WIP: Test pinout compatibility.

Cargo.toml

@@ -1,26 +1,19 @@
 [workspace]
 resolver = "2"
 
-members = [
-    "boards/*",
-    "examples/*",
-    "libraries/*"
-]
+members = ["boards/*", "examples/*", "libraries/*"]
 
 # Specify which members to build by default. Some libraries, such as messages, contain dev-dependencies that will give
 # compile errors if built directly.
-default-members = [
-    "boards/*",
-    "examples/*"
-]
+default-members = ["boards/*", "examples/*"]
 
 [workspace.dependencies.embedded-hal]
-version="0.2.7"
+version = "0.2.7"
 
 [workspace.dependencies.stm32h7xx-hal]
-git = "https://github.com/stm32-rs/stm32h7xx-hal"  
+git = "https://github.com/stm32-rs/stm32h7xx-hal"
 # We use 35 even though we have the 33. 
-features = ["defmt", "rt", "stm32h735"  ]
+features = ["defmt", "rt", "stm32h735", "can"]
 
 [workspace.dependencies.atsamd-hal]
 git = "https://github.com/uorocketry/atsamd"
@@ -70,4 +63,5 @@ opt-level = 0
 
 #Try to remove this
 [profile.release.build-override]
-#opt-level = 0
+#opt-level = 0
+

boards/nav/Cargo.toml

@@ -9,10 +9,11 @@ edition = "2021"
 cortex-m = { workspace = true }
 cortex-m-rt = "^0.7.0"
 cortex-m-rtic = "1.1.3"
-common-arm-stm32h7 = {path = "../../libraries/common-arm-stm32h7"}
-common-arm = {path = "../../libraries/common-arm"}
+common-arm-stm32h7 = { path = "../../libraries/common-arm-stm32h7" }
+common-arm = { path = "../../libraries/common-arm" }
 stm32h7xx-hal = { workspace = true }
 postcard = "1.0.2"
 messages = { path = "../../libraries/messages" }
 systick-monotonic = "1.0.1"
 defmt = "0.3.2"
+fdcan = "0.2"

boards/nav/src/main.rs

@@ -4,13 +4,24 @@
 mod data_manager;
 
 use common_arm::*;
+use core::num::{NonZeroU16, NonZeroU8};
 use data_manager::DataManager;
 use defmt::info;
+use fdcan::{
+    config::NominalBitTiming,
+    filter::{StandardFilter, StandardFilterSlot},
+    frame::{FrameFormat, TxFrameHeader},
+    id::StandardId,
+};
 use stm32h7xx_hal::gpio::gpioa::{PA1, PA2};
 use stm32h7xx_hal::gpio::gpioc::{PC13, PC3};
 use stm32h7xx_hal::gpio::Input;
+use stm32h7xx_hal::gpio::Speed;
 use stm32h7xx_hal::gpio::{Output, PushPull};
+use stm32h7xx_hal::pac;
 use stm32h7xx_hal::prelude::*;
+use stm32h7xx_hal::spi;
+use stm32h7xx_hal::{rcc, rcc::rec};
 use systick_monotonic::*;
 
 /// Custom panic handler.
@@ -52,16 +63,64 @@ mod app {
         let ccdr = rcc
             .use_hse(48.MHz())
             .sys_ck(300.MHz())
+            .pll1_strategy(rcc::PllConfigStrategy::Iterative)
+            .pll1_q_ck(24.MHz())
             .freeze(pwrcfg, &ctx.device.SYSCFG);
 
+        let btr = NominalBitTiming {
+            prescaler: NonZeroU16::new(12).unwrap(),
+            seg1: NonZeroU8::new(13).unwrap(),
+            seg2: NonZeroU8::new(2).unwrap(),
+            sync_jump_width: NonZeroU8::new(1).unwrap(),
+        };
+
         // GPIO
         let gpioc = ctx.device.GPIOC.split(ccdr.peripheral.GPIOC);
         let gpioa = ctx.device.GPIOA.split(ccdr.peripheral.GPIOA);
+        let gpiod = ctx.device.GPIOD.split(ccdr.peripheral.GPIOD);
+        let gpiob = ctx.device.GPIOB.split(ccdr.peripheral.GPIOB);
+        assert_eq!(ccdr.clocks.pll1_q_ck().unwrap().raw(), 24_000_000);
+        let fdcan_prec = ccdr
+            .peripheral
+            .FDCAN
+            .kernel_clk_mux(rec::FdcanClkSel::Pll1Q);
+
+        let can1 = {
+            let rx = gpiob.pb12.into_alternate().speed(Speed::VeryHigh);
+            let tx = gpiob.pb13.into_alternate().speed(Speed::VeryHigh);
+            ctx.device.FDCAN2.fdcan(tx, rx, fdcan_prec)
+        };
+
+        let mut can = can1;
+        can.set_protocol_exception_handling(false);
+
+        can.set_nominal_bit_timing(btr);
+
+        can.set_standard_filter(
+            StandardFilterSlot::_0,
+            StandardFilter::accept_all_into_fifo0(),
+        );
+
+        let (sck, miso, mosi) = (gpioa.pa5, gpioa.pa6, gpioa.pa7);
+
+        let spi = ctx
+            .device
+            .SPI1
+            .spi((sck, miso, mosi), spi::MODE_0, 1.MHz(), &ccdr.clocks);
 
         // leds
         let mut led_red = gpioa.pa1.into_push_pull_output();
         let mut led_green = gpioa.pa2.into_push_pull_output();
 
+        // UART for sbg
+        let tx = gpiod.pd1.into_alternate();
+        let rx = gpiod.pd0.into_alternate();
+
+        let serial = ctx
+            .device
+            .UART4
+            .serial((tx, rx), 9_800.bps(), ccdr.peripheral.UART4, &ccdr.clocks)
+            .unwrap();
         blink::spawn().ok();
 
         /* Monotonic clock */

libraries/common-arm-atsame/Cargo.toml

@@ -8,4 +8,6 @@ edition = "2021"
 [dependencies]
 common-arm = { path = "../common-arm" }
 atsamd-hal = { workspace = true }
-embedded-hal = {workspace = true }
+embedded-hal = { workspace = true }
+mcan = "0.3"
+

libraries/common-arm-atsame/src/lib.rs

@@ -4,3 +4,5 @@
 //! This crate contains common code for HYDRA. Any code that is not board specific but is ATSAME specific should be put in
 //! here.
 //!
+
+pub use mcan;

libraries/common-arm/Cargo.toml

@@ -17,6 +17,6 @@ derive_more = "0.99.17"
 cortex-m-rt = "^0.7.0"
 embedded-sdmmc = "0.3.0"
 embedded-hal = "0.2.7"
-mcan = "0.3"
 nb = "1.1.0"
+mcan = "0.3.0"
 messages = { path = "../messages" }

libraries/common-arm/src/lib.rs

@@ -6,8 +6,6 @@
 //! here.
 //!
 
-pub use mcan;
-
 mod error;
 mod health;
 mod logging;