Sample Point 87.5%
+        // Value was calculated with http://www.bittiming.can-wiki.info/
+        config.set_bit_timing(0x001c_0003);
+    });
+
+    // Configure filters so that can frames can be received.
+    let mut filters = can1.modify_filters();
+    filters.enable_bank(0, Mask32::accept_all());
+
+    #[cfg(feature = "connectivity")]
+    let can2 = {
+        let can = Can::new(dp.CAN2, &mut rcc.apb1);
+
+        let mut gpiob = dp.GPIOB.split(&mut rcc.apb2);
+        let rx = gpiob.pb5.into_floating_input(&mut gpiob.crl);
+        let tx = gpiob.pb6.into_alternate_push_pull(&mut gpiob.crl);
+        can.assign_pins((tx, rx), &mut afio.mapr);
+
+        let mut can2 = bxcan::Can::new(can);
+        can2.configure(|config| {
+            // APB1 (PCLK1): 8MHz, Bit rate: 125kBit/s, Sample Point 87.5%
+            // Value was calculated with http://www.bittiming.can-wiki.info/
+            config.set_bit_timing(0x001c_0003);
+        });
+
+        // A total of 28 filters are shared between the two CAN instances.
+        // Split them equally between CAN1 and CAN2.
+        filters.set_split(14);
+        let mut slave_filters = filters.slave_filters();
+        slave_filters.enable_bank(14, Mask32::accept_all());
+        can2
+    };
+
+    // Drop filters to leave filter configuraiton mode.
+    drop(filters);
+
+    // Select the interface.
+    let mut can = can1;
+    //let mut can = can2;
+
+    // Split the peripheral into transmitter and receiver parts.
+    block!(can.enable()).unwrap();
+
+    // Echo back received packages in sequence.
+    // See the `can-rtfm` example for an echo implementation that adheres to
+    // correct frame ordering based on the transfer id.
+    loop {
+        if let Ok(frame) = block!(can.receive()) {
+            block!(can.transmit(&frame)).unwrap();
+        }
+    }
+}

examples/can-loopback.rs

@@ -0,0 +1,116 @@
+//! Showcases advanced CAN filter capabilities.
+//! Does not require additional transceiver hardware.
+
+#![no_main]
+#![no_std]
+
+use bxcan::{
+    filter::{ListEntry16, ListEntry32, Mask16},
+    ExtendedId, Frame, StandardId,
+};
+use panic_halt as _;
+
+use cortex_m_rt::entry;
+use embedded_hal::digital::v2::OutputPin;
+use nb::block;
+use stm32f1xx_hal::{can::Can, pac, prelude::*};
+
+#[entry]
+fn main() -> ! {
+    let dp = pac::Peripherals::take().unwrap();
+
+    let mut flash = dp.FLASH.constrain();
+    let mut rcc = dp.RCC.constrain();
+
+    // To meet CAN clock accuracy requirements, an external crystal or ceramic
+    // resonator must be used.
+    rcc.cfgr.use_hse(8.mhz()).freeze(&mut flash.acr);
+
+    #[cfg(not(feature = "connectivity"))]
+    let can = Can::new(dp.CAN1, &mut rcc.apb1, dp.USB);
+
+    #[cfg(feature = "connectivity")]
+    let can = Can::new(dp.CAN1, &mut rcc.apb1);
+
+    let mut can = bxcan::Can::new(can);
+
+    // Use loopback mode: No pins need to be assigned to peripheral.
+    can.configure(|config| {
+        // APB1 (PCLK1): 8MHz, Bit rate: 500Bit/s, Sample Point 87.5%
+        // Value was calculated with http://www.bittiming.can-wiki.info/
+        config.set_bit_timing(0x001c_0000);
+        config.set_loopback(true);
+        config.set_silent(true);
+    });
+
+    let mut filters = can.modify_filters();
+    assert!(filters.num_banks() > 3);
+
+    // The order of the added filters is important: it must match configuration
+    // of the `split_filters_advanced()` method.
+
+    // 2x 11bit id + mask filter bank: Matches 0, 1, 2
+    // TODO: Make this accept also ID 2
+    filters.enable_bank(
+        0,
+        [
+            Mask16::frames_with_std_id(StandardId::new(0).unwrap()),
+            Mask16::frames_with_std_id(StandardId::new(1).unwrap()),
+        ],
+    );
+
+    // 2x 29bit id filter bank: Matches 4, 5
+    filters.enable_bank(
+        1,
+        [
+            ListEntry32::data_frames_with_id(ExtendedId::new(4).unwrap()),
+            ListEntry32::data_frames_with_id(ExtendedId::new(5).unwrap()),
+        ],
+    );
+
+    // 4x 11bit id filter bank: Matches 8, 9, 10, 11
+    filters.enable_bank(
+        2,
+        [
+            ListEntry16::data_frames_with_id(StandardId::new(8).unwrap()),
+            ListEntry16::data_frames_with_id(StandardId::new(9).unwrap()),
+            ListEntry16::data_frames_with_id(StandardId::new(10).unwrap()),
+            ListEntry16::data_frames_with_id(StandardId::new(11).unwrap()),
+        ],
+    );
+
+    // Enable filters.
+    drop(filters);
+
+    // Sync to the bus and start normal operation.
+    block!(can.enable()).ok();
+
+    // Some messages shall pass the filters.
+    for &id in &[0, 1, 8, 9, 10, 11] {
+        let frame_tx = Frame::new_data(StandardId::new(id).unwrap(), [id as u8]);
+        block!(can.transmit(&frame_tx)).unwrap();
+        let frame_rx = block!(can.receive()).unwrap();
+        assert_eq!(frame_tx, frame_rx);
+    }
+    for &id in &[4, 5] {
+        let frame_tx = Frame::new_data(ExtendedId::new(id).unwrap(), [id as u8]);
+        block!(can.transmit(&frame_tx)).unwrap();
+        let frame_rx = block!(can.receive()).unwrap();
+        assert_eq!(frame_tx, frame_rx);
+    }
+
+    // Some messages shall not be received.
+    for &id in &[3, 6, 7, 12] {
+        let frame_tx = Frame::new_data(ExtendedId::new(id).unwrap(), [id as u8]);
+        block!(can.transmit(&frame_tx)).unwrap();
+        while !can.is_transmitter_idle() {}
+
+        assert!(can.receive().is_err());
+    }
+
+    let mut gpiob = dp.GPIOB.split(&mut rcc.apb2);
+    let mut led = gpiob.pb9.into_push_pull_output(&mut gpiob.crh);
+    led.set_high().unwrap();
+
+    loop {}
+}