Crate emcyphal_stm32_embassy 

STM32 FDCAN driver adapter for the Emcyphal stack

This adapter integrates the FDCAN driver from the Embassy framework with the Emcyphal stack.

Features

• 7 subject filters
• 1 destination (node address) filter
• Partial TX timeout support

Limitations

• Anonymous frame transmission is not supported
• Loop-back frames are not supported
• Frame ordering is partially preserved per priority; frames from different sessions may preempt each other
• Partial TX timeout support: timestamps are checked when inserting frames into the 3-element hardware queue. Frames may remain enqueued indefinitely if the bus is occupied by higher-priority traffic
• Discontinuous transmission: a runner task wakes up to initial transmission of each frame within the same session
• A 32-frame buffer is required for worst-case preemption
• embassy-stm32 v0.4.0 does not enable transmitter delay compensation; data bit rates above 4 Mbps may be unavailable with typical transceivers

Examples

See the pubsub_native example in the nucleo-g431rb crate.

Modules

config

Structs

RxFilterRunner

RX filter configuration runner.

RxRunner

Frame receiving runner.

TxRunner

Frame transmitting runner.

Constants

SUBJECT_SLOT_COUNT

Maximum number of message subjects the driver can simultaneously subscribe to.

Functions

bind

Connect the CAN driver to the link.