Struct LssMaster 

pub struct LssMaster<S, R> { /* private fields */ }

Struct to interact with nodes using the LSS protocol

Implementations

impl<S: AsyncCanSender, R: AsyncCanReceiver> LssMaster<S, R>

pub fn new(sender: S, receiver: R) -> Self

Create a new LssMaster

Arguments

• sender: An object which implements AsyncCanSender to be used for sending messages to the bus
• receiver: An object which implements AsyncCanReceiver to be used for receiving messages from the bus

When using socketcan, these can be created with crate::open_socketcan.

pub async fn configure_by_identity( &mut self, identity: LssIdentity, node_id: NodeId, baud_rate_table: u8, baud_rate_index: u8, ) -> Result<(), LssError>

Configure an LSS slave with known identity

If you know the 128-bit identity value for a node, you can configure it this way.

pub async fn enter_config_by_identity( &mut self, vendor_id: u32, product_code: u32, revision: u32, serial: u32, ) -> Result<(), LssError>

Send a sequence of messages to put a single node into configuration mode based on its identity

pub async fn set_baud_rate( &mut self, table: u8, index: u8, ) -> Result<(), LssError>

Send a command to set the baud rate on the LSS slave current in configuration mode

The node must have been put into configuration mode already.

Returns Err(LssError::Timeout) if the node does not respond to the command, or Err(LssError::ConfigError) if the node responds with an error.

Arguments

• table - The index of the table of baud rate settings to use (0 for the default CANOpen table)
• index - The index into the table of the baud rate setting to use

pub async fn set_node_id(&mut self, node_id: NodeId) -> Result<(), LssError>

Send a command to set the node ID on the LSS slave current in configuration mode

The node must have been put into configuration mode already.

Returns Err(LssError::Timeout) if the node does not respond to the command, or Err(LssError::ConfigError) if the node responds with an error.

pub async fn store_config(&mut self) -> Result<(), LssError>

Send command to store configuration

The node must have been put into configuration mode already.

Returns Err(LssError::Timeout) if the node does not respond to the command, or Err(LssError::ConfigError) if the node responds with an error.

pub async fn fast_scan(&mut self, timeout: Duration) -> Option<LssIdentity>

Perform a fast scan of the network to find unconfigured nodes

Arguments

• timeout - The duration of time to wait for responses after each message. Duration::from_millis(20) is probably a pretty safe value, but this depends on the responsiveness of the slaves, and on the amount of bus traffic. If the timeout is set too short, the scan may fail to find existing nodes.

pub async fn set_global_mode(&mut self, mode: LssState)

Send command to the bus to set the LSS mode for all nodes

Trait Implementations

impl<S: Debug, R: Debug> Debug for LssMaster<S, R>

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.