mcp25625

支持传输、接收和过滤，并提供方便的API。

定义一些类型以保持代码整洁

pub type Mcp25625Sck = PB3<Analog>;
pub type Mcp25625Miso = PA11<Analog>;
pub type Mcp25625Mosi = PA12<Analog>;
pub type Mcp25625IrqUninit = PA10<Analog>;
pub type Mcp25625Cs = PA9<Output<PushPull>>;
pub type Mcp25625Spi = hal::pac::SPI1;
pub type Mcp25625Instance = mcp25625::MCP25625<hal::spi::Spi<Mcp25625Spi, (Mcp25625Sck, Mcp25625Miso, Mcp25625Mosi)>, Mcp25625Cs>;

也定义了要使用的过滤器

const MOTOR_DRIVE_ID: FrameId = FrameId::new_extended(0x1).unwrap();
const EMERGENCY_STOP_ID: FrameId = FrameId::new_standard(0x0).unwrap();

设置过滤器和配置

fn mcp25625_configure(mcp25625: &mut config::Mcp25625Instance) -> Result<(), McpErrorKind> {
    let filters_buffer0 = FiltersConfigBuffer0 {
        mask: FiltersMask::AllExtendedIdBits,
        filter0: config::MOTOR_DRIVE_ID,
        filter1: None
    };
    let filters_buffer1 = FiltersConfigBuffer1 {
        mask: FiltersMask::OnlyStandardIdBits,
        filter2: config::EMERGENCY_STOP_ID,
        filter3: None,
        filter4: None,
        filter5: None,
    };
    let filters_config = FiltersConfig::Filter(filters_buffer0, Some(filters_buffer1));
    let mcp_config = MCP25625Config {
        brp: 0, // Fosc=16MHz
        prop_seg: 3,
        ph_seg1: 2,
        ph_seg2: 2,
        sync_jump_width: 2,
        rollover_to_buffer1: true,
        filters_config,
        // filters_config: FiltersConfig::ReceiveAll,
        operation_mode: McpOperationMode::Normal
    };
    mcp25625.apply_config(mcp_config)?;
    Ok(())
}

未使用的过滤器插槽将被最后使用的一个填充。所以在这个例子中 filter1 = filter0 和 filter3-5 = filter2。

启用中断

mcp25625.enable_interrupts(0b0001_1111);

接收一个帧

let intf = mcp25625.interrupt_flags();
if intf.rx0if_is_set() {
    let frame: vhrdcan::RawFrame = mcp25625.receive(McpReceiveBuffer::Buffer0);
    println!("{:?}", frame);
}
// Check Buffer1 also depending on the configuration

发送一个帧

// Create RawFrameRef if you do not want to make unnecesarry copies
// or use Frame::as_raw_frame_ref() or RawFrame::as_raw_frame_ref()
let data = [1, 2, 3];
let frame = vhrdcan::RawFrameRef {
    id: vhrdcan::FrameId::new_standard(0x10).unwrap(),
    data: &data
};
match mcp25625.send(frame) {
    Ok(_) => {
        println!("Frame queued for transmission");
    }
    Err(e) => {
        println!("Frame transmission error: {:?}", e);
    }
}

更多高级示例请参阅此文件，其中包含热重新初始化、中断以及适当的传输和接收队列。