rsiot/components_config/can_general/
can_settings.rs

1// ANCHOR: CanSettings
2/// Конфигурация CAN-протокола
3#[derive(Clone, Debug, Default)]
4pub struct CanSettings {
5    /// Настройка скорости CAN
6    pub bitrate: CanSettingsBitrate,
7
8    /// Настройка скорости CAN-FD
9    pub dbitrate: CanSettingsDbitrate,
10
11    /// Used specially when running more than one application on the same node (host)
12    pub mode_loopback: bool,
13
14    /// Only listen for frames on the bus (no sending)
15    pub mode_listen_only: bool,
16
17    /// Make 3 samples instead of 1 during the bit time (on the 2 TQs before the Sample Point)
18    pub mode_triple_sampling: bool,
19
20    /// Just send the CAN message one time (skip retransmission in case of error)
21    pub mode_one_shot: bool,
22
23    /// Enable/Disable Bit Error reporting
24    pub mode_berr_reporting: bool,
25
26    /// CAN-FD протокол
27    pub mode_fd: bool,
28
29    /// When enabled, acknowledgement absence is ignored
30    pub mode_presume_ack: bool,
31
32    /// Enable non-ISO CAN FD (this is the first specification of CAN FD, called CAN FD 1.0 and it’s
33    /// not compatible with ISO CAN FD)
34    pub mode_fd_non_iso: bool,
35
36    /// DLC remaining seven values from 9 to 15 used for CAN FD should be set to 8 for standard CAN.
37    pub mode_cc_len8_dlc: bool,
38
39    /// Transmitter Delay Compensation Value mode (automatic, manual or disabled - used in CAN FD)
40    pub mode_tdcv_mode: bool,
41
42    /// Automatic restart delay time, the time to wait before restart the CAN controller in case of
43    /// a bus-off condition (a CAN node becomes Bus-Off when the the counter for transmission errors
44    /// becomes greater or equal to 256, so the node is deactivated)
45    pub restart_ms: Option<u32>,
46}
47// ANCHOR: CanSettings
48
49// ANCHOR: CanSettingsBitrate
50/// Настройка скорости передачи CAN
51#[derive(Clone, Debug)]
52pub enum CanSettingsBitrate {
53    /// Обычное задание скорости
54    Standard {
55        /// CAN interface’s bit rate (bps)
56        bitrate: u32,
57
58        /// Point in time period where the bus is read to get the current bit level
59        sample_point: Option<f32>,
60    },
61
62    /// Пользовательская настройка скорости
63    Custom {
64        /// Time Quantum (1 TQ = 1 Clock tick)
65        tq: u8,
66
67        /// Compensates the propagation of physical delays between nodes
68        prop_seg: u8,
69
70        /// Used to compensate errors between signal edges and adjust the length of the bit
71        phase_seg1: u8,
72
73        /// Used to compensate errors between signal edges and adjust the length of the bit
74        phase_seg2: u8,
75
76        /// Synchronization jump width, that’s the maximum time by which the bit sampling period
77        /// might be delayed or shortened during each cycle
78        sjw: Option<u8>,
79    },
80}
81// ANCHOR: CanSettingsBitrate
82impl Default for CanSettingsBitrate {
83    fn default() -> Self {
84        CanSettingsBitrate::Standard {
85            bitrate: 500_000,
86            sample_point: None,
87        }
88    }
89}
90
91/// Настройка скорости передачи CAN-FD
92#[derive(Clone, Debug)]
93pub enum CanSettingsDbitrate {
94    /// Используется классический CAN
95    None,
96
97    /// Обычное задание скорости
98    Standard {
99        /// Data bit rate (used in CAN FD, which supports different bit rates for the arbitration phase
100        /// and the data/payload phase)
101        dbitrate: u32,
102
103        /// Data Time Quantum (used in CAN FD)
104        dsample_point: Option<f32>,
105
106        /// Transmitter Delay Compensation Value (used in CAN FD)
107        tdcv: Option<u8>,
108
109        /// Transmitter Delay Compensation Offset (used in CAN FD)
110        tdco: Option<u8>,
111
112        /// Transmitter Delay Compensation Filter windows value (used in CAN FD)
113        tdcf: Option<u8>,
114    },
115
116    /// Пользовательская настройка скорости
117    Custom {
118        /// Data Time Quantum (used in CAN FD)
119        dtq: u8,
120
121        /// Compensates the propagation of physical delays between nodes
122        dprop_seg: u8,
123
124        /// Used to compensate errors between signal edges and adjust the length of the bit
125        dphase_seg1: u8,
126
127        /// Used to compensate errors between signal edges and adjust the length of the bit
128        dphase_seg2: u8,
129
130        /// Synchronization jump width, that’s the maximum time by which the bit sampling period
131        /// might be delayed or shortened during each cycle
132        dsjw: Option<u8>,
133
134        /// Transmitter Delay Compensation Value (used in CAN FD)
135        tdcv: Option<u8>,
136
137        /// Transmitter Delay Compensation Offset (used in CAN FD)
138        tdco: Option<u8>,
139
140        /// Transmitter Delay Compensation Filter windows value (used in CAN FD)
141        tdcf: Option<u8>,
142    },
143}
144impl Default for CanSettingsDbitrate {
145    fn default() -> Self {
146        CanSettingsDbitrate::Standard {
147            dbitrate: 500_000,
148            dsample_point: None,
149            tdcv: None,
150            tdco: None,
151            tdcf: None,
152        }
153    }
154}
rsiot/components_config/can_general/can_settings.rs

rsiot/components_config/can_general/
can_settings.rs
