Struct bxcan::CanBuilder

pub struct CanBuilder<I: Instance> { /* private fields */ }

Builder returned by Can::builder.

Implementations

impl<I: Instance> CanBuilder<I>

pub fn set_bit_timing(self, btr: u32) -> Self

Configures the bit timings.

You can use http://www.bittiming.can-wiki.info/ to calculate the btr parameter. Enter parameters as follows:

• Clock Rate: The input clock speed to the CAN peripheral (not the CPU clock speed). This is the clock rate of the peripheral bus the CAN peripheral is attached to (eg. APB1).
• Sample Point: Should normally be left at the default value of 87.5%.
• SJW: Should normally be left at the default value of 1.

Then copy the CAN_BUS_TIME register value from the table and pass it as the btr parameter to this method.

pub fn set_loopback(self, enabled: bool) -> Self

Enables or disables loopback mode: Internally connects the TX and RX signals together.

pub fn set_silent(self, enabled: bool) -> Self

Enables or disables silent mode: Disconnects the TX signal from the pin.

pub fn set_automatic_retransmit(self, enabled: bool) -> Self

Enables or disables automatic retransmission of messages.

If this is enabled, the CAN peripheral will automatically try to retransmit each frame until it can be sent. Otherwise, it will try only once to send each frame.

Automatic retransmission is enabled by default.

pub fn enable(self) -> Can<I>

Leaves initialization mode and enables the peripheral.

To sync with the CAN bus, this will block until 11 consecutive recessive bits are detected on the bus.

If you want to finish configuration without enabling the peripheral, you can call CanBuilder::leave_disabled instead.

pub fn leave_disabled(self) -> Can<I>

Returns the Can interface without enabling it.

This leaves initialization mode, but keeps the peripheral in sleep mode instead of enabling it.

Before the Can instance can be used, you have to enable it by calling Can::enable_non_blocking.