1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 683 684 685 686 687 688 689 690 691 692 693 694 695 696 697 698 699 700 701 702 703 704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 730 731 732 733 734 735 736 737 738 739 740 741 742 743 744 745 746 747 748 749 750 751 752 753 754 755 756 757 758 759 760 761 762 763 764 765 766 767 768 769 770 771 772 773 774 775 776 777 778 779 780 781 782 783 784 785 786 787 788 789 790 791 792 793 794 795 796 797 798 799 800 801 802 803 804 805 806 807 808 809 810 811 812 813 814 815 816 817 818 819 820 821 822 823 824 825 826 827 828 829 830 831 832 833 834 835 836 837 838 839 840 841 842 843 844 845 846 847 848 849 850 851 852 853 854 855 856 857 858 859 860 861 862 863 864 865 866 867 868 869 870 871 872 873 874 875 876 877 878 879 880 881 882 883 884 885 886 887 888 889 890 891 892 893 894 895 896 897 898 899 900 901 902 903 904 905 906 907 908 909 910 911 912 913 914 915 916 917 918 919 920 921 922 923 924 925 926 927 928 929 930 931 932 933 934 935 936 937 938 939 940 941 942 943 944 945 946 947 948 949 950 951 952 953 954 955 956 957 958 959 960 961 962 963 964 965 966 967 968 969 970 971 972 973 974 975 976 977 978 979 980 981 982 983 984 985 986 987 988 989 990 991 992 993 994 995 996 997 998 999 1000 1001 1002 1003 1004 1005 1006 1007 1008 1009 1010 1011 1012 1013 1014 1015 1016 1017 1018 1019 1020 1021 1022 1023 1024 1025 1026 1027 1028 1029 1030 1031 1032 1033 1034 1035 1036 1037 1038 1039 1040 1041 1042 1043 1044 1045 1046 1047 1048 1049 1050 1051 1052 1053 1054 1055 1056 1057 1058 1059 1060 1061 1062 1063 1064 1065 1066 1067 1068 1069 1070 1071 1072 1073 1074 1075 1076 1077 1078 1079 1080 1081 1082 1083 1084 1085 1086 1087 1088 1089 1090 1091 1092 1093 1094 1095 1096 1097 1098 1099 1100 1101 1102 1103 1104 1105 1106 1107 1108 1109 1110 1111 1112 1113 1114 1115 1116 1117 1118 1119 1120 1121 1122 1123 1124 1125 1126 1127 1128 1129 1130 1131 1132 1133 1134 1135 1136 1137 1138 1139 1140 1141 1142 1143 1144 1145 1146 1147 1148 1149 1150 1151 1152 1153 1154 1155 1156 1157 1158 1159 1160 1161 1162 1163 1164 1165 1166 1167 1168 1169 1170 1171 1172 1173 1174 1175 1176 1177 1178 1179 1180 1181 1182 1183 1184 1185 1186 1187 1188 1189 1190 1191 1192 1193 1194 1195 1196 1197 1198 1199 1200 1201 1202 1203 1204 1205 1206 1207 1208 1209 1210 1211 1212 1213 1214 1215 1216 1217 1218 1219 1220 1221 1222 1223 1224 1225 1226 1227 1228 1229 1230 1231 1232 1233 1234 1235 1236 1237 1238 1239 1240 1241 1242 1243 1244 1245 1246 1247 1248 1249 1250 1251 1252 1253 1254 1255 1256 1257 1258 1259 1260 1261 1262 1263 1264 1265 1266 1267 1268 1269 1270 1271 1272 1273 1274 1275 1276 1277 1278 1279 1280 1281 1282 1283 1284 1285 1286 1287 1288 1289 1290 1291 1292 1293 1294 1295 1296 1297 1298 1299 1300 1301 1302 1303 1304 1305 1306 1307 1308 1309 1310 1311 1312 1313 1314 1315 1316 1317 1318 1319 1320 1321 1322 1323 1324 1325 1326 1327 1328 1329 1330 1331 1332 1333 1334 1335 1336 1337 1338 1339 1340 1341 1342 1343 1344 1345 1346 1347 1348 1349 1350 1351 1352 1353 1354 1355 1356 1357 1358 1359 1360 1361 1362 1363 1364 1365 1366 1367 1368 1369 1370 1371 1372 1373 1374 1375 1376 1377
/* ***********************************************************
* This file was automatically generated on 2018-11-08. *
* *
* Rust Bindings Version 2.0.3 *
* *
* If you have a bugfix for this file and want to commit it, *
* please fix the bug in the generator. You can find a link *
* to the generators git repository on tinkerforge.com *
*************************************************************/
//! Communicates with CAN bus devices
use crate::{
byte_converter::*,
converting_callback_receiver::ConvertingCallbackReceiver,
converting_high_level_callback_receiver::ConvertingHighLevelCallbackReceiver,
converting_receiver::{BrickletRecvTimeoutError, ConvertingReceiver},
device::*,
ip_connection::IpConnection,
low_level_traits::*,
};
pub enum CanV2BrickletFunction {
WriteFrameLowLevel,
ReadFrameLowLevel,
SetFrameReadCallbackConfiguration,
GetFrameReadCallbackConfiguration,
SetTransceiverConfiguration,
GetTransceiverConfiguration,
SetQueueConfigurationLowLevel,
GetQueueConfigurationLowLevel,
SetReadFilterConfiguration,
GetReadFilterConfiguration,
GetErrorLogLowLevel,
SetCommunicationLedConfig,
GetCommunicationLedConfig,
SetErrorLedConfig,
GetErrorLedConfig,
GetSpitfpErrorCount,
SetBootloaderMode,
GetBootloaderMode,
SetWriteFirmwarePointer,
WriteFirmware,
SetStatusLedConfig,
GetStatusLedConfig,
GetChipTemperature,
Reset,
WriteUid,
ReadUid,
GetIdentity,
CallbackFrameReadLowLevel,
}
impl From<CanV2BrickletFunction> for u8 {
fn from(fun: CanV2BrickletFunction) -> Self {
match fun {
CanV2BrickletFunction::WriteFrameLowLevel => 1,
CanV2BrickletFunction::ReadFrameLowLevel => 2,
CanV2BrickletFunction::SetFrameReadCallbackConfiguration => 3,
CanV2BrickletFunction::GetFrameReadCallbackConfiguration => 4,
CanV2BrickletFunction::SetTransceiverConfiguration => 5,
CanV2BrickletFunction::GetTransceiverConfiguration => 6,
CanV2BrickletFunction::SetQueueConfigurationLowLevel => 7,
CanV2BrickletFunction::GetQueueConfigurationLowLevel => 8,
CanV2BrickletFunction::SetReadFilterConfiguration => 9,
CanV2BrickletFunction::GetReadFilterConfiguration => 10,
CanV2BrickletFunction::GetErrorLogLowLevel => 11,
CanV2BrickletFunction::SetCommunicationLedConfig => 12,
CanV2BrickletFunction::GetCommunicationLedConfig => 13,
CanV2BrickletFunction::SetErrorLedConfig => 14,
CanV2BrickletFunction::GetErrorLedConfig => 15,
CanV2BrickletFunction::GetSpitfpErrorCount => 234,
CanV2BrickletFunction::SetBootloaderMode => 235,
CanV2BrickletFunction::GetBootloaderMode => 236,
CanV2BrickletFunction::SetWriteFirmwarePointer => 237,
CanV2BrickletFunction::WriteFirmware => 238,
CanV2BrickletFunction::SetStatusLedConfig => 239,
CanV2BrickletFunction::GetStatusLedConfig => 240,
CanV2BrickletFunction::GetChipTemperature => 242,
CanV2BrickletFunction::Reset => 243,
CanV2BrickletFunction::WriteUid => 248,
CanV2BrickletFunction::ReadUid => 249,
CanV2BrickletFunction::GetIdentity => 255,
CanV2BrickletFunction::CallbackFrameReadLowLevel => 16,
}
}
}
pub const CAN_V2_BRICKLET_FRAME_TYPE_STANDARD_DATA: u8 = 0;
pub const CAN_V2_BRICKLET_FRAME_TYPE_STANDARD_REMOTE: u8 = 1;
pub const CAN_V2_BRICKLET_FRAME_TYPE_EXTENDED_DATA: u8 = 2;
pub const CAN_V2_BRICKLET_FRAME_TYPE_EXTENDED_REMOTE: u8 = 3;
pub const CAN_V2_BRICKLET_TRANSCEIVER_MODE_NORMAL: u8 = 0;
pub const CAN_V2_BRICKLET_TRANSCEIVER_MODE_LOOPBACK: u8 = 1;
pub const CAN_V2_BRICKLET_TRANSCEIVER_MODE_READ_ONLY: u8 = 2;
pub const CAN_V2_BRICKLET_FILTER_MODE_ACCEPT_ALL: u8 = 0;
pub const CAN_V2_BRICKLET_FILTER_MODE_MATCH_STANDARD_ONLY: u8 = 1;
pub const CAN_V2_BRICKLET_FILTER_MODE_MATCH_EXTENDED_ONLY: u8 = 2;
pub const CAN_V2_BRICKLET_FILTER_MODE_MATCH_STANDARD_AND_EXTENDED: u8 = 3;
pub const CAN_V2_BRICKLET_TRANSCEIVER_STATE_ACTIVE: u8 = 0;
pub const CAN_V2_BRICKLET_TRANSCEIVER_STATE_PASSIVE: u8 = 1;
pub const CAN_V2_BRICKLET_TRANSCEIVER_STATE_DISABLED: u8 = 2;
pub const CAN_V2_BRICKLET_COMMUNICATION_LED_CONFIG_OFF: u8 = 0;
pub const CAN_V2_BRICKLET_COMMUNICATION_LED_CONFIG_ON: u8 = 1;
pub const CAN_V2_BRICKLET_COMMUNICATION_LED_CONFIG_SHOW_HEARTBEAT: u8 = 2;
pub const CAN_V2_BRICKLET_COMMUNICATION_LED_CONFIG_SHOW_COMMUNICATION: u8 = 3;
pub const CAN_V2_BRICKLET_ERROR_LED_CONFIG_OFF: u8 = 0;
pub const CAN_V2_BRICKLET_ERROR_LED_CONFIG_ON: u8 = 1;
pub const CAN_V2_BRICKLET_ERROR_LED_CONFIG_SHOW_HEARTBEAT: u8 = 2;
pub const CAN_V2_BRICKLET_ERROR_LED_CONFIG_SHOW_TRANSCEIVER_STATE: u8 = 3;
pub const CAN_V2_BRICKLET_ERROR_LED_CONFIG_SHOW_ERROR: u8 = 4;
pub const CAN_V2_BRICKLET_BOOTLOADER_MODE_BOOTLOADER: u8 = 0;
pub const CAN_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE: u8 = 1;
pub const CAN_V2_BRICKLET_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT: u8 = 2;
pub const CAN_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT: u8 = 3;
pub const CAN_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT: u8 = 4;
pub const CAN_V2_BRICKLET_BOOTLOADER_STATUS_OK: u8 = 0;
pub const CAN_V2_BRICKLET_BOOTLOADER_STATUS_INVALID_MODE: u8 = 1;
pub const CAN_V2_BRICKLET_BOOTLOADER_STATUS_NO_CHANGE: u8 = 2;
pub const CAN_V2_BRICKLET_BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT: u8 = 3;
pub const CAN_V2_BRICKLET_BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT: u8 = 4;
pub const CAN_V2_BRICKLET_BOOTLOADER_STATUS_CRC_MISMATCH: u8 = 5;
pub const CAN_V2_BRICKLET_STATUS_LED_CONFIG_OFF: u8 = 0;
pub const CAN_V2_BRICKLET_STATUS_LED_CONFIG_ON: u8 = 1;
pub const CAN_V2_BRICKLET_STATUS_LED_CONFIG_SHOW_HEARTBEAT: u8 = 2;
pub const CAN_V2_BRICKLET_STATUS_LED_CONFIG_SHOW_STATUS: u8 = 3;
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct WriteFrameLowLevel {
pub success: bool,
}
impl FromByteSlice for WriteFrameLowLevel {
fn bytes_expected() -> usize { 1 }
fn from_le_bytes(bytes: &[u8]) -> WriteFrameLowLevel { WriteFrameLowLevel { success: <bool>::from_le_bytes(&bytes[0..1]) } }
}
impl LowLevelWrite<WriteFrameResult> for WriteFrameLowLevel {
fn ll_message_written(&self) -> usize { 15 }
fn get_result(&self) -> WriteFrameResult { WriteFrameResult { success: self.success } }
}
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct ReadFrameLowLevel {
pub success: bool,
pub frame_type: u8,
pub identifier: u32,
pub data_length: u8,
pub data_data: [u8; 15],
}
impl FromByteSlice for ReadFrameLowLevel {
fn bytes_expected() -> usize { 22 }
fn from_le_bytes(bytes: &[u8]) -> ReadFrameLowLevel {
ReadFrameLowLevel {
success: <bool>::from_le_bytes(&bytes[0..1]),
frame_type: <u8>::from_le_bytes(&bytes[1..2]),
identifier: <u32>::from_le_bytes(&bytes[2..6]),
data_length: <u8>::from_le_bytes(&bytes[6..7]),
data_data: <[u8; 15]>::from_le_bytes(&bytes[7..22]),
}
}
}
impl LowLevelRead<u8, ReadFrameResult> for ReadFrameLowLevel {
fn ll_message_length(&self) -> usize { self.data_length as usize }
fn ll_message_chunk_offset(&self) -> usize { 0 }
fn ll_message_chunk_data(&self) -> &[u8] { &self.data_data }
fn get_result(&self) -> ReadFrameResult {
ReadFrameResult { success: self.success, frame_type: self.frame_type, identifier: self.identifier }
}
}
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct TransceiverConfiguration {
pub baud_rate: u32,
pub sample_point: u16,
pub transceiver_mode: u8,
}
impl FromByteSlice for TransceiverConfiguration {
fn bytes_expected() -> usize { 7 }
fn from_le_bytes(bytes: &[u8]) -> TransceiverConfiguration {
TransceiverConfiguration {
baud_rate: <u32>::from_le_bytes(&bytes[0..4]),
sample_point: <u16>::from_le_bytes(&bytes[4..6]),
transceiver_mode: <u8>::from_le_bytes(&bytes[6..7]),
}
}
}
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct SetQueueConfigurationLowLevel {}
impl FromByteSlice for SetQueueConfigurationLowLevel {
fn bytes_expected() -> usize { 0 }
fn from_le_bytes(_bytes: &[u8]) -> SetQueueConfigurationLowLevel { SetQueueConfigurationLowLevel {} }
}
impl LowLevelWrite<SetQueueConfigurationResult> for SetQueueConfigurationLowLevel {
fn ll_message_written(&self) -> usize { 32 }
fn get_result(&self) -> SetQueueConfigurationResult { SetQueueConfigurationResult {} }
}
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct QueueConfigurationLowLevel {
pub write_buffer_size: u8,
pub write_buffer_timeout: i32,
pub write_backlog_size: u16,
pub read_buffer_sizes_length: u8,
pub read_buffer_sizes_data: [i8; 32],
pub read_backlog_size: u16,
}
impl FromByteSlice for QueueConfigurationLowLevel {
fn bytes_expected() -> usize { 42 }
fn from_le_bytes(bytes: &[u8]) -> QueueConfigurationLowLevel {
QueueConfigurationLowLevel {
write_buffer_size: <u8>::from_le_bytes(&bytes[0..1]),
write_buffer_timeout: <i32>::from_le_bytes(&bytes[1..5]),
write_backlog_size: <u16>::from_le_bytes(&bytes[5..7]),
read_buffer_sizes_length: <u8>::from_le_bytes(&bytes[7..8]),
read_buffer_sizes_data: <[i8; 32]>::from_le_bytes(&bytes[8..40]),
read_backlog_size: <u16>::from_le_bytes(&bytes[40..42]),
}
}
}
impl LowLevelRead<i8, QueueConfigurationResult> for QueueConfigurationLowLevel {
fn ll_message_length(&self) -> usize { self.read_buffer_sizes_length as usize }
fn ll_message_chunk_offset(&self) -> usize { 0 }
fn ll_message_chunk_data(&self) -> &[i8] { &self.read_buffer_sizes_data }
fn get_result(&self) -> QueueConfigurationResult {
QueueConfigurationResult {
write_buffer_size: self.write_buffer_size,
write_buffer_timeout: self.write_buffer_timeout,
write_backlog_size: self.write_backlog_size,
read_backlog_size: self.read_backlog_size,
}
}
}
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct ReadFilterConfiguration {
pub filter_mode: u8,
pub filter_mask: u32,
pub filter_identifier: u32,
}
impl FromByteSlice for ReadFilterConfiguration {
fn bytes_expected() -> usize { 9 }
fn from_le_bytes(bytes: &[u8]) -> ReadFilterConfiguration {
ReadFilterConfiguration {
filter_mode: <u8>::from_le_bytes(&bytes[0..1]),
filter_mask: <u32>::from_le_bytes(&bytes[1..5]),
filter_identifier: <u32>::from_le_bytes(&bytes[5..9]),
}
}
}
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct ErrorLogLowLevel {
pub transceiver_state: u8,
pub transceiver_write_error_level: u8,
pub transceiver_read_error_level: u8,
pub transceiver_stuffing_error_count: u32,
pub transceiver_format_error_count: u32,
pub transceiver_ack_error_count: u32,
pub transceiver_bit1_error_count: u32,
pub transceiver_bit0_error_count: u32,
pub transceiver_crc_error_count: u32,
pub write_buffer_timeout_error_count: u32,
pub read_buffer_overflow_error_count: u32,
pub read_buffer_overflow_error_occurred_length: u8,
pub read_buffer_overflow_error_occurred_data: [bool; 32],
pub read_backlog_overflow_error_count: u32,
}
impl FromByteSlice for ErrorLogLowLevel {
fn bytes_expected() -> usize { 44 }
fn from_le_bytes(bytes: &[u8]) -> ErrorLogLowLevel {
ErrorLogLowLevel {
transceiver_state: <u8>::from_le_bytes(&bytes[0..1]),
transceiver_write_error_level: <u8>::from_le_bytes(&bytes[1..2]),
transceiver_read_error_level: <u8>::from_le_bytes(&bytes[2..3]),
transceiver_stuffing_error_count: <u32>::from_le_bytes(&bytes[3..7]),
transceiver_format_error_count: <u32>::from_le_bytes(&bytes[7..11]),
transceiver_ack_error_count: <u32>::from_le_bytes(&bytes[11..15]),
transceiver_bit1_error_count: <u32>::from_le_bytes(&bytes[15..19]),
transceiver_bit0_error_count: <u32>::from_le_bytes(&bytes[19..23]),
transceiver_crc_error_count: <u32>::from_le_bytes(&bytes[23..27]),
write_buffer_timeout_error_count: <u32>::from_le_bytes(&bytes[27..31]),
read_buffer_overflow_error_count: <u32>::from_le_bytes(&bytes[31..35]),
read_buffer_overflow_error_occurred_length: <u8>::from_le_bytes(&bytes[35..36]),
read_buffer_overflow_error_occurred_data: <[bool; 32]>::from_le_bytes(&bytes[36..40]),
read_backlog_overflow_error_count: <u32>::from_le_bytes(&bytes[40..44]),
}
}
}
impl LowLevelRead<bool, ErrorLogResult> for ErrorLogLowLevel {
fn ll_message_length(&self) -> usize { self.read_buffer_overflow_error_occurred_length as usize }
fn ll_message_chunk_offset(&self) -> usize { 0 }
fn ll_message_chunk_data(&self) -> &[bool] { &self.read_buffer_overflow_error_occurred_data }
fn get_result(&self) -> ErrorLogResult {
ErrorLogResult {
transceiver_state: self.transceiver_state,
transceiver_write_error_level: self.transceiver_write_error_level,
transceiver_read_error_level: self.transceiver_read_error_level,
transceiver_stuffing_error_count: self.transceiver_stuffing_error_count,
transceiver_format_error_count: self.transceiver_format_error_count,
transceiver_ack_error_count: self.transceiver_ack_error_count,
transceiver_bit1_error_count: self.transceiver_bit1_error_count,
transceiver_bit0_error_count: self.transceiver_bit0_error_count,
transceiver_crc_error_count: self.transceiver_crc_error_count,
write_buffer_timeout_error_count: self.write_buffer_timeout_error_count,
read_buffer_overflow_error_count: self.read_buffer_overflow_error_count,
read_backlog_overflow_error_count: self.read_backlog_overflow_error_count,
}
}
}
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct FrameReadLowLevelEvent {
pub frame_type: u8,
pub identifier: u32,
pub data_length: u8,
pub data_data: [u8; 15],
}
impl FromByteSlice for FrameReadLowLevelEvent {
fn bytes_expected() -> usize { 21 }
fn from_le_bytes(bytes: &[u8]) -> FrameReadLowLevelEvent {
FrameReadLowLevelEvent {
frame_type: <u8>::from_le_bytes(&bytes[0..1]),
identifier: <u32>::from_le_bytes(&bytes[1..5]),
data_length: <u8>::from_le_bytes(&bytes[5..6]),
data_data: <[u8; 15]>::from_le_bytes(&bytes[6..21]),
}
}
}
impl LowLevelRead<u8, FrameReadResult> for FrameReadLowLevelEvent {
fn ll_message_length(&self) -> usize { self.data_length as usize }
fn ll_message_chunk_offset(&self) -> usize { 0 }
fn ll_message_chunk_data(&self) -> &[u8] { &self.data_data }
fn get_result(&self) -> FrameReadResult { FrameReadResult { frame_type: self.frame_type, identifier: self.identifier } }
}
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct SpitfpErrorCount {
pub error_count_ack_checksum: u32,
pub error_count_message_checksum: u32,
pub error_count_frame: u32,
pub error_count_overflow: u32,
}
impl FromByteSlice for SpitfpErrorCount {
fn bytes_expected() -> usize { 16 }
fn from_le_bytes(bytes: &[u8]) -> SpitfpErrorCount {
SpitfpErrorCount {
error_count_ack_checksum: <u32>::from_le_bytes(&bytes[0..4]),
error_count_message_checksum: <u32>::from_le_bytes(&bytes[4..8]),
error_count_frame: <u32>::from_le_bytes(&bytes[8..12]),
error_count_overflow: <u32>::from_le_bytes(&bytes[12..16]),
}
}
}
#[derive(Clone, Debug, Default, PartialEq, Eq, Hash)]
pub struct Identity {
pub uid: String,
pub connected_uid: String,
pub position: char,
pub hardware_version: [u8; 3],
pub firmware_version: [u8; 3],
pub device_identifier: u16,
}
impl FromByteSlice for Identity {
fn bytes_expected() -> usize { 25 }
fn from_le_bytes(bytes: &[u8]) -> Identity {
Identity {
uid: <String>::from_le_bytes(&bytes[0..8]),
connected_uid: <String>::from_le_bytes(&bytes[8..16]),
position: <char>::from_le_bytes(&bytes[16..17]),
hardware_version: <[u8; 3]>::from_le_bytes(&bytes[17..20]),
firmware_version: <[u8; 3]>::from_le_bytes(&bytes[20..23]),
device_identifier: <u16>::from_le_bytes(&bytes[23..25]),
}
}
}
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct WriteFrameResult {
pub success: bool,
}
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct ReadFrameResult {
pub success: bool,
pub frame_type: u8,
pub identifier: u32,
}
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct SetQueueConfigurationResult {}
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct QueueConfigurationResult {
pub write_buffer_size: u8,
pub write_buffer_timeout: i32,
pub write_backlog_size: u16,
pub read_backlog_size: u16,
}
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct ErrorLogResult {
pub transceiver_state: u8,
pub transceiver_write_error_level: u8,
pub transceiver_read_error_level: u8,
pub transceiver_stuffing_error_count: u32,
pub transceiver_format_error_count: u32,
pub transceiver_ack_error_count: u32,
pub transceiver_bit1_error_count: u32,
pub transceiver_bit0_error_count: u32,
pub transceiver_crc_error_count: u32,
pub write_buffer_timeout_error_count: u32,
pub read_buffer_overflow_error_count: u32,
pub read_backlog_overflow_error_count: u32,
}
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct FrameReadResult {
pub frame_type: u8,
pub identifier: u32,
}
/// Communicates with CAN bus devices
#[derive(Clone)]
pub struct CanV2Bricklet {
device: Device,
}
impl CanV2Bricklet {
pub const DEVICE_IDENTIFIER: u16 = 2107;
pub const DEVICE_DISPLAY_NAME: &'static str = "CAN Bricklet 2.0";
/// Creates an object with the unique device ID `uid`. This object can then be used after the IP Connection `ip_connection` is connected.
pub fn new(uid: &str, ip_connection: &IpConnection) -> CanV2Bricklet {
let mut result = CanV2Bricklet { device: Device::new([2, 0, 0], uid, ip_connection, 6) };
result.device.response_expected[u8::from(CanV2BrickletFunction::WriteFrameLowLevel) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(CanV2BrickletFunction::ReadFrameLowLevel) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(CanV2BrickletFunction::SetFrameReadCallbackConfiguration) as usize] =
ResponseExpectedFlag::True;
result.device.response_expected[u8::from(CanV2BrickletFunction::GetFrameReadCallbackConfiguration) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(CanV2BrickletFunction::SetTransceiverConfiguration) as usize] =
ResponseExpectedFlag::False;
result.device.response_expected[u8::from(CanV2BrickletFunction::GetTransceiverConfiguration) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(CanV2BrickletFunction::SetQueueConfigurationLowLevel) as usize] =
ResponseExpectedFlag::True;
result.device.response_expected[u8::from(CanV2BrickletFunction::GetQueueConfigurationLowLevel) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(CanV2BrickletFunction::SetReadFilterConfiguration) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(CanV2BrickletFunction::GetReadFilterConfiguration) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(CanV2BrickletFunction::GetErrorLogLowLevel) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(CanV2BrickletFunction::SetCommunicationLedConfig) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(CanV2BrickletFunction::GetCommunicationLedConfig) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(CanV2BrickletFunction::SetErrorLedConfig) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(CanV2BrickletFunction::GetErrorLedConfig) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(CanV2BrickletFunction::GetSpitfpErrorCount) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(CanV2BrickletFunction::SetBootloaderMode) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(CanV2BrickletFunction::GetBootloaderMode) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(CanV2BrickletFunction::SetWriteFirmwarePointer) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(CanV2BrickletFunction::WriteFirmware) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(CanV2BrickletFunction::SetStatusLedConfig) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(CanV2BrickletFunction::GetStatusLedConfig) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(CanV2BrickletFunction::GetChipTemperature) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(CanV2BrickletFunction::Reset) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(CanV2BrickletFunction::WriteUid) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(CanV2BrickletFunction::ReadUid) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(CanV2BrickletFunction::GetIdentity) as usize] = ResponseExpectedFlag::AlwaysTrue;
result
}
/// Returns the response expected flag for the function specified by the function ID parameter.
/// It is true if the function is expected to send a response, false otherwise.
///
/// For getter functions this is enabled by default and cannot be disabled, because those
/// functions will always send a response. For callback configuration functions it is enabled
/// by default too, but can be disabled by [`set_response_expected`](crate::can_v2_bricklet::CanV2Bricklet::set_response_expected).
/// For setter functions it is disabled by default and can be enabled.
///
/// Enabling the response expected flag for a setter function allows to detect timeouts
/// and other error conditions calls of this setter as well. The device will then send a response
/// for this purpose. If this flag is disabled for a setter function then no response is send
/// and errors are silently ignored, because they cannot be detected.
///
/// See [`set_response_expected`](crate::can_v2_bricklet::CanV2Bricklet::set_response_expected) for the list of function ID constants available for this function.
pub fn get_response_expected(&mut self, fun: CanV2BrickletFunction) -> Result<bool, GetResponseExpectedError> {
self.device.get_response_expected(u8::from(fun))
}
/// Changes the response expected flag of the function specified by the function ID parameter.
/// This flag can only be changed for setter (default value: false) and callback configuration
/// functions (default value: true). For getter functions it is always enabled.
///
/// Enabling the response expected flag for a setter function allows to detect timeouts and
/// other error conditions calls of this setter as well. The device will then send a response
/// for this purpose. If this flag is disabled for a setter function then no response is send
/// and errors are silently ignored, because they cannot be detected.
pub fn set_response_expected(&mut self, fun: CanV2BrickletFunction, response_expected: bool) -> Result<(), SetResponseExpectedError> {
self.device.set_response_expected(u8::from(fun), response_expected)
}
/// Changes the response expected flag for all setter and callback configuration functions of this device at once.
pub fn set_response_expected_all(&mut self, response_expected: bool) { self.device.set_response_expected_all(response_expected) }
/// This receiver is triggered if a data or remote frame was received by the CAN
/// transceiver.
///
/// The ``identifier`` return value follows the identifier format described for
/// `Write Frame`.
///
/// For details on the ``data`` return value see `Read Frame`.
///
/// A configurable read filter can be used to define which frames should be
/// received by the CAN transceiver and put into the read queue (see
/// `Set Queue Configuration`).
///
/// To enable this receiver, use `Set Frame Read Receiver Configuration`.
pub fn get_frame_read_low_level_callback_receiver(&self) -> ConvertingCallbackReceiver<FrameReadLowLevelEvent> {
self.device.get_callback_receiver(u8::from(CanV2BrickletFunction::CallbackFrameReadLowLevel))
}
/// This receiver is triggered if a data or remote frame was received by the CAN
/// transceiver.
///
/// The ``identifier`` return value follows the identifier format described for
/// `Write Frame`.
///
/// For details on the ``data`` return value see `Read Frame`.
///
/// A configurable read filter can be used to define which frames should be
/// received by the CAN transceiver and put into the read queue (see
/// `Set Queue Configuration`).
///
/// To enable this receiver, use `Set Frame Read Receiver Configuration`.
pub fn get_frame_read_callback_receiver(&self) -> ConvertingHighLevelCallbackReceiver<u8, FrameReadResult, FrameReadLowLevelEvent> {
ConvertingHighLevelCallbackReceiver::new(
self.device.get_callback_receiver(u8::from(CanV2BrickletFunction::CallbackFrameReadLowLevel)),
)
}
/// Writes a data or remote frame to the write queue to be transmitted over the
/// CAN transceiver.
///
/// The Bricklet supports the standard 11-bit (CAN 2.0A) and the additional extended
/// 29-bit (CAN 2.0B) identifiers. For standard frames the Bricklet uses bit 0 to 10
/// from the ``identifier`` parameter as standard 11-bit identifier. For extended
/// frames the Bricklet uses bit 0 to 28 from the ``identifier`` parameter as
/// extended 29-bit identifier.
///
/// The ``data`` parameter can be up to 15 bytes long. For data frames up to 8 bytes
/// will be used as the actual data. The length (DLC) field in the data or remote
/// frame will be set to the actual length of the ``data`` parameter. This allows
/// to transmit data and remote frames with excess length. For remote frames only
/// the length of the ``data`` parameter is used. The actual ``data`` bytes are
/// ignored.
///
/// Returns *true* if the frame was successfully added to the write queue. Returns
/// *false* if the frame could not be added because write queue is already full or
/// because the write buffer or the write backlog are configured with a size of
/// zero (see `Set Queue Configuration`).
///
/// The write queue can overflow if frames are written to it at a higher rate
/// than the Bricklet can transmitted them over the CAN transceiver. This may
/// happen if the CAN transceiver is configured as read-only or is using a low baud
/// rate (see `Set Transceiver Configuration`). It can also happen if the CAN
/// bus is congested and the frame cannot be transmitted because it constantly loses
/// arbitration or because the CAN transceiver is currently disabled due to a high
/// write error level (see `Get Error Log`).
///
/// Associated constants:
/// * CAN_V2BRICKLET_FRAME_TYPE_STANDARD_DATA
/// * CAN_V2BRICKLET_FRAME_TYPE_STANDARD_REMOTE
/// * CAN_V2BRICKLET_FRAME_TYPE_EXTENDED_DATA
/// * CAN_V2BRICKLET_FRAME_TYPE_EXTENDED_REMOTE
pub fn write_frame_low_level(
&self,
frame_type: u8,
identifier: u32,
data_length: u8,
data_data: [u8; 15],
) -> ConvertingReceiver<WriteFrameLowLevel> {
let mut payload = vec![0; 21];
payload[0..1].copy_from_slice(&<u8>::to_le_bytes(frame_type));
payload[1..5].copy_from_slice(&<u32>::to_le_bytes(identifier));
payload[5..6].copy_from_slice(&<u8>::to_le_bytes(data_length));
payload[6..21].copy_from_slice(&<[u8; 15]>::to_le_bytes(data_data));
self.device.get(u8::from(CanV2BrickletFunction::WriteFrameLowLevel), payload)
}
/// Writes a data or remote frame to the write queue to be transmitted over the
/// CAN transceiver.
///
/// The Bricklet supports the standard 11-bit (CAN 2.0A) and the additional extended
/// 29-bit (CAN 2.0B) identifiers. For standard frames the Bricklet uses bit 0 to 10
/// from the ``identifier`` parameter as standard 11-bit identifier. For extended
/// frames the Bricklet uses bit 0 to 28 from the ``identifier`` parameter as
/// extended 29-bit identifier.
///
/// The ``data`` parameter can be up to 15 bytes long. For data frames up to 8 bytes
/// will be used as the actual data. The length (DLC) field in the data or remote
/// frame will be set to the actual length of the ``data`` parameter. This allows
/// to transmit data and remote frames with excess length. For remote frames only
/// the length of the ``data`` parameter is used. The actual ``data`` bytes are
/// ignored.
///
/// Returns *true* if the frame was successfully added to the write queue. Returns
/// *false* if the frame could not be added because write queue is already full or
/// because the write buffer or the write backlog are configured with a size of
/// zero (see `Set Queue Configuration`).
///
/// The write queue can overflow if frames are written to it at a higher rate
/// than the Bricklet can transmitted them over the CAN transceiver. This may
/// happen if the CAN transceiver is configured as read-only or is using a low baud
/// rate (see `Set Transceiver Configuration`). It can also happen if the CAN
/// bus is congested and the frame cannot be transmitted because it constantly loses
/// arbitration or because the CAN transceiver is currently disabled due to a high
/// write error level (see `Get Error Log`).
pub fn write_frame(&self, frame_type: u8, identifier: u32, data: &[u8]) -> Result<bool, BrickletRecvTimeoutError> {
let ll_result = self.device.set_high_level(0, data, 15, 15, &mut |length: usize, _chunk_offset: usize, chunk: &[u8]| {
let chunk_length = chunk.len() as u16;
let mut chunk_array = [<u8>::default(); 15];
chunk_array[0..chunk_length as usize].copy_from_slice(&chunk);
self.write_frame_low_level(frame_type, identifier, length as u8, chunk_array).recv()
})?;
Ok(ll_result.1.success)
}
/// Tries to read the next data or remote frame from the read queue and returns it.
/// If a frame was successfully read, then the ``success`` return value is set to
/// *true* and the other return values contain the frame. If the read queue is
/// empty and no frame could be read, then the ``success`` return value is set to
/// *false* and the other return values contain invalid data.
///
/// The ``identifier`` return value follows the identifier format described for
/// `Write Frame`.
///
/// The ``data`` return value can be up to 15 bytes long. For data frames up to the
/// first 8 bytes are the actual received data. All bytes after the 8th byte are
/// always zero and only there to indicate the length of a data or remote frame
/// with excess length. For remote frames the length of the ``data`` return value
/// represents the requested length. The actual ``data`` bytes are always zero.
///
/// A configurable read filter can be used to define which frames should be
/// received by the CAN transceiver and put into the read queue (see
/// `Set Read Filter Configuration`).
///
/// Instead of polling with this function, you can also use receivers. See the
/// `Set Frame Read Receiver Configuration` function and the [`get_frame_read_callback_receiver`]
/// callback.
///
/// [`get_frame_read_callback_receiver`]: #method.get_frame_read_callback_receiver
///
/// Associated constants:
/// * CAN_V2BRICKLET_FRAME_TYPE_STANDARD_DATA
/// * CAN_V2BRICKLET_FRAME_TYPE_STANDARD_REMOTE
/// * CAN_V2BRICKLET_FRAME_TYPE_EXTENDED_DATA
/// * CAN_V2BRICKLET_FRAME_TYPE_EXTENDED_REMOTE
pub fn read_frame_low_level(&self) -> ConvertingReceiver<ReadFrameLowLevel> {
let payload = vec![0; 0];
self.device.get(u8::from(CanV2BrickletFunction::ReadFrameLowLevel), payload)
}
/// Tries to read the next data or remote frame from the read queue and returns it.
/// If a frame was successfully read, then the ``success`` return value is set to
/// *true* and the other return values contain the frame. If the read queue is
/// empty and no frame could be read, then the ``success`` return value is set to
/// *false* and the other return values contain invalid data.
///
/// The ``identifier`` return value follows the identifier format described for
/// `Write Frame`.
///
/// The ``data`` return value can be up to 15 bytes long. For data frames up to the
/// first 8 bytes are the actual received data. All bytes after the 8th byte are
/// always zero and only there to indicate the length of a data or remote frame
/// with excess length. For remote frames the length of the ``data`` return value
/// represents the requested length. The actual ``data`` bytes are always zero.
///
/// A configurable read filter can be used to define which frames should be
/// received by the CAN transceiver and put into the read queue (see
/// `Set Read Filter Configuration`).
///
/// Instead of polling with this function, you can also use receivers. See the
/// `Set Frame Read Receiver Configuration` function and the [`get_frame_read_callback_receiver`]
/// callback.
///
/// [`get_frame_read_callback_receiver`]: #method.get_frame_read_callback_receiver
pub fn read_frame(&self) -> Result<(Vec<u8>, ReadFrameResult), BrickletRecvTimeoutError> {
let ll_result = self.device.get_high_level(1, &mut || self.read_frame_low_level().recv())?;
Ok((ll_result.0, ll_result.1))
}
/// Enables and disables the [`get_frame_read_callback_receiver`] receiver.
///
/// By default the receiver is disabled.
///
/// [`get_frame_read_callback_receiver`]: #method.get_frame_read_callback_receiver
pub fn set_frame_read_callback_configuration(&self, enabled: bool) -> ConvertingReceiver<()> {
let mut payload = vec![0; 1];
payload[0..1].copy_from_slice(&<bool>::to_le_bytes(enabled));
self.device.set(u8::from(CanV2BrickletFunction::SetFrameReadCallbackConfiguration), payload)
}
/// Returns *true* if the [`get_frame_read_callback_receiver`] receiver is enabled, *false* otherwise.
///
/// [`get_frame_read_callback_receiver`]: #method.get_frame_read_callback_receiver
pub fn get_frame_read_callback_configuration(&self) -> ConvertingReceiver<bool> {
let payload = vec![0; 0];
self.device.get(u8::from(CanV2BrickletFunction::GetFrameReadCallbackConfiguration), payload)
}
/// Sets the transceiver configuration for the CAN bus communication.
///
/// The baud rate can be configured in bit/s between 10 and 1000 kbit/s and the
/// sample point can be configured in 1/10 % between 50 and 90 %.
///
/// The CAN transceiver has three different modes:
///
/// * Normal: Reads from and writes to the CAN bus and performs active bus
/// error detection and acknowledgement.
/// * Loopback: All reads and writes are performed internally. The transceiver
/// is disconnected from the actual CAN bus.
/// * Read-Only: Only reads from the CAN bus, but does neither active bus error
/// detection nor acknowledgement. Only the receiving part of the transceiver
/// is connected to the CAN bus.
///
/// The default is: 125 kbit/s, 62.5 % and normal transceiver mode.
///
/// Associated constants:
/// * CAN_V2BRICKLET_TRANSCEIVER_MODE_NORMAL
/// * CAN_V2BRICKLET_TRANSCEIVER_MODE_LOOPBACK
/// * CAN_V2BRICKLET_TRANSCEIVER_MODE_READ_ONLY
pub fn set_transceiver_configuration(&self, baud_rate: u32, sample_point: u16, transceiver_mode: u8) -> ConvertingReceiver<()> {
let mut payload = vec![0; 7];
payload[0..4].copy_from_slice(&<u32>::to_le_bytes(baud_rate));
payload[4..6].copy_from_slice(&<u16>::to_le_bytes(sample_point));
payload[6..7].copy_from_slice(&<u8>::to_le_bytes(transceiver_mode));
self.device.set(u8::from(CanV2BrickletFunction::SetTransceiverConfiguration), payload)
}
/// Returns the configuration as set by `Set Transceiver Configuration`.
///
/// Associated constants:
/// * CAN_V2BRICKLET_TRANSCEIVER_MODE_NORMAL
/// * CAN_V2BRICKLET_TRANSCEIVER_MODE_LOOPBACK
/// * CAN_V2BRICKLET_TRANSCEIVER_MODE_READ_ONLY
pub fn get_transceiver_configuration(&self) -> ConvertingReceiver<TransceiverConfiguration> {
let payload = vec![0; 0];
self.device.get(u8::from(CanV2BrickletFunction::GetTransceiverConfiguration), payload)
}
/// Sets the write and read queue configuration.
///
/// The CAN transceiver has 32 buffers in total in hardware for transmitting and
/// receiving frames. Additionally, the Bricklet has a backlog for 768 frames in
/// total in software. The buffers and the backlog can be freely assigned to the
/// write and read queues.
///
/// `Write Frame` writes a frame into the write backlog. The Bricklet moves
/// the frame from the backlog into a free write buffer. The CAN transceiver then
/// transmits the frame from the write buffer to the CAN bus. If there are no
/// write buffers (``write_buffer_size`` is zero) or there is no write backlog
/// (``write_backlog_size`` is zero) then no frames can be transmitted and
/// `Write Frame` returns always *false*.
///
/// The CAN transceiver receives a frame from the CAN bus and stores it into a
/// free read buffer. The Bricklet moves the frame from the read buffer into the
/// read backlog. `Read Frame` reads the frame from the read backlog and
/// returns it. If there are no read buffers (``read_buffer_sizes`` is empty) or
/// there is no read backlog (``read_backlog_size`` is zero) then no frames can be
/// received and `Read Frame` returns always *false*.
///
/// There can be multiple read buffers, because the CAN transceiver cannot receive
/// data and remote frames into the same read buffer. A positive read buffer size
/// represents a data frame read buffer and a negative read buffer size represents
/// a remote frame read buffer. A read buffer size of zero is not allowed. By
/// default the first read buffer is configured for data frames and the second read
/// buffer is configured for remote frame. There can be up to 32 different read
/// buffers, assuming that no write buffer is used. Each read buffer has its own
/// filter configuration (see `Set Read Filter Configuration`).
///
/// A valid queue configuration fulfills these conditions::
///
/// write_buffer_size + read_buffer_size_0 + read_buffer_size_1 + ... + read_buffer_size_31 <= 32
/// write_backlog_size + read_backlog_size <= 768
///
/// The write buffer timeout has three different modes that define how a failed
/// frame transmission should be handled:
///
/// * Single-Shot (< 0): Only one transmission attempt will be made. If the
/// transmission fails then the frame is discarded.
/// * Infinite (= 0): Infinite transmission attempts will be made. The frame will
/// never be discarded.
/// * Milliseconds (> 0): A limited number of transmission attempts will be made.
/// If the frame could not be transmitted successfully after the configured
/// number of milliseconds then the frame is discarded.
///
/// The current content of the queues is lost when this function is called.
///
/// The default is:
///
/// * 8 write buffers,
/// * infinite write timeout,
/// * 383 write backlog frames,
/// * 16 read buffers for data frames,
/// * 8 read buffers for remote frames and
/// * 383 read backlog frames.
pub fn set_queue_configuration_low_level(
&self,
write_buffer_size: u8,
write_buffer_timeout: i32,
write_backlog_size: u16,
read_buffer_sizes_length: u8,
read_buffer_sizes_data: [i8; 32],
read_backlog_size: u16,
) -> ConvertingReceiver<SetQueueConfigurationLowLevel> {
let mut payload = vec![0; 42];
payload[0..1].copy_from_slice(&<u8>::to_le_bytes(write_buffer_size));
payload[1..5].copy_from_slice(&<i32>::to_le_bytes(write_buffer_timeout));
payload[5..7].copy_from_slice(&<u16>::to_le_bytes(write_backlog_size));
payload[7..8].copy_from_slice(&<u8>::to_le_bytes(read_buffer_sizes_length));
payload[8..40].copy_from_slice(&<[i8; 32]>::to_le_bytes(read_buffer_sizes_data));
payload[40..42].copy_from_slice(&<u16>::to_le_bytes(read_backlog_size));
self.device.set(u8::from(CanV2BrickletFunction::SetQueueConfigurationLowLevel), payload)
}
/// Sets the write and read queue configuration.
///
/// The CAN transceiver has 32 buffers in total in hardware for transmitting and
/// receiving frames. Additionally, the Bricklet has a backlog for 768 frames in
/// total in software. The buffers and the backlog can be freely assigned to the
/// write and read queues.
///
/// `Write Frame` writes a frame into the write backlog. The Bricklet moves
/// the frame from the backlog into a free write buffer. The CAN transceiver then
/// transmits the frame from the write buffer to the CAN bus. If there are no
/// write buffers (``write_buffer_size`` is zero) or there is no write backlog
/// (``write_backlog_size`` is zero) then no frames can be transmitted and
/// `Write Frame` returns always *false*.
///
/// The CAN transceiver receives a frame from the CAN bus and stores it into a
/// free read buffer. The Bricklet moves the frame from the read buffer into the
/// read backlog. `Read Frame` reads the frame from the read backlog and
/// returns it. If there are no read buffers (``read_buffer_sizes`` is empty) or
/// there is no read backlog (``read_backlog_size`` is zero) then no frames can be
/// received and `Read Frame` returns always *false*.
///
/// There can be multiple read buffers, because the CAN transceiver cannot receive
/// data and remote frames into the same read buffer. A positive read buffer size
/// represents a data frame read buffer and a negative read buffer size represents
/// a remote frame read buffer. A read buffer size of zero is not allowed. By
/// default the first read buffer is configured for data frames and the second read
/// buffer is configured for remote frame. There can be up to 32 different read
/// buffers, assuming that no write buffer is used. Each read buffer has its own
/// filter configuration (see `Set Read Filter Configuration`).
///
/// A valid queue configuration fulfills these conditions::
///
/// write_buffer_size + read_buffer_size_0 + read_buffer_size_1 + ... + read_buffer_size_31 <= 32
/// write_backlog_size + read_backlog_size <= 768
///
/// The write buffer timeout has three different modes that define how a failed
/// frame transmission should be handled:
///
/// * Single-Shot (< 0): Only one transmission attempt will be made. If the
/// transmission fails then the frame is discarded.
/// * Infinite (= 0): Infinite transmission attempts will be made. The frame will
/// never be discarded.
/// * Milliseconds (> 0): A limited number of transmission attempts will be made.
/// If the frame could not be transmitted successfully after the configured
/// number of milliseconds then the frame is discarded.
///
/// The current content of the queues is lost when this function is called.
///
/// The default is:
///
/// * 8 write buffers,
/// * infinite write timeout,
/// * 383 write backlog frames,
/// * 16 read buffers for data frames,
/// * 8 read buffers for remote frames and
/// * 383 read backlog frames.
pub fn set_queue_configuration(
&self,
write_buffer_size: u8,
write_buffer_timeout: i32,
write_backlog_size: u16,
read_backlog_size: u16,
read_buffer_sizes: &[i8],
) -> Result<(), BrickletRecvTimeoutError> {
let _ll_result =
self.device.set_high_level(2, read_buffer_sizes, 32, 32, &mut |length: usize, _chunk_offset: usize, chunk: &[i8]| {
let chunk_length = chunk.len() as u16;
let mut chunk_array = [<i8>::default(); 32];
chunk_array[0..chunk_length as usize].copy_from_slice(&chunk);
let result = self
.set_queue_configuration_low_level(
write_buffer_size,
write_buffer_timeout,
write_backlog_size,
length as u8,
chunk_array,
read_backlog_size,
)
.recv();
if let Err(BrickletRecvTimeoutError::SuccessButResponseExpectedIsDisabled) = result {
Ok(Default::default())
} else {
result
}
})?;
Ok(())
}
/// Returns the queue configuration as set by `Set Queue Configuration`.
pub fn get_queue_configuration_low_level(&self) -> ConvertingReceiver<QueueConfigurationLowLevel> {
let payload = vec![0; 0];
self.device.get(u8::from(CanV2BrickletFunction::GetQueueConfigurationLowLevel), payload)
}
/// Returns the queue configuration as set by `Set Queue Configuration`.
pub fn get_queue_configuration(&self) -> Result<(Vec<i8>, QueueConfigurationResult), BrickletRecvTimeoutError> {
let ll_result = self.device.get_high_level(3, &mut || self.get_queue_configuration_low_level().recv())?;
Ok((ll_result.0, ll_result.1))
}
/// Set the read filter configuration for the given read buffer index. This can be
/// used to define which frames should be received by the CAN transceiver and put
/// into the read buffer.
///
/// The read filter has four different modes that define if and how the filter mask
/// and the filter identifier are applied:
///
/// * Accept-All: All frames are received.
/// * Match-Standard-Only: Only standard frames with a matching identifier are
/// received.
/// * Match-Extended-Only: Only extended frames with a matching identifier are
/// received.
/// * Match-Standard-And-Extended: Standard and extended frames with a matching
/// identifier are received.
///
/// The filter mask and filter identifier are used as bit masks. Their usage
/// depends on the mode:
///
/// * Accept-All: Mask and identifier are ignored.
/// * Match-Standard-Only: Bit 0 to 10 (11 bits) of filter mask and filter
/// identifier are used to match the 11-bit identifier of standard frames.
/// * Match-Extended-Only: Bit 0 to 28 (29 bits) of filter mask and filter
/// identifier are used to match the 29-bit identifier of extended frames.
/// * Match-Standard-And-Extended: Bit 18 to 28 (11 bits) of filter mask and filter
/// identifier are used to match the 11-bit identifier of standard frames, bit 0
/// to 17 (18 bits) are ignored in this case. Bit 0 to 28 (29 bits) of filter
/// mask and filter identifier are used to match the 29-bit identifier of extended
/// frames.
///
/// The filter mask and filter identifier are applied in this way: The filter mask
/// is used to select the frame identifier bits that should be compared to the
/// corresponding filter identifier bits. All unselected bits are automatically
/// accepted. All selected bits have to match the filter identifier to be accepted.
/// If all bits for the selected mode are accepted then the frame is accepted and
/// is added to the read buffer.
///
/// Filter Mask Bit| Filter Identifier Bit| Frame Identifier Bit| Result
/// --- | --- | --- | ---
/// 0| X| X| Accept
/// 1| 0| 0| Accept
/// 1| 0| 1| Reject
/// 1| 1| 0| Reject
/// 1| 1| 1| Accept
///
/// For example, to receive standard frames with identifier 0x123 only, the mode
/// can be set to Match-Standard-Only with 0x7FF as mask and 0x123 as identifier.
/// The mask of 0x7FF selects all 11 identifier bits for matching so that the
/// identifier has to be exactly 0x123 to be accepted.
///
/// To accept identifier 0x123 and identifier 0x456 at the same time, just set
/// filter 2 to 0x456 and keep mask and filter 1 unchanged.
///
/// There can be up to 32 different read filters configured at the same time,
/// because there can be up to 32 read buffer (see `Set Queue Configuration`).
///
/// The default mode is accept-all for all read buffers.
///
/// Associated constants:
/// * CAN_V2BRICKLET_FILTER_MODE_ACCEPT_ALL
/// * CAN_V2BRICKLET_FILTER_MODE_MATCH_STANDARD_ONLY
/// * CAN_V2BRICKLET_FILTER_MODE_MATCH_EXTENDED_ONLY
/// * CAN_V2BRICKLET_FILTER_MODE_MATCH_STANDARD_AND_EXTENDED
pub fn set_read_filter_configuration(
&self,
buffer_index: u8,
filter_mode: u8,
filter_mask: u32,
filter_identifier: u32,
) -> ConvertingReceiver<()> {
let mut payload = vec![0; 10];
payload[0..1].copy_from_slice(&<u8>::to_le_bytes(buffer_index));
payload[1..2].copy_from_slice(&<u8>::to_le_bytes(filter_mode));
payload[2..6].copy_from_slice(&<u32>::to_le_bytes(filter_mask));
payload[6..10].copy_from_slice(&<u32>::to_le_bytes(filter_identifier));
self.device.set(u8::from(CanV2BrickletFunction::SetReadFilterConfiguration), payload)
}
/// Returns the read filter configuration as set by `Set Read Filter Configuration`.
///
/// Associated constants:
/// * CAN_V2BRICKLET_FILTER_MODE_ACCEPT_ALL
/// * CAN_V2BRICKLET_FILTER_MODE_MATCH_STANDARD_ONLY
/// * CAN_V2BRICKLET_FILTER_MODE_MATCH_EXTENDED_ONLY
/// * CAN_V2BRICKLET_FILTER_MODE_MATCH_STANDARD_AND_EXTENDED
pub fn get_read_filter_configuration(&self, buffer_index: u8) -> ConvertingReceiver<ReadFilterConfiguration> {
let mut payload = vec![0; 1];
payload[0..1].copy_from_slice(&<u8>::to_le_bytes(buffer_index));
self.device.get(u8::from(CanV2BrickletFunction::GetReadFilterConfiguration), payload)
}
/// Returns information about different kinds of errors.
///
/// The write and read error levels indicate the current level of stuffing, form,
/// acknowledgement, bit and checksum errors during CAN bus write and read
/// operations. For each of this error kinds there is also an individual counter.
///
/// When the write error level extends 255 then the CAN transceiver gets disabled
/// and no frames can be transmitted or received anymore. The CAN transceiver will
/// automatically be activated again after the CAN bus is idle for a while.
///
/// The write buffer timeout, read buffer and backlog overflow counts represents the
/// number of these errors:
///
/// * A write buffer timeout occurs if a frame could not be transmitted before the
/// configured write buffer timeout expired (see `Set Queue Configuration`).
/// * A read buffer overflow occurs if a read buffer of the CAN transceiver
/// still contains the last received frame when the next frame arrives. In this
/// case the last received frame is lost. This happens if the CAN transceiver
/// receives more frames than the Bricklet can handle. Using the read filter
/// (see `Set Read Filter Configuration`) can help to reduce the amount of
/// received frames. This count is not exact, but a lower bound, because the
/// Bricklet might not able detect all overflows if they occur in rapid succession.
/// * A read backlog overflow occurs if the read backlog of the Bricklet is already
/// full when the next frame should be read from a read buffer of the CAN
/// transceiver. In this case the frame in the read buffer is lost. This
/// happens if the CAN transceiver receives more frames to be added to the read
/// backlog than are removed from the read backlog using the `Read Frame`
/// function. Using the [`get_frame_read_callback_receiver`] receiver ensures that the read backlog
/// can not overflow.
///
/// The read buffer overflow counter counts the overflows of all configured read
/// buffers. Which read buffer exactly suffered from an overflow can be figured
/// out from the read buffer overflow occurrence list
/// (``read_buffer_overflow_error_occurred``).
///
/// [`get_frame_read_callback_receiver`]: #method.get_frame_read_callback_receiver
///
/// Associated constants:
/// * CAN_V2BRICKLET_TRANSCEIVER_STATE_ACTIVE
/// * CAN_V2BRICKLET_TRANSCEIVER_STATE_PASSIVE
/// * CAN_V2BRICKLET_TRANSCEIVER_STATE_DISABLED
pub fn get_error_log_low_level(&self) -> ConvertingReceiver<ErrorLogLowLevel> {
let payload = vec![0; 0];
self.device.get(u8::from(CanV2BrickletFunction::GetErrorLogLowLevel), payload)
}
/// Returns information about different kinds of errors.
///
/// The write and read error levels indicate the current level of stuffing, form,
/// acknowledgement, bit and checksum errors during CAN bus write and read
/// operations. For each of this error kinds there is also an individual counter.
///
/// When the write error level extends 255 then the CAN transceiver gets disabled
/// and no frames can be transmitted or received anymore. The CAN transceiver will
/// automatically be activated again after the CAN bus is idle for a while.
///
/// The write buffer timeout, read buffer and backlog overflow counts represents the
/// number of these errors:
///
/// * A write buffer timeout occurs if a frame could not be transmitted before the
/// configured write buffer timeout expired (see `Set Queue Configuration`).
/// * A read buffer overflow occurs if a read buffer of the CAN transceiver
/// still contains the last received frame when the next frame arrives. In this
/// case the last received frame is lost. This happens if the CAN transceiver
/// receives more frames than the Bricklet can handle. Using the read filter
/// (see `Set Read Filter Configuration`) can help to reduce the amount of
/// received frames. This count is not exact, but a lower bound, because the
/// Bricklet might not able detect all overflows if they occur in rapid succession.
/// * A read backlog overflow occurs if the read backlog of the Bricklet is already
/// full when the next frame should be read from a read buffer of the CAN
/// transceiver. In this case the frame in the read buffer is lost. This
/// happens if the CAN transceiver receives more frames to be added to the read
/// backlog than are removed from the read backlog using the `Read Frame`
/// function. Using the [`get_frame_read_callback_receiver`] receiver ensures that the read backlog
/// can not overflow.
///
/// The read buffer overflow counter counts the overflows of all configured read
/// buffers. Which read buffer exactly suffered from an overflow can be figured
/// out from the read buffer overflow occurrence list
/// (``read_buffer_overflow_error_occurred``).
///
/// [`get_frame_read_callback_receiver`]: #method.get_frame_read_callback_receiver
pub fn get_error_log(&self) -> Result<(Vec<bool>, ErrorLogResult), BrickletRecvTimeoutError> {
let ll_result = self.device.get_high_level(4, &mut || self.get_error_log_low_level().recv())?;
Ok((ll_result.0, ll_result.1))
}
/// Sets the communication LED configuration. By default the LED shows
/// CAN-Bus traffic, it flickers once for every 40 transmitted or received frames.
///
/// You can also turn the LED permanently on/off or show a heartbeat.
///
/// If the Bricklet is in bootloader mode, the LED is off.
///
/// Associated constants:
/// * CAN_V2BRICKLET_COMMUNICATION_LED_CONFIG_OFF
/// * CAN_V2BRICKLET_COMMUNICATION_LED_CONFIG_ON
/// * CAN_V2BRICKLET_COMMUNICATION_LED_CONFIG_SHOW_HEARTBEAT
/// * CAN_V2BRICKLET_COMMUNICATION_LED_CONFIG_SHOW_COMMUNICATION
pub fn set_communication_led_config(&self, config: u8) -> ConvertingReceiver<()> {
let mut payload = vec![0; 1];
payload[0..1].copy_from_slice(&<u8>::to_le_bytes(config));
self.device.set(u8::from(CanV2BrickletFunction::SetCommunicationLedConfig), payload)
}
/// Returns the configuration as set by `Set Communication LED Config`
///
/// Associated constants:
/// * CAN_V2BRICKLET_COMMUNICATION_LED_CONFIG_OFF
/// * CAN_V2BRICKLET_COMMUNICATION_LED_CONFIG_ON
/// * CAN_V2BRICKLET_COMMUNICATION_LED_CONFIG_SHOW_HEARTBEAT
/// * CAN_V2BRICKLET_COMMUNICATION_LED_CONFIG_SHOW_COMMUNICATION
pub fn get_communication_led_config(&self) -> ConvertingReceiver<u8> {
let payload = vec![0; 0];
self.device.get(u8::from(CanV2BrickletFunction::GetCommunicationLedConfig), payload)
}
/// Sets the error LED configuration.
///
/// By default (show-transceiver-state) the error LED turns on if the CAN
/// transceiver is passive or disabled state (see `Get Error Log`). If
/// the CAN transceiver is in active state the LED turns off.
///
/// If the LED is configured as show-error then the error LED turns on if any error
/// occurs. If you call this function with the show-error option again, the LED will
/// turn off until the next error occurs.
///
/// You can also turn the LED permanently on/off or show a heartbeat.
///
/// If the Bricklet is in bootloader mode, the LED is off.
///
/// Associated constants:
/// * CAN_V2BRICKLET_ERROR_LED_CONFIG_OFF
/// * CAN_V2BRICKLET_ERROR_LED_CONFIG_ON
/// * CAN_V2BRICKLET_ERROR_LED_CONFIG_SHOW_HEARTBEAT
/// * CAN_V2BRICKLET_ERROR_LED_CONFIG_SHOW_TRANSCEIVER_STATE
/// * CAN_V2BRICKLET_ERROR_LED_CONFIG_SHOW_ERROR
pub fn set_error_led_config(&self, config: u8) -> ConvertingReceiver<()> {
let mut payload = vec![0; 1];
payload[0..1].copy_from_slice(&<u8>::to_le_bytes(config));
self.device.set(u8::from(CanV2BrickletFunction::SetErrorLedConfig), payload)
}
/// Returns the configuration as set by `Set Error LED Config`.
///
/// Associated constants:
/// * CAN_V2BRICKLET_ERROR_LED_CONFIG_OFF
/// * CAN_V2BRICKLET_ERROR_LED_CONFIG_ON
/// * CAN_V2BRICKLET_ERROR_LED_CONFIG_SHOW_HEARTBEAT
/// * CAN_V2BRICKLET_ERROR_LED_CONFIG_SHOW_TRANSCEIVER_STATE
/// * CAN_V2BRICKLET_ERROR_LED_CONFIG_SHOW_ERROR
pub fn get_error_led_config(&self) -> ConvertingReceiver<u8> {
let payload = vec![0; 0];
self.device.get(u8::from(CanV2BrickletFunction::GetErrorLedConfig), payload)
}
/// Returns the error count for the communication between Brick and Bricklet.
///
/// The errors are divided into
///
/// * ACK checksum errors,
/// * message checksum errors,
/// * framing errors and
/// * overflow errors.
///
/// The errors counts are for errors that occur on the Bricklet side. All
/// Bricks have a similar function that returns the errors on the Brick side.
pub fn get_spitfp_error_count(&self) -> ConvertingReceiver<SpitfpErrorCount> {
let payload = vec![0; 0];
self.device.get(u8::from(CanV2BrickletFunction::GetSpitfpErrorCount), payload)
}
/// Sets the bootloader mode and returns the status after the requested
/// mode change was instigated.
///
/// You can change from bootloader mode to firmware mode and vice versa. A change
/// from bootloader mode to firmware mode will only take place if the entry function,
/// device identifier and CRC are present and correct.
///
/// This function is used by Brick Viewer during flashing. It should not be
/// necessary to call it in a normal user program.
///
/// Associated constants:
/// * CAN_V2BRICKLET_BOOTLOADER_MODE_BOOTLOADER
/// * CAN_V2BRICKLET_BOOTLOADER_MODE_FIRMWARE
/// * CAN_V2BRICKLET_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT
/// * CAN_V2BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT
/// * CAN_V2BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT
/// * CAN_V2BRICKLET_BOOTLOADER_STATUS_OK
/// * CAN_V2BRICKLET_BOOTLOADER_STATUS_INVALID_MODE
/// * CAN_V2BRICKLET_BOOTLOADER_STATUS_NO_CHANGE
/// * CAN_V2BRICKLET_BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT
/// * CAN_V2BRICKLET_BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT
/// * CAN_V2BRICKLET_BOOTLOADER_STATUS_CRC_MISMATCH
pub fn set_bootloader_mode(&self, mode: u8) -> ConvertingReceiver<u8> {
let mut payload = vec![0; 1];
payload[0..1].copy_from_slice(&<u8>::to_le_bytes(mode));
self.device.get(u8::from(CanV2BrickletFunction::SetBootloaderMode), payload)
}
/// Returns the current bootloader mode, see `Set Bootloader Mode`.
///
/// Associated constants:
/// * CAN_V2BRICKLET_BOOTLOADER_MODE_BOOTLOADER
/// * CAN_V2BRICKLET_BOOTLOADER_MODE_FIRMWARE
/// * CAN_V2BRICKLET_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT
/// * CAN_V2BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT
/// * CAN_V2BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT
pub fn get_bootloader_mode(&self) -> ConvertingReceiver<u8> {
let payload = vec![0; 0];
self.device.get(u8::from(CanV2BrickletFunction::GetBootloaderMode), payload)
}
/// Sets the firmware pointer for `Write Firmware`. The pointer has
/// to be increased by chunks of size 64. The data is written to flash
/// every 4 chunks (which equals to one page of size 256).
///
/// This function is used by Brick Viewer during flashing. It should not be
/// necessary to call it in a normal user program.
pub fn set_write_firmware_pointer(&self, pointer: u32) -> ConvertingReceiver<()> {
let mut payload = vec![0; 4];
payload[0..4].copy_from_slice(&<u32>::to_le_bytes(pointer));
self.device.set(u8::from(CanV2BrickletFunction::SetWriteFirmwarePointer), payload)
}
/// Writes 64 Bytes of firmware at the position as written by
/// `Set Write Firmware Pointer` before. The firmware is written
/// to flash every 4 chunks.
///
/// You can only write firmware in bootloader mode.
///
/// This function is used by Brick Viewer during flashing. It should not be
/// necessary to call it in a normal user program.
pub fn write_firmware(&self, data: [u8; 64]) -> ConvertingReceiver<u8> {
let mut payload = vec![0; 64];
payload[0..64].copy_from_slice(&<[u8; 64]>::to_le_bytes(data));
self.device.get(u8::from(CanV2BrickletFunction::WriteFirmware), payload)
}
/// Sets the status LED configuration. By default the LED shows
/// communication traffic between Brick and Bricklet, it flickers once
/// for every 10 received data packets.
///
/// You can also turn the LED permanently on/off or show a heartbeat.
///
/// If the Bricklet is in bootloader mode, the LED is will show heartbeat by default.
///
/// Associated constants:
/// * CAN_V2BRICKLET_STATUS_LED_CONFIG_OFF
/// * CAN_V2BRICKLET_STATUS_LED_CONFIG_ON
/// * CAN_V2BRICKLET_STATUS_LED_CONFIG_SHOW_HEARTBEAT
/// * CAN_V2BRICKLET_STATUS_LED_CONFIG_SHOW_STATUS
pub fn set_status_led_config(&self, config: u8) -> ConvertingReceiver<()> {
let mut payload = vec![0; 1];
payload[0..1].copy_from_slice(&<u8>::to_le_bytes(config));
self.device.set(u8::from(CanV2BrickletFunction::SetStatusLedConfig), payload)
}
/// Returns the configuration as set by `Set Status LED Config`
///
/// Associated constants:
/// * CAN_V2BRICKLET_STATUS_LED_CONFIG_OFF
/// * CAN_V2BRICKLET_STATUS_LED_CONFIG_ON
/// * CAN_V2BRICKLET_STATUS_LED_CONFIG_SHOW_HEARTBEAT
/// * CAN_V2BRICKLET_STATUS_LED_CONFIG_SHOW_STATUS
pub fn get_status_led_config(&self) -> ConvertingReceiver<u8> {
let payload = vec![0; 0];
self.device.get(u8::from(CanV2BrickletFunction::GetStatusLedConfig), payload)
}
/// Returns the temperature in °C as measured inside the microcontroller. The
/// value returned is not the ambient temperature!
///
/// The temperature is only proportional to the real temperature and it has bad
/// accuracy. Practically it is only useful as an indicator for
/// temperature changes.
pub fn get_chip_temperature(&self) -> ConvertingReceiver<i16> {
let payload = vec![0; 0];
self.device.get(u8::from(CanV2BrickletFunction::GetChipTemperature), payload)
}
/// Calling this function will reset the Bricklet. All configurations
/// will be lost.
///
/// After a reset you have to create new device objects,
/// calling functions on the existing ones will result in
/// undefined behavior!
pub fn reset(&self) -> ConvertingReceiver<()> {
let payload = vec![0; 0];
self.device.set(u8::from(CanV2BrickletFunction::Reset), payload)
}
/// Writes a new UID into flash. If you want to set a new UID
/// you have to decode the Base58 encoded UID string into an
/// integer first.
///
/// We recommend that you use Brick Viewer to change the UID.
pub fn write_uid(&self, uid: u32) -> ConvertingReceiver<()> {
let mut payload = vec![0; 4];
payload[0..4].copy_from_slice(&<u32>::to_le_bytes(uid));
self.device.set(u8::from(CanV2BrickletFunction::WriteUid), payload)
}
/// Returns the current UID as an integer. Encode as
/// Base58 to get the usual string version.
pub fn read_uid(&self) -> ConvertingReceiver<u32> {
let payload = vec![0; 0];
self.device.get(u8::from(CanV2BrickletFunction::ReadUid), payload)
}
/// Returns the UID, the UID where the Bricklet is connected to,
/// the position, the hardware and firmware version as well as the
/// device identifier.
///
/// The position can be 'a', 'b', 'c' or 'd'.
///
/// The device identifier numbers can be found [here](device_identifier).
/// |device_identifier_constant|
pub fn get_identity(&self) -> ConvertingReceiver<Identity> {
let payload = vec![0; 0];
self.device.get(u8::from(CanV2BrickletFunction::GetIdentity), payload)
}
}