sending can messages works
This commit is contained in:
Jakob Lechner
parent
5912a547ba
commit
57f213a5f0
3 changed files with 16 additions and 119 deletions
81
Cargo.lock
generated
81
Cargo.lock
generated
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@ -31,8 +31,7 @@ name = "ch32-dimmer-node"
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version = "0.1.0"
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dependencies = [
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"ch32-hal",
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"embassy-executor",
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"embassy-time",
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"embedded-can",
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"embedded-hal 1.0.0",
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"fugit",
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"panic-halt",
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@ -83,41 +82,6 @@ version = "1.2.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "790eea4361631c5e7d22598ecd5723ff611904e3344ce8720784c93e3d83d40b"
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[[package]]
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name = "darling"
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version = "0.20.11"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "fc7f46116c46ff9ab3eb1597a45688b6715c6e628b5c133e288e709a29bcb4ee"
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dependencies = [
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"darling_core",
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"darling_macro",
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]
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[[package]]
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name = "darling_core"
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version = "0.20.11"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "0d00b9596d185e565c2207a0b01f8bd1a135483d02d9b7b0a54b11da8d53412e"
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dependencies = [
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"fnv",
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"ident_case",
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"proc-macro2",
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"quote",
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"strsim",
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"syn 2.0.100",
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]
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[[package]]
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name = "darling_macro"
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version = "0.20.11"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "fc34b93ccb385b40dc71c6fceac4b2ad23662c7eeb248cf10d529b7e055b6ead"
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dependencies = [
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"darling_core",
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"quote",
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"syn 2.0.100",
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]
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[[package]]
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name = "document-features"
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version = "0.2.11"
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@ -127,31 +91,6 @@ dependencies = [
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"litrs",
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]
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[[package]]
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name = "embassy-executor"
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version = "0.6.3"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "f64f84599b0f4296b92a4b6ac2109bc02340094bda47b9766c5f9ec6a318ebf8"
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dependencies = [
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"critical-section",
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"document-features",
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"embassy-executor-macros",
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"embassy-time-driver",
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"embassy-time-queue-driver",
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]
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[[package]]
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name = "embassy-executor-macros"
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version = "0.6.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "3577b1e9446f61381179a330fc5324b01d511624c55f25e3c66c9e3c626dbecf"
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dependencies = [
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"darling",
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"proc-macro2",
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"quote",
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"syn 2.0.100",
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]
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[[package]]
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name = "embassy-futures"
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version = "0.1.1"
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@ -279,12 +218,6 @@ dependencies = [
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"embedded-io",
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]
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[[package]]
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name = "fnv"
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version = "1.0.7"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "3f9eec918d3f24069decb9af1554cad7c880e2da24a9afd88aca000531ab82c1"
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[[package]]
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name = "fugit"
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version = "0.3.7"
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@ -392,12 +325,6 @@ dependencies = [
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"stable_deref_trait",
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]
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[[package]]
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name = "ident_case"
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version = "1.0.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "b9e0384b61958566e926dc50660321d12159025e767c18e043daf26b70104c39"
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[[package]]
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name = "litrs"
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version = "0.4.1"
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@ -585,12 +512,6 @@ version = "1.2.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3"
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[[package]]
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name = "strsim"
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version = "0.11.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "7da8b5736845d9f2fcb837ea5d9e2628564b3b043a70948a3f0b778838c5fb4f"
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[[package]]
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name = "syn"
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version = "1.0.109"
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14
Cargo.toml
14
Cargo.toml
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@ -14,27 +14,15 @@ panic-halt = "1.0.0"
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# https://github.com/ch32-rs/ch32-hal/pull/75
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ch32-hal = {git = "https://github.com/paval-shlyk/ch32-hal", rev="ace32859924ab0d5e411521a8f392df01ce262ff", features = [
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"ch32v203f6p6",
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"embassy",
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"time-driver-tim1",
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]}
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qingke-rt = { version = "0.5.0", features = ["highcode"] }
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qingke = "0.5.0"
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embedded-hal = "1.0.0"
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embassy-executor = {version = "0.6.0", features = [
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"integrated-timers",
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"arch-spin",
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"executor-thread",
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# see https://docs.embassy.dev/embassy-executor/git/cortex-m/index.html#task-arena-size
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#"task-arena-size-64",
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"task-arena-size-128"
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#"task-arena-size-192",
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#"task-arena-size-256",
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]}
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fugit = "0.3.7"
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embassy-time = { version = "0.3.0" }
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embedded-can = "0.4.1"
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[profile.release]
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strip = true
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40
src/main.rs
40
src/main.rs
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@ -9,24 +9,16 @@ use hal::time::Hertz;
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use hal::timer::low_level::CountingMode;
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use hal::timer::simple_pwm::{PwmPin, SimplePwm};
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use hal::can::{Can, CanFifo, CanFilter, CanFrame, CanMode, StandardId};
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use embassy_executor::Spawner;
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use embassy_time::{Duration, Ticker};
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use qingke::riscv;
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use embedded_can::nb::Can as _;
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#[embassy_executor::main(entry = "qingke_rt::entry")]
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async fn main(_spawner: Spawner) -> ! {
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#[qingke_rt::entry]
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fn main() -> ! {
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hal::debug::SDIPrint::enable();
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let p = hal::init(hal::Config::default());
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println!("setting up can");
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let can = Can::new(p.CAN1, p.PA11, p.PA12, CanFifo::Fifo1, CanMode::Normal, 500_000).expect("Valid");
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println!("setting up can filter");
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let mut filter = CanFilter::new_id_list();
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filter
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.get(0)
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.unwrap()
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.set(StandardId::new(0x580 | 0x42).unwrap().into(), Default::default());
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println!("adding can filter");
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let mut can = Can::new(p.CAN1, p.PA11, p.PA12, CanFifo::Fifo1, CanMode::Normal, 500_000).expect("Valid");
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can.add_filter(CanFilter::accept_all());
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println!("setting up pwm");
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@ -73,12 +65,11 @@ async fn main(_spawner: Spawner) -> ! {
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pwm_w.set_duty(ch_cw, 0);
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pwm_w.enable(ch_cw);
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let mut ticker = Ticker::every(Duration::from_millis(25));
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//let mut ticker = Ticker::every(Duration::from_millis(250));
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println!("entering main loop");
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let msg: [u8; 8] = [0x01, 0x23, 0x45, 0x67, 0x89, 0xAB, 0xCD, 0xEF];
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let msg: [u8; 3] = [0xAB, 0xCD, 0xEF];
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let delay = 100_000;
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loop {
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/*
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let frame = CanFrame::new(StandardId::new(0x42).unwrap(), &msg).unwrap();
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match can.transmit(&frame) {
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Ok(_) => println!("Sent CAN message {:?}", msg),
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@ -87,32 +78,29 @@ async fn main(_spawner: Spawner) -> ! {
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let _ = can.transmit(&frame);
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println!("-");
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match can.try_recv() {
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Err(_) => println!("Receive error"),
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match can.receive() {
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Err(err) => println!("Receive error: {:?}", err),
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Ok(recv_msg) => println!("Received: {:?}", recv_msg),
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}
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println!(".");
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*/
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for x in 0..100 {
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pwm_w.set_duty(ch_cw, x*8);
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ticker.next().await;
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riscv::asm::delay(delay);
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}
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for x in 0..100 {
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pwm_w.set_duty(ch_cw, (100-x)*8);
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ticker.next().await;
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riscv::asm::delay(delay);
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}
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for x in 0..100 {
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pwm_w.set_duty(ch_ww, x*8);
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ticker.next().await;
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riscv::asm::delay(delay);
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}
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for x in 0..100 {
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pwm_w.set_duty(ch_ww, (100-x)*8);
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ticker.next().await;
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riscv::asm::delay(delay);
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}
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ticker.next().await;
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}
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}
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