[examples] Add Nucleo-G474RE CAN example

Author: rleh

examples/nucleo_g474re/can/main.cpp

@@ -0,0 +1,82 @@
+/*
+ * Copyright (c) 2020, 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>
+#include <modm/board.hpp>
+
+using namespace modm::literals;
+
+// 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 << "Initializing Fdcan1..." << modm::endl;
+	// Initialize Fdcan1
+	Fdcan1::connect<GpioB8::Rx, GpioB9::Tx>(Gpio::InputType::PullUp);
+	Fdcan1::initialize<Board::SystemClock, 125_kbps, 1_pct, 500_kbps>(9);
+
+	MODM_LOG_INFO << "Setting up Filter for Fdcan1..." << modm::endl;
+	// Receive every extended id message
+	Fdcan1::setExtendedFilter(0, Fdcan1::FilterConfig::Fifo0,
+			modm::can::ExtendedIdentifier(0),
+			modm::can::ExtendedMask(0));
+
+	MODM_LOG_INFO << "Initializing Fdcan2..." << modm::endl;
+	// Initialize Fdcan2
+	Fdcan2::connect<GpioB5::Rx, GpioB6::Tx>(Gpio::InputType::PullUp);
+	Fdcan2::initialize<Board::SystemClock, 125_kbps, 1_pct, 500_kbps>(12);
+
+	MODM_LOG_INFO << "Setting up Filter for Fdcan2..." << modm::endl;
+	// Receive every message
+	Fdcan2::setExtendedFilter(0, Fdcan2::FilterConfig::Fifo0,
+			modm::can::ExtendedIdentifier(0),
+			modm::can::ExtendedMask(0));
+
+	// Send a message
+	MODM_LOG_INFO << "Sending message on Fdcan1..." << modm::endl;
+	modm::can::Message msg1(1, 1);
+	msg1.setExtended(true);
+	msg1.data[0] = 0x11;
+	Fdcan1::sendMessage(msg1);
+
+	// Send a message
+	MODM_LOG_INFO << "Sending message on Fdcan2..." << modm::endl;
+	msg1.data[0] = 0x22;
+	Fdcan2::sendMessage(msg1);
+
+
+	while (true)
+	{
+		if (Fdcan1::isMessageAvailable())
+		{
+			MODM_LOG_INFO << "Fdcan1: Message is available..." << modm::endl;
+			modm::can::Message message;
+			Fdcan1::getMessage(message);
+			MODM_LOG_INFO << message << modm::endl;
+		}
+		if (Fdcan2::isMessageAvailable())
+		{
+			MODM_LOG_INFO << "Fdcan2: Message is available..." << modm::endl;
+			modm::can::Message message;
+			Fdcan2::getMessage(message);
+			MODM_LOG_INFO << message << modm::endl;
+		}
+	}
+
+	return 0;
+}

examples/nucleo_g474re/can/project.xml

@@ -0,0 +1,15 @@
+<library>
+  <extends>modm:nucleo-g474re</extends>
+  <options>
+    <option name="modm:build:build.path">../../../build/nucleo_g474re/can</option>
+  </options>
+  <modules>
+    <module>modm:debug</module>
+    <module>modm:platform:can:1</module>
+    <module>modm:platform:can:2</module>
+    <module>modm:platform:can:3</module>
+    <module>modm:platform:gpio</module>
+    <module>modm:platform:uart:2</module>
+    <module>modm:build:scons</module>
+  </modules>
+</library>

src/modm/board/nucleo_g474re/board.hpp

@@ -112,6 +112,7 @@ struct SystemClock {
 		// update frequencies for busy-wait delay functions
 		Rcc::updateCoreFrequency<Frequency>();
 
+		Rcc::setCanClockSource(Rcc::CanClockSource::Pclk);
 		return true;
 	}
 };