F1 test project

misc/stm32f1_test_project/Makefile

@@ -127,7 +127,9 @@ CSRC = $(ALLCSRC)
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
 CPPSRC = $(ALLCPPSRC) \
-          main.cpp \
+        main.cpp \
+	spi.cpp \
+	can.cpp \
 	uart.cpp
 
 # List ASM source files here.

misc/stm32f1_test_project/can.cpp

@@ -0,0 +1,79 @@
+#include "can.h"
+#include "hal.h"
+
+#include <cstdint>
+#include <cstring>
+
+const CANConfig canConfig500 =
+{
+    CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
+    /*
+     For 24MHz http://www.bittiming.can-wiki.info/ gives us Pre-scaler=3, Seq 1=13 and Seq 2=2. Subtract '1' for register values
+    */
+    CAN_BTR_SJW(0) | CAN_BTR_BRP(2)  | CAN_BTR_TS1(12) | CAN_BTR_TS2(1),
+};
+
+
+#define SWAP_UINT16(x) (((x) << 8) | ((x) >> 8))
+
+void SendSomething()
+{
+    auto baseAddress = 0x156;
+
+    {
+        CANTxFrame m_frame;
+
+	    m_frame.IDE = CAN_IDE_STD;
+	    m_frame.EID = baseAddress;
+	    m_frame.RTR = CAN_RTR_DATA;
+	    m_frame.DLC = 8;
+	    memset(m_frame.data8, 0, sizeof(m_frame.data8));
+
+    	canTransmitTimeout(&CAND1, CAN_ANY_MAILBOX, &m_frame, TIME_IMMEDIATE);
+    }
+
+}
+
+static THD_WORKING_AREA(waCanTxThread, 256);
+void CanTxThread(void*)
+{
+    while(1) {
+        SendSomething();
+
+        chThdSleepMilliseconds(10);
+    }
+}
+
+static THD_WORKING_AREA(waCanRxThread, 256);
+void CanRxThread(void*)
+{
+    while(1)
+    {
+        CANRxFrame frame;
+        msg_t msg = canReceiveTimeout(&CAND1, CAN_ANY_MAILBOX, &frame, TIME_INFINITE);
+
+        // Ignore non-ok results...
+        if (msg != MSG_OK)
+        {
+            continue;
+        }
+
+        // Ignore std frames, only listen to ext
+        if (frame.IDE != CAN_IDE_EXT)
+        {
+            continue;
+        }
+
+    }
+}
+
+void InitCan() {
+    canStart(&CAND1, &canConfig500);
+    // CAN TX
+    palSetPadMode(GPIOA,12, PAL_MODE_STM32_ALTERNATE_PUSHPULL );
+    // CAN RX
+    palSetPadMode(GPIOA,11, PAL_MODE_INPUT_PULLUP );
+
+    chThdCreateStatic(waCanTxThread, sizeof(waCanTxThread), NORMALPRIO, CanTxThread, nullptr);
+    chThdCreateStatic(waCanRxThread, sizeof(waCanRxThread), NORMALPRIO - 4, CanRxThread, nullptr);
+}

misc/stm32f1_test_project/can.h

@@ -0,0 +1,3 @@
+#pragma once
+
+void InitCan();

misc/stm32f1_test_project/main.cpp

@@ -17,6 +17,8 @@
 #include "ch.h"
 #include "hal.h"
 #include "uart.h"
+#include "can.h"
+#include "spi.h"
 
 #define BL_PORT GPIOC
 #define BL_PIN 13
@@ -61,6 +63,8 @@ int main(void) {
   chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
 
   InitUart();
+  InitCan();
+  InitSpi();
 
   /*
    * Normal main() thread activity, in this demo it does nothing except

misc/stm32f1_test_project/spi.cpp

@@ -0,0 +1,30 @@
+
+#include "can.h"
+#include "hal.h"
+#include "spi.h"
+#include <cstdint>
+
+#define SPI_CS_PORT GPIOA
+#define SPI_CS_PIN 4
+
+/* Low speed SPI configuration (281.250kHz, CPHA=0, CPOL=0, MSb first).*/
+static SPIConfig ls_spicfg = {false, NULL, SPI_CS_PORT, SPI_CS_PIN,
+                              SPI_CR1_BR_2 | SPI_CR1_BR_1,
+                              0};
+
+/*
+ * SPI TX and RX buffers.
+ */
+static uint8_t txbuf[512];
+static uint8_t rxbuf[512];
+
+void InitSpi() {
+  /*
+   * SPI1 I/O pins setup.
+   */
+  palSetPadMode(GPIOA, 5, PAL_MODE_STM32_ALTERNATE_PUSHPULL);     /* SCK. */
+  palSetPadMode(GPIOA, 6, PAL_MODE_STM32_ALTERNATE_PUSHPULL);     /* MISO.*/
+  palSetPadMode(GPIOA, 7, PAL_MODE_STM32_ALTERNATE_PUSHPULL);     /* MOSI.*/
+  palSetPadMode(SPI_CS_PORT, SPI_CS_PIN, PAL_MODE_OUTPUT_PUSHPULL);
+  palSetPad(SPI_CS_PORT, SPI_CS_PIN);
+}

misc/stm32f1_test_project/spi.h

@@ -0,0 +1,2 @@
+
+void InitSpi();

misc/stm32f1_test_project/uart.cpp

@@ -21,6 +21,7 @@ static const UARTConfig uartCfg =
     .cr1 = 0,
     .cr2 = 0,
     .cr3 = 0,
+    .rxhalf_cb = nullptr,
 };
 
 static char printBuffer[200];
@@ -30,9 +31,6 @@ static void UartThread(void*)
 {
     while(true)
     {
-        float lambda = 0;
-        int lambdaIntPart = 1;
-        int lambdaThousandths = 2;
 
         size_t writeCount = chsnprintf(printBuffer, 200, "%d.%03d\t%d\t%d\r\n", 0, 0, 0, 100);
         uartStartSend(&UARTD1, writeCount, printBuffer);