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| 1 | +/* |
| 2 | + * Copyright (c) 2020, Raphael Lehmann |
| 3 | + * |
| 4 | + * This file is part of the modm project. |
| 5 | + * |
| 6 | + * This Source Code Form is subject to the terms of the Mozilla Public |
| 7 | + * License, v. 2.0. If a copy of the MPL was not distributed with this |
| 8 | + * file, You can obtain one at http://mozilla.org/MPL/2.0/. |
| 9 | + */ |
| 10 | + |
| 11 | +#include <modm/board.hpp> |
| 12 | +#include <modm/debug/logger.hpp> |
| 13 | +#include <modm/board.hpp> |
| 14 | + |
| 15 | +using namespace modm::literals; |
| 16 | + |
| 17 | +// Set the log level |
| 18 | +#undef MODM_LOG_LEVEL |
| 19 | +#define MODM_LOG_LEVEL modm::log::INFO |
| 20 | + |
| 21 | +int |
| 22 | +main() |
| 23 | +{ |
| 24 | + Board::initialize(); |
| 25 | + |
| 26 | + MODM_LOG_INFO << "CAN Test Program" << modm::endl; |
| 27 | + |
| 28 | + MODM_LOG_INFO << "Initializing Fdcan1..." << modm::endl; |
| 29 | + // Initialize Fdcan1 |
| 30 | + Fdcan1::connect<GpioA11::Rx, GpioA12::Tx>(Gpio::InputType::PullUp); |
| 31 | + Fdcan1::initialize<Board::SystemClock, 125_kbps, 1_pct, 500_kbps>(9); |
| 32 | + |
| 33 | + MODM_LOG_INFO << "Setting up Filter for Fdcan1..." << modm::endl; |
| 34 | + // Receive every extended id message |
| 35 | + Fdcan1::setExtendedFilter(0, Fdcan1::FilterConfig::Fifo0, |
| 36 | + modm::can::ExtendedIdentifier(0), |
| 37 | + modm::can::ExtendedMask(0)); |
| 38 | + |
| 39 | + MODM_LOG_INFO << "Initializing Fdcan2..." << modm::endl; |
| 40 | + // Initialize Fdcan2 |
| 41 | + Fdcan2::connect<GpioB5::Rx, GpioB6::Tx>(Gpio::InputType::PullUp); |
| 42 | + Fdcan2::initialize<Board::SystemClock, 125_kbps, 1_pct, 500_kbps>(12); |
| 43 | + |
| 44 | + MODM_LOG_INFO << "Setting up Filter for Fdcan2..." << modm::endl; |
| 45 | + // Receive every message |
| 46 | + Fdcan2::setExtendedFilter(0, Fdcan2::FilterConfig::Fifo0, |
| 47 | + modm::can::ExtendedIdentifier(0), |
| 48 | + modm::can::ExtendedMask(0)); |
| 49 | + |
| 50 | + // Send a message |
| 51 | + MODM_LOG_INFO << "Sending message on Fdcan1..." << modm::endl; |
| 52 | + modm::can::Message msg1(1, 1); |
| 53 | + msg1.setExtended(true); |
| 54 | + msg1.data[0] = 0x11; |
| 55 | + Fdcan1::sendMessage(msg1); |
| 56 | + |
| 57 | + // Send a message |
| 58 | + MODM_LOG_INFO << "Sending message on Fdcan2..." << modm::endl; |
| 59 | + msg1.data[0] = 0x22; |
| 60 | + Fdcan2::sendMessage(msg1); |
| 61 | + |
| 62 | + |
| 63 | + while (true) |
| 64 | + { |
| 65 | + if (Fdcan1::isMessageAvailable()) |
| 66 | + { |
| 67 | + MODM_LOG_INFO << "Fdcan1: Message is available..." << modm::endl; |
| 68 | + modm::can::Message message; |
| 69 | + Fdcan1::getMessage(message); |
| 70 | + MODM_LOG_INFO << message << modm::endl; |
| 71 | + } |
| 72 | + if (Fdcan2::isMessageAvailable()) |
| 73 | + { |
| 74 | + MODM_LOG_INFO << "Fdcan2: Message is available..." << modm::endl; |
| 75 | + modm::can::Message message; |
| 76 | + Fdcan2::getMessage(message); |
| 77 | + MODM_LOG_INFO << message << modm::endl; |
| 78 | + } |
| 79 | + } |
| 80 | + |
| 81 | + return 0; |
| 82 | +} |
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