Struct esp32_hal::twai::Twai

pub struct Twai<'d, T> { /* private fields */ }

An active TWAI peripheral in Normal Mode.

In this mode, the TWAI controller can transmit and receive messages including error signals (such as error and overload frames).

Implementations

impl<'d, T> Twai<'d, T>

where T: Instance,

pub fn stop(self) -> TwaiConfiguration<'d, T>

Stop the peripheral, putting it into reset mode and enabling reconfiguration.

pub fn receive_error_count(&self) -> u8

pub fn transmit_error_count(&self) -> u8

pub fn is_bus_off(&self) -> bool

Check if the controller is in a bus off state.

pub fn num_available_messages(&self) -> u8

Get the number of messages that the peripheral has available in the receive FIFO.

Note that this may not be the number of valid messages in the receive FIFO due to fifo overflow/overrun.

pub fn clear_receive_fifo(&self)

Clear the receive FIFO, discarding any valid, partial, or invalid packets.

This is typically used to clear an overrun receive FIFO.

TODO: Not sure if this needs to be guarded against Bus Off or other error states.

Trait Implementations

impl<T> Can for Twai<'_, T>

where T: Instance,

fn transmit( &mut self, frame: &<Twai<'_, T> as Can>::Frame ) -> Result<Option<<Twai<'_, T> as Can>::Frame>, Error<<Twai<'_, T> as Can>::Error>>

Transmit a frame.

Because of how the TWAI registers are set up, we have to do some assembly of bytes. Note that these registers serve a filter configuration role when the device is in configuration mode so patching the svd files to improve this may be non-trivial.

ESP32C3 Reference Manual

NOTE: TODO: This may not work if using the self reception/self test functionality. See notes 1 and 2 in the “Frame Identifier” section of the reference manual.

fn receive( &mut self ) -> Result<<Twai<'_, T> as Can>::Frame, Error<<Twai<'_, T> as Can>::Error>>

Return a received frame if there are any available.

type Frame = EspTwaiFrame

Associated frame type.

type Error = EspTwaiError

Associated error type.