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 Aliases

Header

Convenience type alias for a transfer header

Transfer

Convenience type alias for a transfer