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Can refactor #178

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Can refactor #178

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10 changes: 9 additions & 1 deletion src/can.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,12 @@

pub use embedded_hal_can::{self, Filter, Frame, Id, Receiver, Transmitter};

// TODO Switch to embedded-can
// https://github.com/timokroeger/embedded-can/blob/master/src/lib.rs
// https://github.com/rust-embedded/embedded-hal/pull/212
// TODO Use bxcan
// https://github.com/stm32-rs/bxcan

use crate::gpio::gpioa;
use crate::gpio::AF9;
use crate::rcc::APB1;
Expand All @@ -33,13 +39,14 @@ pub enum CanId {
/// Extended 29bit Identifier (0..=0x1FFF_FFFF)
ExtendedId(u32),
}

/// A CAN frame consisting of a destination ID and up to 8 bytes of data.
///
/// Currently, we always allocate a fixed size array for each frame regardless
/// of actual size, but this could be improved in the future using const-generics.
#[derive(Debug, Clone, Eq, PartialEq)]
pub struct CanFrame {
// TODO must they be pub?
// How are they set and get interally?
/// CAN Frame ID
id: CanId,
/// Data Length Code (range 0..=8)
Expand Down Expand Up @@ -187,6 +194,7 @@ impl embedded_hal_can::Filter for CanFilter {

/// Constuct a mask filter. This method accepts two parameters, the mask which designates which
/// bits are actually matched againts and the filter, with the actual bits to match.
// TODO Result?
fn from_mask(mask: u32, filter: u32) -> Self {
assert!(
mask < MAX_EXTENDED_ID,
Expand Down