can: Frame, Transmitter and Receiver traits

Author: timokroeger

src/can.rs

@@ -0,0 +1,68 @@
+//! Controller Area Network
+
+/// A CAN2.0 Frame
+pub trait Frame {
+    /// Creates a new frame with a standard identifier.
+    fn new_standard(id: u32, data: &[u8]) -> Self;
+
+    /// Creates a new frame with an extended identifier.
+    fn new_extended(id: u32, data: &[u8]) -> Self;
+
+    /// Marks this frame as a remote frame (by setting the RTR bit).
+    fn with_rtr(&mut self, dlc: usize) -> &mut Self;
+
+    /// Returns true if this frame is a extended frame.
+    fn is_extended(&self) -> bool;
+
+    /// Returns true if this frame is a standard frame.
+    fn is_standard(&self) -> bool {
+        !self.is_extended()
+    }
+
+    /// Returns true if this frame is a remote frame.
+    fn is_remote_frame(&self) -> bool;
+
+    /// Returns true if this frame is a data frame.
+    fn is_data_frame(&self) -> bool {
+        !self.is_remote_frame()
+    }
+
+    /// Returns the frame identifier.
+    fn id(&self) -> u32;
+
+    /// Returns the data length code (DLC) which is in the range 0..8.
+    ///
+    /// For data frames the DLC value always matches the lenght of the data.
+    /// Remote frames no not carry any data, yet the DLC can be greater than 0.
+    fn dlc(&self) -> usize;
+
+    /// Returns the frame data (0..8 bytes in length).
+    fn data(&self) -> &[u8];
+}
+
+/// A CAN interface that is able to transmit frames.
+pub trait Transmitter {
+    /// Associated frame type.
+    type Frame: Frame;
+
+    /// Associated error type.
+    type Error;
+
+    /// Puts a frame in the transmit buffer.
+    ///
+    /// If the buffer is full, this function will try to replace a lower priority frame
+    /// and return it. This is to avoid the priority inversion problem.
+    fn transmit(&mut self, frame: &Self::Frame) -> nb::Result<Option<Self::Frame>, Self::Error>;
+}
+
+/// A CAN interface that is able to receive frames.
+pub trait Receiver {
+    /// Associated frame type.
+    type Frame: Frame;
+
+    /// Associated error type.
+    type Error;
+
+    /// Returns a received frame if available.
+    fn receive(&mut self) -> nb::Result<Self::Frame, Self::Error>;
+}

src/lib.rs

@@ -692,6 +692,7 @@ extern crate void;
 
 pub mod adc;
 pub mod blocking;
+pub mod can;
 pub mod digital;
 pub mod fmt;
 pub mod prelude;