Struct CanFrame 

pub struct CanFrame {
    pub id: u32,
    pub flags: FrameFlags,
    pub len: u8,
    /* private fields */
}

Unified CAN frame: covers both classical CAN (8-byte payload) and CAN-FD (up to 64-byte payload).

The inline [u8; 64] payload buffer is sized for CAN-FD’s maximum DLC; classical frames use only the first 8 bytes and pay ~56 bytes of latent memory in exchange for full upper-layer agnosticism between classical and FD. See openspec/changes/walking-skeleton-single-arm/design.md Decision 14.

Fields

id: u32

CAN identifier (11-bit base or 29-bit extended; see FrameFlags::EXTENDED_ID).

flags: FrameFlags

Metadata bits (FD/BRS/ESI/EXTENDED/RTR).

len: u8

Payload length in bytes. len <= 8 for classical, len <= 64 for FD.

Implementations

impl CanFrame

pub fn classical(id: u32, payload: &[u8]) -> Result<Self, FrameError>

Construct a classical CAN frame with an 11-bit base identifier.

pub fn classical_extended(id: u32, payload: &[u8]) -> Result<Self, FrameError>

Construct a classical CAN frame with a 29-bit extended identifier.

pub fn fd(id: u32, payload: &[u8]) -> Result<Self, FrameError>

Construct a CAN-FD frame. Length must be a valid FD DLC; BRS is set by default.

pub fn fd_extended(id: u32, payload: &[u8]) -> Result<Self, FrameError>

Construct a CAN-FD frame with a 29-bit extended identifier.

pub fn from_parts( id: u32, flags: FrameFlags, payload: &[u8], ) -> Result<Self, FrameError>

Construct a frame from raw fields. Performs the flag-compatibility validation that CanFrame::classical / CanFrame::fd enforce automatically.

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

Return the active payload bytes (&self.data[..self.len]).

pub fn is_fd(&self) -> bool

True iff FrameFlags::FD_FORMAT is set.

pub fn is_extended(&self) -> bool

True iff FrameFlags::EXTENDED_ID is set.

Trait Implementations

impl Clone for CanFrame

fn clone(&self) -> CanFrame

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for CanFrame

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

Formats the value using the given formatter.

impl PartialEq for CanFrame

fn eq(&self, other: &CanFrame) -> 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 Copy for CanFrame

impl Eq for CanFrame

impl StructuralPartialEq for CanFrame