Struct CanBus 

pub struct CanBus<I>
where
    Can<I>: Instance,
{ /* private fields */ }

Wrapper around a bxcan CAN instance built from a HAL CAN peripheral.

Implementations

impl<I> CanBus<I>

where Can<I>: Instance,

pub fn new(hal_can: Can<I>, btr: u32, loopback: bool, silent: bool) -> Self

Create and enable a bxcan instance from a HAL CAN peripheral.

• hal_can – the HAL CAN wrapper
• btr – value for the CAN_BTR register (bit timing). Get this from the reference manual or the bxcan timing tables.
• loopback – enable internal loopback
• silent – enable silent mode

pub fn inner(&mut self) -> &mut Can<Can<I>>

Access the underlying bxcan instance for advanced configuration.

pub fn free(self) -> Can<I>

Consume the wrapper and get back the underlying HAL CAN instance.

pub fn transmit_frame( &mut self, frame: &Frame, ) -> Result<TransmitStatus, Infallible>

Transmit a pre-built CAN frame.

Returns the bxcan TransmitStatus. The error type is Infallible.

pub fn transmit_data( &mut self, id: StandardId, data: &[u8], ) -> Option<Result<TransmitStatus, Infallible>>

Transmit a data frame with a standard 11-bit ID.

data must be at most 8 bytes, otherwise this returns None.

pub fn receive(&mut self) -> Result<Frame, OverrunError>

Blocking receive of a frame.

This will block inside bxcan until a frame is available or an overrun is detected.

impl<I> CanBus<I>

where Can<I>: Instance + FilterOwner,

Extra helpers for CAN instances that own filters (e.g., CAN1 on STM32F7).

pub fn configure_accept_all_filters_for_dual_can<I2>( &mut self, _can2: &mut Can<I2>, )

where Can<I2>: Instance,

Configure CAN1 and CAN2 filters so that both accept all frames on FIFO0.

This must be called on CAN1 (the filter owner).