1//! Enums shared between CAN controller types.
2
3/// Bus error
4#[derive(Debug)]
5#[cfg_attr(feature = "defmt", derive(defmt::Format))]
6pub enum BusError {
7 /// Bit stuffing error - more than 5 equal bits
8 Stuff,
9 /// Form error - A fixed format part of a received message has wrong format
10 Form,
11 /// The message transmitted by the FDCAN was not acknowledged by another node.
12 Acknowledge,
13 /// Bit0Error: During the transmission of a message the device wanted to send a dominant level
14 /// but the monitored bus value was recessive.
15 BitRecessive,
16 /// Bit1Error: During the transmission of a message the device wanted to send a recessive level
17 /// but the monitored bus value was dominant.
18 BitDominant,
19 /// The CRC check sum of a received message was incorrect. The CRC of an
20 /// incoming message does not match with the CRC calculated from the received data.
21 Crc,
22 /// A software error occured
23 Software,
24 /// The FDCAN is in Bus_Off state.
25 BusOff,
26 /// The FDCAN is in the Error_Passive state.
27 BusPassive,
28 /// At least one of error counter has reached the Error_Warning limit of 96.
29 BusWarning,
30}
31
32/// Bus error modes.
33///
34/// Contrary to the `BusError` enum which also includes last-seen acute protocol
35/// errors, this enum includes only the mutually exclusive bus error modes.
36#[derive(Debug)]
37#[cfg_attr(feature = "defmt", derive(defmt::Format))]
38pub enum BusErrorMode {
39 /// Error active mode (default). Controller will transmit an active error
40 /// frame upon protocol error.
41 ErrorActive,
42 /// Error passive mode. An error counter exceeded 127. Controller will
43 /// transmit a passive error frame upon protocol error.
44 ErrorPassive,
45 /// Bus off mode. The transmit error counter exceeded 255. Controller is not
46 /// participating in bus traffic.
47 BusOff,
48}
49
50/// Frame Create Errors
51#[derive(Debug)]
52#[cfg_attr(feature = "defmt", derive(defmt::Format))]
53pub enum FrameCreateError {
54 /// Data in header does not match supplied.
55 NotEnoughData,
56 /// Invalid data length not 0-8 for Classic packet or valid for FD.
57 InvalidDataLength,
58 /// Invalid ID.
59 InvalidCanId,
60}
61
62/// Error returned by `try_read`
63#[derive(Debug)]
64#[cfg_attr(feature = "defmt", derive(defmt::Format))]
65pub enum TryReadError {
66 /// Bus error
67 BusError(BusError),
68 /// Receive buffer is empty
69 Empty,
70}
71