Struct Can

pub struct Can<'d> { /* private fields */ }

FDCAN Instance

Implementations

impl<'d> Can<'d>

pub fn properties(&self) -> &Properties

Get driver properties

pub async fn flush(&self, idx: usize)

Flush one of the TX mailboxes.

pub async fn write(&mut self, frame: &Frame) -> Option<Frame>

Queues the message to be sent but exerts backpressure. If a lower-priority frame is dropped from the mailbox, it is returned. If no lower-priority frames can be replaced, this call asynchronously waits for a frame to be successfully transmitted, then tries again.

pub async fn read(&mut self) -> Result<Envelope, BusError>

Returns the next received message frame

pub async fn write_fd(&mut self, frame: &FdFrame) -> Option<FdFrame>

Queues the message to be sent but exerts backpressure. If a lower-priority frame is dropped from the mailbox, it is returned. If no lower-priority frames can be replaced, this call asynchronously waits for a frame to be successfully transmitted, then tries again.

pub async fn read_fd(&mut self) -> Result<FdEnvelope, BusError>

Returns the next received message frame

pub fn split(self) -> (CanTx<'d>, CanRx<'d>, Properties)

Split instance into separate portions: Tx(write), Rx(read), common properties

pub fn join(tx: CanTx<'d>, rx: CanRx<'d>) -> Self

Join split rx and tx portions back together

pub fn buffered<const TX_BUF_SIZE: usize, const RX_BUF_SIZE: usize>( self, tx_buf: &'static mut TxBuf<TX_BUF_SIZE>, rxb: &'static mut RxBuf<RX_BUF_SIZE>, ) -> BufferedCan<'d, TX_BUF_SIZE, RX_BUF_SIZE>

Return a buffered instance of driver without CAN FD support. User must supply Buffers

pub fn buffered_fd<const TX_BUF_SIZE: usize, const RX_BUF_SIZE: usize>( self, tx_buf: &'static mut TxFdBuf<TX_BUF_SIZE>, rxb: &'static mut RxFdBuf<RX_BUF_SIZE>, ) -> BufferedCanFd<'d, TX_BUF_SIZE, RX_BUF_SIZE>

Return a buffered instance of driver with CAN FD support. User must supply Buffers