Implement a CAN FD interface

Author: mickeprag

embedded-can/CHANGELOG.md

@@ -11,6 +11,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - Increased MSRV to 1.81 due to `core::error::Error`
 - Bumped `defmt` to v1
 - `defmt-03` feature is now named `defmt`
+- Added CAN FD support
 
 ### Added
 

embedded-can/src/blocking.rs

@@ -15,3 +15,19 @@ pub trait Can {
     /// Blocks until a frame was received or an error occurred.
     fn receive(&mut self) -> Result<Self::Frame, Self::Error>;
 }
+
+/// A blocking CAN FD interface that is able to transmit and receive fd frames.
+pub trait CanFD {
+    /// Associated frame type.
+    type FDFrame: crate::FDFrame;
+
+    /// Associated error type.
+    type Error: crate::Error;
+
+    /// Puts a fd frame in the transmit buffer. Blocks until space is available in
+    /// the transmit buffer.
+    fn transmit_fd(&mut self, frame: &Self::FDFrame) -> Result<(), Self::Error>;
+
+    /// Blocks until a fd frame was received or an error occurred.
+    fn receive_fd(&mut self) -> Result<Self::FDFrame, Self::Error>;
+}

embedded-can/src/nb.rs

@@ -26,3 +26,33 @@ pub trait Can {
     /// Returns a received frame if available.
     fn receive(&mut self) -> nb::Result<Self::Frame, Self::Error>;
 }
+
+/// A CAN FD interface that is able to transmit and receive frames.
+pub trait CanFD {
+    /// Associated frame type.
+    type FDFrame: crate::FDFrame;
+
+    /// Associated error type.
+    type Error: crate::Error;
+
+    /// Puts a fd frame in the transmit buffer to be sent on the bus.
+    ///
+    /// If the transmit buffer is full, this function will try to replace a pending
+    /// lower priority frame and return the frame that was replaced.
+    /// Returns `Err(WouldBlock)` if the transmit buffer is full and no frame can be
+    /// replaced.
+    ///
+    /// # Notes for implementers
+    ///
+    /// * Frames of equal identifier shall be transmitted in FIFO fashion when more
+    ///   than one transmit buffer is available.
+    /// * When replacing pending frames make sure the frame is not in the process of
+    ///   being send to the bus.
+    fn transmit_fd(
+        &mut self,
+        frame: &Self::FDFrame,
+    ) -> nb::Result<Option<Self::FDFrame>, Self::Error>;
+
+    /// Returns a received frame if available.
+    fn receive_fd(&mut self) -> nb::Result<Self::FDFrame, Self::Error>;
+}