gerði breytingar pi megin og þarf að pusha fyrir tölvuna

pi/can_up.sh

@@ -1,7 +1,7 @@
 #!/bin/sh
-# Brings up can0 at the same bitrate as the Nucleo (CAN_BITRATE in src/can_send_test.c).
+# Brings up can0 at the same bitrate as the Nucleo (125000 in src/CAN_FRAME_TEST.c and src/can_send_test.c).
-# Usage: ./can_up.sh [bitrate]   (default 250000)
+# Usage: ./can_up.sh [bitrate]   (default 125000)
-BITRATE=${1:-250000}
+BITRATE=${1:-125000}
 
 sudo ip link set can0 down 2>/dev/null
 sudo ip link set can0 up type can bitrate "$BITRATE"

platformio.ini

@@ -27,3 +27,9 @@ upload_flags =
 [env:can_test]
 extends = env:nucleo_l432kc
 build_flags = -D CAN_SEND_TEST=1
+
+; L4.4 example (src/CAN_FRAME_TEST.c) instead of the motor app.
+; Build/upload: pio run -e can_frame_test -t upload
+[env:can_frame_test]
+extends = env:nucleo_l432kc
+build_flags = -D CAN_FRAME_TEST=1

src/CAN_FRAME_TEST.c

@@ -7,25 +7,27 @@
 /* Devicetree node selected by zephyr,canbus in the overlay */
 #define CANBUS_NODE DT_CHOSEN(zephyr_canbus)
 
-int main(void)
+// L4.4 example. Built only with the can_frame_test environment
+// (-D CAN_FRAME_TEST=1); main() in main.c calls this function.
+void can_frame_test_main(void)
 {
     const struct device *dev = DEVICE_DT_GET(CANBUS_NODE);
 
     if (!device_is_ready(dev)) {
         printk("CAN device not ready\n");
-        return 0;
+        return;
     }
 
     int err = can_set_bitrate(dev, 125000);
     if (err != 0) {
         printk("Error setting CAN bitrate (err %d)\n", err);
-        return 0;
+        return;
     }
 
     err = can_start(dev);
     if (err != 0) {
         printk("Error starting CAN controller (err %d)\n", err);
-        return 0;
+        return;
     }
 
     struct can_frame frame = {
@@ -41,7 +43,7 @@ int main(void)
         err = can_send(dev, &frame, K_MSEC(100), NULL, NULL);
         if (err != 0) {
             printk("Sending failed (err %d)\n", err);
-            return 0;
+            return;
         }
     }
-}
+}

src/main.c

@@ -2,11 +2,14 @@
 
 void motor_application_main(void);
 void can_send_test_main(void);
+void can_frame_test_main(void);
 
 int main(void)
 {
 #if CAN_SEND_TEST
     can_send_test_main();
+#elif CAN_FRAME_TEST
+    can_frame_test_main();
 #else
     motor_application_main();
 #endif

zephyr/boards/nucleo_l432kc.overlay

@@ -3,6 +3,10 @@
 #include <zephyr/dt-bindings/pwm/stm32_pwm.h>
 
 / {
+    chosen {
+        zephyr,canbus = &can1;
+    };
+
     aliases {
         encoder-c1 = &encoder_c1;
         encoder-c2 = &encoder_c2;