Merge branch 'embassy-rs:main' into main

1 files changed, 8 insertions, 4 deletions

diff --git a/embassy-stm32/src/can/fd/config.rs b/embassy-stm32/src/can/fd/config.rs
index 68161ca50..c6a66b469 100644
--- a/embassy-stm32/src/can/fd/config.rs
+++ b/embassy-stm32/src/can/fd/config.rs
@@ -328,11 +328,15 @@ pub struct FdCanConfig {
     ///
     /// Automatic retransmission is enabled by default.
     pub automatic_retransmit: bool,
-    /// Enabled or disables the pausing between transmissions
+    /// The transmit pause feature is intended for use in CAN systems where the CAN message
+    /// identifiers are permanently specified to specific values and cannot easily be changed.
     ///
-    /// This feature looses up burst transmissions coming from a single node and it protects against
-    /// "babbling idiot" scenarios where the application program erroneously requests too many
-    /// transmissions.
+    /// These message identifiers can have a higher CAN arbitration priority than other defined
+    /// messages, while in a specific application their relative arbitration priority must be inverse.
+    ///
+    /// This may lead to a case where one ECU sends a burst of CAN messages that cause
+    /// another ECU CAN messages to be delayed because that other messages have a lower
+    /// CAN arbitration priority.
     pub transmit_pause: bool,
     /// Enabled or disables the pausing between transmissions
     ///