Crate canadensis_can

CAN and CAN FD transport for Cyphal

This library implements the Cyphal/CAN transport layer. It splits transfers into frames, reassembles frames into transfers, and keeps track of subscriptions.

Modules

• driver
  CAN driver traits
• queue
  Queues of outgoing CAN frames
• redundant
  Utilities for use with redundant transports

Structs

• CanId
  A 29-bit extended CAN ID
• CanNodeId
  Node ID
• CanReceiver
  Handles subscriptions and assembles incoming frames into transfers
• CanTransferId
  Transfer ID, 5 bits, in range 0..=31
• CanTransferIds
  A wrapper for an array of CanTransferIds that implements Default
• CanTransmitter
  Splits outgoing transfers into frames
• CanTransport
  The Cyphal/CAN transport
• Frame
  CAN or CAN FD data frame with up to 64 bytes of data and an extended 29-bit ID
• TransferCrc
  Calculates the 32-bit transfer CRC

Enums

• Error
  CAN transport errors
• Mtu
  Allowed maximum transmission unit (MTU) values

Constants

• FRAME_CAPACITY
  Maximum number of bytes in a frame

Type Definitions

• Header
  Convenience type alias for a transfer header
• Transfer
  Convenience type alias for a transfer