#bus #priority #message #pool #order #hash #serialization

vhrdcan

Types for working with CAN Bus, including proper priority ordering, message pool, serialization and hash support

1 unstable release

0.1.0 Jul 11, 2021

#48 in #priority


Used in mcp25625

MIT license

13KB
347 lines

vhrdcan

FrameId

Checked CAN Bus identifier, can be either StandardId or ExtendedId. Constructors are const fn, so you can check that IDs are valid during compile time:

const MOTOR_DRIVE_ID: FrameId = FrameId::new_extended(0x1).unwrap();
const EMERGENCY_STOP_ID: FrameId = FrameId::new_standard(0x0).unwrap();

RawFrameRef

Contains FrameId + reference to a [u8] slice. Can be used to create a frame without copying the data around.

RawFrame

Contains FrameId + owned [u8; 8] array + length to determine an actual amounts of bytes used.

Frame

Contains RawFrame + sequence number. Can be safely created only from FramePool to preserve message order and avoid various bugs such as priority inversion (CAN Bus driver should be carefully checked for priority inversion also, especially if it has several transmit buffers).

FramePool

Allows creation of Frame's while preserving their creation time.

Traits

Ord, Hash, hash32::Hash, nice Debug, Eq, PartialEq, Copy, Clone is implemented. Serialize and Deserialize is behing a serialization feature gate.

Dependencies

~2MB
~52K SLoC