WIP: make example compile

modm-io · Apr 5, 2021 · 38355d9 · 38355d9
1 parent 3b304ce
commit 38355d9
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Showing 2 changed files with 12 additions and 26 deletions.
diff --git a/examples/nucleo_g474re/can/main.cpp b/examples/nucleo_g474re/can/main.cpp
@@ -18,22 +18,6 @@ using namespace modm::literals;
 #undef	MODM_LOG_LEVEL
 #define	MODM_LOG_LEVEL modm::log::INFO
 
-
-modm::IOStream&
-modm::operator<<(modm::IOStream& out, const modm::can::Message& msg)
-{
-	out << "can::Message<id=" << msg.getIdentifier();
-	out << msg.isExtended() ? ",extended" : ",standard";
-	if (msg.isRemoteTransmitRequest()) out << ",rtr";
-	out << ",dlc=" << msg.getDLC();
-	out  << ",data=" << modm::hex;
-	for (uint32_t i = 0; i < msg.getLength(); ++i) {
-		out << msg.data[i];
-	}
-	out << modm::ascii << ">";
-	return out;
-}
-
 int
 main()
 {
@@ -44,24 +28,24 @@ main()
 	MODM_LOG_INFO << "Initializing Fdcan1..." << modm::endl;
 	// Initialize Fdcan1
 	Fdcan1::connect<GpioB8::Rx, GpioB9::Tx>(Gpio::InputType::PullUp);
-	Fdcan1::initialize<Board::SystemClock, 125_kbps>(9);
+	Fdcan1::initialize<Board::SystemClock, 125_kbps, 1_pct, 500_kbps>(9);
 
 	MODM_LOG_INFO << "Setting up Filter for Fdcan1..." << modm::endl;
-	// Receive every message
-	Fdcan1::setFilter(0, CanFilter::FIFO0,
-			CanFilter::ExtendedIdentifier(0),
-			CanFilter::ExtendedFilterMask(0));
+	// Receive every extended id message
+	Fdcan1::setExtendedFilter(0, Fdcan1::FilterConfig::Fifo0,
+			modm::can::ExtendedIdentifier(0),
+			modm::can::ExtendedMask(0));
 
 	MODM_LOG_INFO << "Initializing Fdcan2..." << modm::endl;
 	// Initialize Fdcan2
 	Fdcan2::connect<GpioB5::Rx, GpioB6::Tx>(Gpio::InputType::PullUp);
-	Fdcan2::initialize<Board::SystemClock, 125_kbps>(12);
+	Fdcan2::initialize<Board::SystemClock, 125_kbps, 1_pct, 500_kbps>(12);
 
 	MODM_LOG_INFO << "Setting up Filter for Fdcan2..." << modm::endl;
 	// Receive every message
-	//CanFilter::setFilter(14, CanFilter::FIFO0,
-	//		CanFilter::ExtendedIdentifier(0),
-	//		CanFilter::ExtendedFilterMask(0));
+	Fdcan2::setExtendedFilter(0, Fdcan2::FilterConfig::Fifo0,
+			modm::can::ExtendedIdentifier(0),
+			modm::can::ExtendedMask(0));
 
 	// Send a message
 	MODM_LOG_INFO << "Sending message on Fdcan1..." << modm::endl;
@@ -80,7 +64,7 @@ main()
 	{
 		if (Fdcan1::isMessageAvailable())
 		{
-			MODM_LOG_INFO << "Fdcan1: Message is available..." << modm::endl << ;
+			MODM_LOG_INFO << "Fdcan1: Message is available..." << modm::endl;
 			modm::can::Message message;
 			Fdcan1::getMessage(message);
 			MODM_LOG_INFO << message << modm::endl;

diff --git a/src/modm/board/nucleo_g474re/board.hpp b/src/modm/board/nucleo_g474re/board.hpp
@@ -112,6 +112,8 @@ struct SystemClock {
 		// update frequencies for busy-wait delay functions
 		Rcc::updateCoreFrequency<Frequency>();
 
+		// Select PCLK1 as FDCAN clock (default is Hse)
+		RCC->CCIPR = (RCC->CCIPR & ~RCC_CCIPR_FDCANSEL) | RCC_CCIPR_FDCANSEL_1;
 		return true;
 	}
 };