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Cleanup CAN Header interface

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This commit is contained in:
Max Guichard 2024-11-21 13:08:38 +01:00
parent 110a948379
commit b700b0c13c
1 changed files with 8 additions and 8 deletions
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16
embassy-stm32/src/can/frame.rs
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@ -68,19 +68,19 @@ impl Header {
const FLAG_BRS: usize = 2; // Bit-rate switching, ignored for Classic CAN
/// Create new CAN Header
pub fn new(id: embedded_can::Id, len: u8, rtr: bool) -> Header {
pub fn new(id: impl Into<embedded_can::Id>, len: u8, rtr: bool) -> Header {
let mut flags = 0u8;
flags.set_bit(Self::FLAG_RTR, rtr);
Header { id, len, flags }
Header { id: id.into(), len, flags }
}
/// Create new CAN FD Header
pub fn new_fd(id: embedded_can::Id, len: u8, rtr: bool, brs: bool) -> Header {
pub fn new_fd(id: impl Into<embedded_can::Id>, len: u8, rtr: bool, brs: bool) -> Header {
let mut flags = 0u8;
flags.set_bit(Self::FLAG_RTR, rtr);
flags.set_bit(Self::FLAG_FDCAN, true);
flags.set_bit(Self::FLAG_BRS, brs);
Header { id, len, flags }
Header { id: id.into(), len, flags }
}
/// Return ID
@ -199,7 +199,7 @@ impl Frame {
/// Create new extended frame
pub fn new_extended(raw_id: u32, raw_data: &[u8]) -> Result<Self, FrameCreateError> {
if let Some(id) = embedded_can::ExtendedId::new(raw_id) {
Self::new(Header::new(id.into(), raw_data.len() as u8, false), raw_data)
Self::new(Header::new(id, raw_data.len() as u8, false), raw_data)
} else {
Err(FrameCreateError::InvalidCanId)
}
@ -208,7 +208,7 @@ impl Frame {
/// Create new standard frame
pub fn new_standard(raw_id: u16, raw_data: &[u8]) -> Result<Self, FrameCreateError> {
if let Some(id) = embedded_can::StandardId::new(raw_id) {
Self::new(Header::new(id.into(), raw_data.len() as u8, false), raw_data)
Self::new(Header::new(id, raw_data.len() as u8, false), raw_data)
} else {
Err(FrameCreateError::InvalidCanId)
}
@ -384,7 +384,7 @@ impl FdFrame {
/// BRS is set to false by default
pub fn new_extended(raw_id: u32, raw_data: &[u8]) -> Result<Self, FrameCreateError> {
if let Some(id) = embedded_can::ExtendedId::new(raw_id) {
Self::new(Header::new(id.into(), raw_data.len() as u8, false), raw_data)
Self::new(Header::new(id, raw_data.len() as u8, false), raw_data)
} else {
Err(FrameCreateError::InvalidCanId)
}
@ -393,7 +393,7 @@ impl FdFrame {
/// Create new standard frame
pub fn new_standard(raw_id: u16, raw_data: &[u8]) -> Result<Self, FrameCreateError> {
if let Some(id) = embedded_can::StandardId::new(raw_id) {
Self::new(Header::new(id.into(), raw_data.len() as u8, false), raw_data)
Self::new(Header::new(id, raw_data.len() as u8, false), raw_data)
} else {
Err(FrameCreateError::InvalidCanId)
}