Merge pull request #258 from WildernessLabs/feature/can-errors

added can error info

Source/Meadow.Contracts/Hardware/Contracts/PortsAndBuses/CAN/CanBitrate.cs

@@ -8,90 +8,90 @@ public enum CanBitrate
     /// <summary>
     /// 5 kbps CAN bitrate.
     /// </summary>
-    Can_5kbps,
+    Can_5kbps = 5_000,
 
     /// <summary>
     /// 10 kbps CAN bitrate.
     /// </summary>
-    Can_10kbps,
+    Can_10kbps = 10_000,
 
     /// <summary>
     /// 20 kbps CAN bitrate.
     /// </summary>
-    Can_20kbps,
+    Can_20kbps = 20_000,
 
     /// <summary>
     /// 33 kbps CAN bitrate.
     /// </summary>
-    Can_33kbps,
+    Can_33kbps = 33_000,
 
     /// <summary>
     /// 40 kbps CAN bitrate.
     /// </summary>
-    Can_40kbps,
+    Can_40kbps = 40_000,
 
     /// <summary>
     /// 47 kbps CAN bitrate.
     /// </summary>
-    Can_47kbps,
+    Can_47kbps = 47_000,
 
     /// <summary>
     /// 50 kbps CAN bitrate.
     /// </summary>
-    Can_50kbps,
+    Can_50kbps = 50_000,
 
     /// <summary>
     /// 80 kbps CAN bitrate.
     /// </summary>
-    Can_80kbps,
+    Can_80kbps = 80_000,
 
     /// <summary>
     /// 83 kbps CAN bitrate.
     /// </summary>
-    Can_83kbps,
+    Can_83kbps = 83_000,
 
     /// <summary>
     /// 95 kbps CAN bitrate.
     /// </summary>
-    Can_95kbps,
+    Can_95kbps = 95_000,
 
     /// <summary>
     /// 100 kbps CAN bitrate.
     /// </summary>
-    Can_100kbps,
+    Can_100kbps = 100_000,
 
     /// <summary>
     /// 125 kbps CAN bitrate.
     /// </summary>
-    Can_125kbps,
+    Can_125kbps = 125_000,
 
     /// <summary>
     /// 200 kbps CAN bitrate.
     /// </summary>
-    Can_200kbps,
+    Can_200kbps = 200_000,
 
     /// <summary>
     /// 250 kbps CAN bitrate.
     /// </summary>
-    Can_250kbps,
+    Can_250kbps = 250_000,
 
     /// <summary>
     /// 500 kbps CAN bitrate.
     /// </summary>
-    Can_500kbps,
+    Can_500kbps = 500_000,
 
     /// <summary>
     /// 800 kbps CAN bitrate.
     /// </summary>
-    Can_800kbps,
+    Can_800kbps = 800_000,
 
     /// <summary>
     /// 1 Mbps CAN bitrate.
     /// </summary>
-    Can_1Mbps,
+    Can_1Mbps = 1_000_000,
 
     /// <summary>
     /// Flexible Data Rate
     /// </summary>
-    Can_FD,
+    Can_FD = -1,
 }

Source/Meadow.Contracts/Hardware/Contracts/PortsAndBuses/CAN/CanErrorInfo.cs

@@ -0,0 +1,16 @@
+namespace Meadow.Hardware;
+
+/// <summary>
+/// Represents CAN bus error information
+/// </summary>
+public class CanErrorInfo
+{
+    /// <summary>
+    /// The number of transmit errors detected 
+    /// </summary>
+    public byte TransmitErrorCount { get; set; }
+    /// <summary>
+    /// The number of receive errors detected 
+    /// </summary>
+    public byte ReceiveErrorCount { get; set; }
+}

Source/Meadow.Contracts/Hardware/Contracts/PortsAndBuses/CAN/ICanBus.cs

@@ -8,14 +8,19 @@ namespace Meadow.Hardware;
 public interface ICanBus
 {
     /// <summary>
-    /// Gets or sets the bus bit rate
+    /// Raised when a CAN frame is received.
     /// </summary>
-    CanBitrate BitRate { get; set; }
+    event EventHandler<ICanFrame>? FrameReceived;
 
     /// <summary>
-    /// Occurs when a CAN frame is received.
+    /// Raised when a bus error occurs
     /// </summary>
-    event EventHandler<ICanFrame>? FrameReceived;
+    event EventHandler<CanErrorInfo>? BusError;
+
+    /// <summary>
+    /// Gets or sets the bus bit rate
+    /// </summary>
+    CanBitrate BitRate { get; set; }
 
     /// <summary>
     /// Writes a CAN frame to the specified buffer.