sending can messages works

Cargo.lock

@@ -31,8 +31,7 @@ name = "ch32-dimmer-node"
 version = "0.1.0"
 dependencies = [
  "ch32-hal",
- "embassy-executor",
+ "embedded-can",
- "embassy-time",
  "embedded-hal 1.0.0",
  "fugit",
  "panic-halt",
@@ -83,41 +82,6 @@ version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "790eea4361631c5e7d22598ecd5723ff611904e3344ce8720784c93e3d83d40b"
 
-[[package]]
-name = "darling"
-version = "0.20.11"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fc7f46116c46ff9ab3eb1597a45688b6715c6e628b5c133e288e709a29bcb4ee"
-dependencies = [
- "darling_core",
- "darling_macro",
-]
-
-[[package]]
-name = "darling_core"
-version = "0.20.11"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0d00b9596d185e565c2207a0b01f8bd1a135483d02d9b7b0a54b11da8d53412e"
-dependencies = [
- "fnv",
- "ident_case",
- "proc-macro2",
- "quote",
- "strsim",
- "syn 2.0.100",
-]
-
-[[package]]
-name = "darling_macro"
-version = "0.20.11"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fc34b93ccb385b40dc71c6fceac4b2ad23662c7eeb248cf10d529b7e055b6ead"
-dependencies = [
- "darling_core",
- "quote",
- "syn 2.0.100",
-]
-
 [[package]]
 name = "document-features"
 version = "0.2.11"
@@ -127,31 +91,6 @@ dependencies = [
  "litrs",
 ]
 
-[[package]]
-name = "embassy-executor"
-version = "0.6.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f64f84599b0f4296b92a4b6ac2109bc02340094bda47b9766c5f9ec6a318ebf8"
-dependencies = [
- "critical-section",
- "document-features",
- "embassy-executor-macros",
- "embassy-time-driver",
- "embassy-time-queue-driver",
-]
-
-[[package]]
-name = "embassy-executor-macros"
-version = "0.6.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3577b1e9446f61381179a330fc5324b01d511624c55f25e3c66c9e3c626dbecf"
-dependencies = [
- "darling",
- "proc-macro2",
- "quote",
- "syn 2.0.100",
-]
-
 [[package]]
 name = "embassy-futures"
 version = "0.1.1"
@@ -279,12 +218,6 @@ dependencies = [
  "embedded-io",
 ]
 
-[[package]]
-name = "fnv"
-version = "1.0.7"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3f9eec918d3f24069decb9af1554cad7c880e2da24a9afd88aca000531ab82c1"
-
 [[package]]
 name = "fugit"
 version = "0.3.7"
@@ -392,12 +325,6 @@ dependencies = [
  "stable_deref_trait",
 ]
 
-[[package]]
-name = "ident_case"
-version = "1.0.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b9e0384b61958566e926dc50660321d12159025e767c18e043daf26b70104c39"
-
 [[package]]
 name = "litrs"
 version = "0.4.1"
@@ -585,12 +512,6 @@ version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3"
 
-[[package]]
-name = "strsim"
-version = "0.11.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7da8b5736845d9f2fcb837ea5d9e2628564b3b043a70948a3f0b778838c5fb4f"
-
 [[package]]
 name = "syn"
 version = "1.0.109"

Cargo.toml

@@ -14,27 +14,15 @@ panic-halt = "1.0.0"
 # https://github.com/ch32-rs/ch32-hal/pull/75
 ch32-hal = {git = "https://github.com/paval-shlyk/ch32-hal", rev="ace32859924ab0d5e411521a8f392df01ce262ff", features = [
     "ch32v203f6p6",
-    "embassy",
     "time-driver-tim1",
 ]}
 qingke-rt = { version = "0.5.0", features = ["highcode"] }
 qingke = "0.5.0"
 embedded-hal = "1.0.0"
 
-embassy-executor = {version = "0.6.0", features = [
-    "integrated-timers",
-    "arch-spin",
-    "executor-thread",
-    
-    # see https://docs.embassy.dev/embassy-executor/git/cortex-m/index.html#task-arena-size
-    #"task-arena-size-64",
-    "task-arena-size-128"
-    #"task-arena-size-192",
-    #"task-arena-size-256",
-]}
 fugit = "0.3.7"
 
-embassy-time = { version = "0.3.0" }
+embedded-can = "0.4.1"
 
 [profile.release]
 strip = true

src/main.rs

@@ -9,24 +9,16 @@ use hal::time::Hertz;
 use hal::timer::low_level::CountingMode;
 use hal::timer::simple_pwm::{PwmPin, SimplePwm};
 use hal::can::{Can, CanFifo, CanFilter, CanFrame, CanMode, StandardId};
-use embassy_executor::Spawner;
+use qingke::riscv;
-use embassy_time::{Duration, Ticker};
+use embedded_can::nb::Can as _;
 
-#[embassy_executor::main(entry = "qingke_rt::entry")]
+#[qingke_rt::entry]
-async fn main(_spawner: Spawner) -> ! {
+fn main() -> ! {
     hal::debug::SDIPrint::enable();
     let p = hal::init(hal::Config::default());
 
     println!("setting up can");
-    let can = Can::new(p.CAN1, p.PA11, p.PA12, CanFifo::Fifo1, CanMode::Normal, 500_000).expect("Valid");
+    let mut can = Can::new(p.CAN1, p.PA11, p.PA12, CanFifo::Fifo1, CanMode::Normal, 500_000).expect("Valid");
-    println!("setting up can filter");
-    let mut filter = CanFilter::new_id_list();
-        filter
-        .get(0)
-        .unwrap()
-        .set(StandardId::new(0x580 | 0x42).unwrap().into(), Default::default());
-
-    println!("adding can filter");
     can.add_filter(CanFilter::accept_all());
 
     println!("setting up pwm");
@@ -73,12 +65,11 @@ async fn main(_spawner: Spawner) -> ! {
     pwm_w.set_duty(ch_cw, 0);
     pwm_w.enable(ch_cw);
 
-    let mut ticker = Ticker::every(Duration::from_millis(25));
-    //let mut ticker = Ticker::every(Duration::from_millis(250));
     println!("entering main loop");
-    let msg: [u8; 8] = [0x01, 0x23, 0x45, 0x67, 0x89, 0xAB, 0xCD, 0xEF];
+    let msg: [u8; 3] = [0xAB, 0xCD, 0xEF];
+
+    let delay = 100_000;
     loop {
-        /*
         let frame = CanFrame::new(StandardId::new(0x42).unwrap(), &msg).unwrap();
          match can.transmit(&frame) {
             Ok(_) => println!("Sent CAN message {:?}", msg),
@@ -87,32 +78,29 @@ async fn main(_spawner: Spawner) -> ! {
         let _ = can.transmit(&frame);
 
         println!("-");
-        match can.try_recv() {
+        match can.receive() {
-            Err(_) => println!("Receive error"),
+            Err(err) => println!("Receive error: {:?}", err),
             Ok(recv_msg) => println!("Received: {:?}", recv_msg),
         }
     
         println!(".");
-        */
         
         for x in 0..100 {
             pwm_w.set_duty(ch_cw, x*8);
-            ticker.next().await;
+            riscv::asm::delay(delay);
         }
         for x in 0..100 {
             pwm_w.set_duty(ch_cw, (100-x)*8);
-            ticker.next().await;
+            riscv::asm::delay(delay);
         }
         for x in 0..100 {
             pwm_w.set_duty(ch_ww, x*8);
-            ticker.next().await;
+            riscv::asm::delay(delay);
         }
         for x in 0..100 {
             pwm_w.set_duty(ch_ww, (100-x)*8);
-            ticker.next().await;
+            riscv::asm::delay(delay);
         }
-
-        ticker.next().await;
     }
 }