Crate emcyphal_stm32_native 

Native STM32 FDCAN driver for the Emcyphal stack

This implementation uses direct register access for better integration with the hardware.

Features

• 14 subject filters
• 1 destination (node address) filter
• Software and hardware timestamps
• Loop-back frames for TX timestamping
• Full TX timeout support
• Transmitter delay compensation for data bit rates up to 8 Mbps

Limitations

• Anonymous frame transmission is not supported
• System timestamps are measured in the runner task
• Discontinuous transmission: a runner task wakes up to initial transmission of each frame
• An 8-frame buffer is allocated even in Classic mode

Feature flags

To use this crate:

• Include the embassy-stm32 crate with appropriate flags for your target chip
• Choose an STM32 chip family flag: stm32g4 (the same code should work on G0 and L5 families, but has not been tested)
• Enable bindings for available peripherals: fdcan1, fdcan2, fdcan3. Multiple instances are supported.

Examples

See the pubsub_native example in the nucleo-g431rb crate.

Modules

config

Structs

Driver

IT0InterruptHandler

FDCAN Interrupt line 0 handler.

IT1InterruptHandler

FDCAN Interrupt line 1 handler.

RxFilterRunner

RX filter configuration task.

RxRunner

Frame receiving task.

TxRunner

Frame transmitting task.

Constants

SUBJECT_SLOT_COUNT

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