🐛 Use new hal::stm32f1::can_peripheral_manager ctor in demos (#90)

In order to prevent applications unassociated from the can application
to continue to work as usual, a try/catch is put around the construction
of the `hal::stm32f1::can_peripheral_manager` object. If construction
fails, then none of the can interface optionals will be set and the
program will run without them. If the can application is executed and
the optionals are nullopt, then access will throw and will terminate
the application which is the intended behavior.

demos/conanfile.py

@@ -23,5 +23,5 @@ class demos(ConanFile):
 
     def requirements(self):
         self.requires("libhal-util/[^5.4.0]")
-        self.requires("libhal-arm-mcu/[1.5.2 || latest]")
+        self.requires("libhal-arm-mcu/[1.6.0 || latest]")
         self.requires("minimp3/cci.20211201")

demos/platforms/stm32f103c8.cpp

@@ -25,6 +25,7 @@
 #include <libhal-util/bit_bang_i2c.hpp>
 #include <libhal-util/bit_bang_spi.hpp>
 #include <libhal-util/inert_drivers/inert_adc.hpp>
+#include <libhal-util/serial.hpp>
 #include <libhal-util/steady_clock.hpp>
 #include <libhal/units.hpp>
 
@@ -47,25 +48,6 @@ void initialize_platform(resource_list& p_resources)
   static hal::stm32f1::uart uart1(hal::port<1>, hal::buffer<128>);
   p_resources.console = &uart1;
 
-  static hal::stm32f1::can_peripheral_manager can(
-    100_kHz, hal::stm32f1::can_pins::pb9_pb8);
-
-  can.enable_self_test(true);
-
-  static std::array<hal::can_message, 8> receive_buffer{};
-  static auto can_transceiver = can.acquire_transceiver(receive_buffer);
-  p_resources.can_transceiver = &can_transceiver;
-
-  static auto can_bus_manager = can.acquire_bus_manager();
-  p_resources.can_bus_manager = &can_bus_manager;
-
-  static auto can_interrupt = can.acquire_interrupt();
-  p_resources.can_interrupt = &can_interrupt;
-
-  // Allow all messages
-  static auto mask_id_filters_x2 = can.acquire_mask_filter();
-  mask_id_filters_x2.filter[0].allow({ { .id = 0, .mask = 0 } });
-
   static hal::stm32f1::output_pin led('C', 13);
   p_resources.status_led = &led;
 
@@ -123,4 +105,36 @@ void initialize_platform(resource_list& p_resources)
     spi = &spi1;
   }
   p_resources.spi = spi;
+
+  try {
+    using namespace std::chrono_literals;
+    static hal::stm32f1::can_peripheral_manager can(
+      100_kHz, steady_clock, 1ms, hal::stm32f1::can_pins::pb9_pb8);
+
+    // Self test allows the can transceiver to see its own messages as if they
+    // were received on the bus. This also prevents messages from being received
+    // from the bus. Set to `false` if you want to get actual CAN messages from
+    // the bus and not the device's own messages.
+    can.enable_self_test(true);
+
+    static std::array<hal::can_message, 8> receive_buffer{};
+    static auto can_transceiver = can.acquire_transceiver(receive_buffer);
+    p_resources.can_transceiver = &can_transceiver;
+
+    static auto can_bus_manager = can.acquire_bus_manager();
+    p_resources.can_bus_manager = &can_bus_manager;
+
+    static auto can_interrupt = can.acquire_interrupt();
+    p_resources.can_interrupt = &can_interrupt;
+
+    // Allow all messages
+    static auto mask_id_filters_x2 = can.acquire_mask_filter();
+    mask_id_filters_x2.filter[0].allow({ { .id = 0, .mask = 0 } });
+  } catch (hal::timed_out&) {
+    hal::print(
+      uart1,
+      "⚠️ CAN peripheral timeout error!\n"
+      "- CAN disabled - check CANRX/CANTX connections to transceiver.\n"
+      "- System will operate normally if CAN is NOT required.\n\n");
+  }
 }