embedded_hal/can/
mod.rs

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1//! Controller Area Network
2
3pub mod nb;
4
5mod id;
6
7pub use self::id::*;
8pub use self::nb::*;
9
10/// A CAN2.0 Frame
11pub trait Frame: Sized {
12    /// Creates a new frame.
13    ///
14    /// This will return `None` if the data slice is too long.
15    fn new(id: impl Into<Id>, data: &[u8]) -> Option<Self>;
16
17    /// Creates a new remote frame (RTR bit set).
18    ///
19    /// This will return `None` if the data length code (DLC) is not valid.
20    fn new_remote(id: impl Into<Id>, dlc: usize) -> Option<Self>;
21
22    /// Returns true if this frame is a extended frame.
23    fn is_extended(&self) -> bool;
24
25    /// Returns true if this frame is a standard frame.
26    fn is_standard(&self) -> bool {
27        !self.is_extended()
28    }
29
30    /// Returns true if this frame is a remote frame.
31    fn is_remote_frame(&self) -> bool;
32
33    /// Returns true if this frame is a data frame.
34    fn is_data_frame(&self) -> bool {
35        !self.is_remote_frame()
36    }
37
38    /// Returns the frame identifier.
39    fn id(&self) -> Id;
40
41    /// Returns the data length code (DLC) which is in the range 0..8.
42    ///
43    /// For data frames the DLC value always matches the length of the data.
44    /// Remote frames do not carry any data, yet the DLC can be greater than 0.
45    fn dlc(&self) -> usize;
46
47    /// Returns the frame data (0..8 bytes in length).
48    fn data(&self) -> &[u8];
49}
50
51/// CAN error
52pub trait Error: core::fmt::Debug {
53    /// Convert error to a generic CAN error kind
54    ///
55    /// By using this method, CAN errors freely defined by HAL implementations
56    /// can be converted to a set of generic serial errors upon which generic
57    /// code can act.
58    fn kind(&self) -> ErrorKind;
59}
60
61/// CAN error kind
62///
63/// This represents a common set of CAN operation errors. HAL implementations are
64/// free to define more specific or additional error types. However, by providing
65/// a mapping to these common CAN errors, generic code can still react to them.
66#[derive(Debug, Copy, Clone, Eq, PartialEq, Ord, PartialOrd, Hash)]
67pub enum ErrorKind {
68    /// The peripheral receive buffer was overrun.
69    Overrun,
70
71    // MAC sublayer errors
72    /// A bit error is detected at that bit time when the bit value that is
73    /// monitored differs from the bit value sent.
74    Bit,
75
76    /// A stuff error is detected at the bit time of the sixth consecutive
77    /// equal bit level in a frame field that shall be coded by the method
78    /// of bit stuffing.
79    Stuff,
80
81    /// Calculated CRC sequence does not equal the received one.
82    Crc,
83
84    /// A form error shall be detected when a fixed-form bit field contains
85    /// one or more illegal bits.
86    Form,
87
88    /// An ACK  error shall be detected by a transmitter whenever it does not
89    /// monitor a dominant bit during the ACK slot.
90    Acknowledge,
91
92    /// A different error occurred. The original error may contain more information.
93    Other,
94}
95
96impl Error for ErrorKind {
97    fn kind(&self) -> ErrorKind {
98        *self
99    }
100}
101
102impl core::fmt::Display for ErrorKind {
103    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
104        match self {
105            ErrorKind::Overrun => write!(f, "The peripheral receive buffer was overrun"),
106            ErrorKind::Bit => write!(
107                f,
108                "Bit value that is monitored differs from the bit value sent"
109            ),
110            ErrorKind::Stuff => write!(f, "Sixth consecutive equal bits detected"),
111            ErrorKind::Crc => write!(f, "Calculated CRC sequence does not equal the received one"),
112            ErrorKind::Form => write!(
113                f,
114                "A fixed-form bit field contains one or more illegal bits"
115            ),
116            ErrorKind::Acknowledge => write!(f, "Transmitted frame was not acknowledged"),
117            ErrorKind::Other => write!(
118                f,
119                "A different error occurred. The original error may contain more information"
120            ),
121        }
122    }
123}
embedded_hal/can/mod.rs

embedded_hal/can/
mod.rs
