update

imxrt1060-hal/src/can/filter.rs

@@ -2,21 +2,31 @@
 
 use super::{ExtendedId, Id, StandardId};
 
-#[derive(Debug, Copy, Clone, Eq, PartialEq)]
+#[derive(Debug, Copy, Clone, Eq, PartialEq, Default)]
 pub enum FlexCanIde {
+    #[default]
     None = 0,
     Ext = 1,
     Rtr = 2, 
     Std = 3,
     Inactive
 }
 
-#[derive(Debug, Copy, Clone, Eq, PartialEq)]
+#[derive(Debug, Copy, Clone, Eq, PartialEq, Default)]
 pub enum FlexCanFlten {
     AcceptAll = 0,
+    #[default]
     RejectAll = 1,
 }
 
+#[derive(Debug, Copy, Clone, Eq, PartialEq, Default)]
+pub struct FlexCanFilter {
+    pub filter_id: u8,
+    pub id: u32,
+    pub ide: FlexCanIde,
+    pub remote: FlexCanIde
+}
+
 const F32_RTR: u32 = 0b010; // set the RTR bit to match remote frames
 const F32_IDE: u32 = 0b100; // set the IDE bit to match extended identifiers
 const F16_RTR: u16 = 0b10000;

imxrt1060-hal/src/can/id.rs

@@ -23,6 +23,13 @@ impl IdReg {
 
     const RTR_MASK: u32 = 0x0000_0002;
 
+    /// Creates a new standard identifier (11bit, Range: 0..0x7FF)
+    ///
+    /// Panics for IDs outside the allowed range.
+    pub fn new(reg: u32) -> Self {
+        Self(reg)
+    }
+
     /// Creates a new standard identifier (11bit, Range: 0..0x7FF)
     ///
     /// Panics for IDs outside the allowed range.

imxrt1060-hal/src/can/mod.rs

@@ -169,6 +169,15 @@ impl From<&Frame> for MailboxData {
     }
 }
 
+impl From<&MailboxData> for Frame {
+    fn from(d: &MailboxData) -> Self {
+        Self {
+            id: IdReg::new(d.id),
+            data: d.data.into(),
+        }
+    }
+}
+
 const FLEXCAN_MB_CS_CODE_MASK: u32 = 0x0F000000;
 
 #[repr(u8)]
@@ -836,6 +845,13 @@ where
         })
     }
 
+    pub fn set_fifo_filter_2(
+        &mut self,
+        filter: filter::FlexCanFilter
+    ) {
+        self.set_fifo_filter(filter.filter_id, filter.id, filter.ide, filter.remote)
+    }
+
     pub fn enable_fifo_interrupt(&mut self, enabled: bool) {
         /* FIFO must be enabled first */
         if !self.fifo_enabled() {