[example] Long-frame CAN example for samv71_xplained_ultra

Author: rleh

examples/samv71_xplained_ultra/fdcan/main.cpp

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+/*
+ * Copyright (c) 2023, Raphael Lehmann
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+
+#include <modm/board.hpp>
+#include <modm/debug/logger.hpp>
+
+using namespace modm::literals;
+using namespace modm::platform;
+using namespace Board;
+
+// Set the log level
+#undef	MODM_LOG_LEVEL
+#define	MODM_LOG_LEVEL modm::log::INFO
+
+int
+main()
+{
+	Board::initialize();
+
+	MODM_LOG_INFO << "CAN Test Program" << modm::endl;
+
+	MODM_LOG_INFO << "Mcan1: Initializing with 125kbps / 1Mbps (FDCAN) for boards CAN transceiver (PC12/PC14)." << modm::endl;
+	// Mcan1 is connted in Board::initialize(); CAN transceiver on the dev board
+	Mcan1::initialize<Board::SystemClock, 125_kbps, 1_pct, 1_Mbps>(12);
+
+	MODM_LOG_INFO << "Mcan1: Setting up Filter to receive every message." << modm::endl;
+	Mcan1::setExtendedFilter(0, Mcan1::FilterConfig::Fifo0,
+			modm::can::ExtendedIdentifier(0),
+			modm::can::ExtendedMask(0));
+	Mcan1::setStandardFilter(0, Mcan1::FilterConfig::Fifo0,
+			modm::can::StandardIdentifier(0),
+			modm::can::StandardMask(0));
+
+	Mcan1::setMode(Mcan1::Mode::TestExternalLoopback);
+
+	Mcan1::setErrorInterruptCallback([](){
+		Board::Led1::set();
+	});
+
+	uint32_t counter{0};
+
+	while (true)
+	{
+		counter++;
+		MODM_LOG_INFO << "loop: " << counter << modm::endl;
+
+		modm::can::Message txMsg{counter, 64};
+		txMsg.setExtended(true);
+		for (size_t i = 0; i < txMsg.capacity; ++i) {
+			txMsg.data[i] = counter;
+		}
+		MODM_LOG_INFO << "Mcan1: Sending message... " << txMsg << modm::endl;
+		Mcan1::sendMessage(txMsg);
+
+		if (Mcan1::isMessageAvailable())
+		{
+			MODM_LOG_INFO << "Mcan1: Message is available... ";
+			modm::can::Message rxMsg;
+			if (Mcan1::getMessage(rxMsg))
+				MODM_LOG_INFO << rxMsg << modm::endl;
+			else
+				MODM_LOG_INFO << " but getting message FAILED" << modm::endl;
+		}
+
+		Led0::toggle();
+		modm::delay(500ms);
+	}
+
+	return 0;
+}

examples/samv71_xplained_ultra/fdcan/project.xml

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+<library>
+  <extends>modm:samv71-xplained-ultra</extends>
+  <options>
+    <option name="modm:build:build.path">../../../build/samv71_xplained_ultra/fdcan</option>
+    <option name="modm:architecture:can:message.buffer">64</option>
+  </options>
+  <modules>
+    <module>modm:build:scons</module>
+  </modules>
+</library>