can.rs

#![feature(panic_info_message)]
#![no_main]
#![no_std]
extern crate panic_halt;

use lpc43xx_hal::{
    can::{
        CanBus,
        MsgIface,
        MsgObj,
        IntoCanTx,
        IntoCanRx,
        CanRx,
        CanTx,
    },
    io::pin::{
        split_ports, PinSplit, Pin,
        E, U0, U1, U2, U3,
    },
    pac,
    serial::Serial,
    timer::{Timer, EMC0_A, InterruptType, MR0I_A, MR0R_A, MR0S_A, NoMatchPin, NoCapturePin},
};
use pac::{
    c_can1::cntl::{DAR_A, EIE_A, IE_A, SIE_A},
    usart0::lcr::{BC_A, DLAB_A, PE_A, PS_A, SBS_A, WLS_A},
    SCU,
};

use heapless::consts::U32;

static TIMER_PERIOD: u32 = 8192;

// Panic handler for USART3
// use lpc43xx_hal::{debug::PanicInfo, uart_panic_handler};
// uart_panic_handler!(pac::USART3);

use core::fmt::Write;
use rtfm::app;

type Timer0 = Timer<pac::TIMER0, NoMatchPin, NoMatchPin, NoMatchPin, NoMatchPin, NoCapturePin, NoCapturePin, NoCapturePin, NoCapturePin>;

type Can0Rd = Pin<E, U2, CanRx<pac::C_CAN0>>;
type Can0Td = Pin<E, U3, CanTx<pac::C_CAN0>>;

type Can1Rd = Pin<E, U1, CanRx<pac::C_CAN1>>;
type Can1Td = Pin<E, U0, CanTx<pac::C_CAN1>>;

#[app(device = lpc43xx_pac)]
const APP: () = {
    static mut TIMER: Timer0 = ();
    static mut UART: Serial<pac::USART3> = ();
    static mut CAN_0: CanBus<pac::C_CAN0, U32> = ();
    static mut CAN_1: CanBus<pac::C_CAN1, U32> = ();
    static mut TX_OBJ: MsgObj = ();
    static mut TX_STATE: u8 = ();

    #[init]
    fn init() -> init::LateResources {
        let tx_state: u8 = 0;

        // Pins
        let ports = split_ports(device.SCU, device.GPIO_PORT);

        let port_9 = ports
            .port_9
            .split_pins();
        let port_e = ports
            .port_e
            .split_pins();