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STM32: RX

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This commit is contained in:
Pavel Kirienko
2014-04-05 01:39:51 +04:00
parent 38f57f343d
commit e04a32662e
3 changed files with 130 additions and 16 deletions
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libuavcan_drivers/stm32/test_stm32f107/src/main.cpp
+23 -1
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@@ -98,9 +98,31 @@ int main()
frame.data[0] = 42;
frame.dlc = 2;
const int send_res = static_cast<uavcan::ICanIface*>(app::can.driver.getIface(0))->send(frame, deadline, 0);
const int send_res =
static_cast<uavcan::ICanIface*>(app::can.driver.getIface(0))->send(frame, deadline,
uavcan::CanIOFlagLoopback);
printf("send_res=%i errcnt=%lu hwerr=%i\n", send_res,
static_cast<unsigned long>(app::can.driver.getIface(0)->getErrorCount()),
static_cast<int>(app::can.driver.getIface(0)->yieldLastHardwareErrorCode()));
while (true)
{
uavcan::CanRxFrame rx_frame;
uavcan::CanIOFlags flags = 0;
const int recv_res =
static_cast<uavcan::ICanIface*>(app::can.driver.getIface(0))->receive(rx_frame, rx_frame.ts_mono,
rx_frame.ts_utc, flags);
printf("recv_res=%i flg=%u canid=%lu dlc=%u data=[%02x %02x %02x %02x %02x %02x %02x %02x]\n",
recv_res, unsigned(flags), rx_frame.id & uavcan::CanFrame::MaskExtID, int(rx_frame.dlc),
int(rx_frame.data[0]), int(rx_frame.data[1]), int(rx_frame.data[2]), int(rx_frame.data[3]),
int(rx_frame.data[4]), int(rx_frame.data[5]), int(rx_frame.data[6]), int(rx_frame.data[7]));
if (recv_res <= 0)
{
break;
}
}
}
}