Struct ross_protocol::frame::Frame

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pub struct Frame {
    pub not_error_flag: bool,
    pub start_frame_flag: bool,
    pub multi_frame_flag: bool,
    pub frame_id: FrameId,
    pub device_address: u16,
    pub data_len: u8,
    pub data: [u8; 8],
}

Expand description

Ross compatible representation of a CAN frame

Fields

not_error_flag: bool

If this bit is low, the frame is considered to be an error frame

start_frame_flag: bool

If this bit is high, the frame is considered to be the first frame of a packet

multi_frame_flag: bool

If this bit is high, the frame is considered to be only a part of a packet

frame_id: FrameId

Either the last or the current frame id inside current packet, depending on start_frame_flag

device_address: u16

Transmitting device’s address

data_len: u8

Length of frame data

data: [u8; 8]

Frame data

Implementations

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impl Frame

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pub fn from_bxcan_frame(frame: BxFrame) -> Result<Self, FrameError>

Converts a bxcan frame to a ross frame

This is the extended id structure for a ross frame: bit 0: NOT_ERROR_FLAG (if this bit is low, the frame is considered to be an error frame) bit 1: START_FRAME_FLAG (if this bit is high, the frame is considered to be the first frame of a packet) bit 2: MULTI_FRAME_FLAG (if this bit is high, the frame is considered to be only a part of a packet) bits 3 - 7: RESERVED (reserved for future use) bits 8 - 11: LAST_FRAME_ID (most significant nibble (0xf00) of the last frame id) FRAME_ID (most significant nibble (0xf00) of the current frame id) bits 12 - 27 DEVICE_ADDRESS (transmitting device’s address)

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pub fn to_bxcan_frame(&self) -> BxFrame

Converts a ross frame to a bxcan frame

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pub fn from_usart_frame(encoded: Vec<u8>) -> Result<Self, FrameError>

Converts a USART frame to a ross frame

This is the structure for a USART frame: byte 0: bit 0: NOT_ERROR_FLAG (if this bit is low, the frame is considered to be an error frame) bit 1: START_FRAME_FLAG (if this bit is high, the frame is considered to be the first frame of a packet) bit 2: MULTI_FRAME_FLAG (if this bit is high, the frame is considered to be only a part of a packet)s bit 3: RESERVED (reserved for future use) bits 4 - 7: LAST_FRAME_ID (most significant nibble (0xf00) of the last frame id) FRAME_ID (most significant nibble (0xf00) of the current frame id)

byte 1: LAST_FRAME_ID (least significant byte (0x0ff) of the last frame id) FRAME_ID (least significant byte (0x0ff) of the current frame id)

byte 2: DEVICE_ADDRESS (most significant byte (0xff00) of the device address) byte 3: DEVICE_ADDRESS (least significant byte (0x00ff) of the device address)

byte 4: DATA_LEN (length of frame data) bytes 5 - 12: DATA (frame data)

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