1//! Non-blocking CAN API
2
3/// A CAN interface that is able to transmit and receive frames.
4pub trait Can {
5 /// Associated frame type.
6 type Frame: crate::can::Frame;
7
8 /// Associated error type.
9 type Error: crate::can::Error;
10
11 /// Puts a frame in the transmit buffer to be sent on the bus.
12 ///
13 /// If the transmit buffer is full, this function will try to replace a pending
14 /// lower priority frame and return the frame that was replaced.
15 /// Returns `Err(WouldBlock)` if the transmit buffer is full and no frame can be
16 /// replaced.
17 ///
18 /// # Notes for implementers
19 ///
20 /// * Frames of equal identifier shall be transmited in FIFO fashion when more
21 /// than one transmit buffer is available.
22 /// * When replacing pending frames make sure the frame is not in the process of
23 /// being send to the bus.
24 fn transmit(&mut self, frame: &Self::Frame) -> nb::Result<Option<Self::Frame>, Self::Error>;
25
26 /// Returns a received frame if available.
27 fn receive(&mut self) -> nb::Result<Self::Frame, Self::Error>;
28}
29