Struct CanFdFrame 

#[non_exhaustive]
pub struct CanFdFrame {
    pub channel: Option<usize>,
    pub arbitration_id: u32,
    pub data: [u8; 64],
    pub size: u8,
    pub brs: Toggle,
    pub fdcan_frame: Toggle,
}

A CAN-FD frame.

This structure represents a CAN-FD frame with only standard CAN fields: arbitration ID, payload data, and CAN-FD options. Moteus-specific routing (destination, source, can_prefix) is handled by the higher-level Command type in the moteus crate.

Fields (Non-exhaustive)

Non-exhaustive structs could have additional fields added in future. Therefore, non-exhaustive structs cannot be constructed in external crates using the traditional Struct { .. } syntax; cannot be matched against without a wildcard ..; and struct update syntax will not work.

channel: Option<usize>

Channel index identifying which transport device this frame was received from or should be sent to.

arbitration_id: u32

CAN arbitration ID

data: [u8; 64]

Frame payload data (up to 64 bytes for CAN-FD)

size: u8

Actual size of data in the frame

brs: Toggle

Bit rate switch (BRS) toggle

fdcan_frame: Toggle

FD frame format toggle

Implementations

impl CanFdFrame

pub const fn new() -> Self

Creates a new empty CAN-FD frame.

pub fn payload(&self) -> &[u8]

Returns the payload data as a slice.

pub fn payload_mut(&mut self) -> &mut [u8]

Returns the payload data as a mutable slice.

pub fn clear_data(&mut self)

Clears the frame data, keeping metadata.

pub fn remaining_capacity(&self) -> usize

Returns the remaining capacity in bytes.

pub fn is_empty(&self) -> bool

Returns true if the frame is empty (no data).

pub fn brs_enabled(&self) -> bool

Returns true if BRS (bit rate switching) should be enabled.

pub fn fdcan_enabled(&self) -> bool

Returns true if FD CAN frame format should be used.

pub fn set_brs(&mut self, enabled: bool)

Sets BRS toggle.

pub fn set_fdcan(&mut self, enabled: bool)

Sets FD CAN frame format toggle.

pub fn round_up_dlc(size: usize) -> usize

Rounds up a data length to the next valid CAN-FD DLC size.

pub fn pad_to_dlc(&mut self)

Pads the frame data with 0x50 to the next valid CAN-FD DLC size.

Trait Implementations

impl Clone for CanFdFrame

fn clone(&self) -> CanFdFrame

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for CanFdFrame

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for CanFdFrame

fn default() -> Self

Returns the “default value” for a type.

impl PartialEq for CanFdFrame

fn eq(&self, other: &CanFdFrame) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StructuralPartialEq for CanFdFrame