update

imxrt1060-hal/src/can/embedded_hal.rs

@@ -14,11 +14,8 @@ where
     type Error = OverrunError;
 
     fn transmit(&mut self, frame: &Self::Frame) -> nb::Result<Option<Self::Frame>, Self::Error> {
-        let data: [u8; 8] = [255, 255, 255, 255, 255, 255, 255, 255];
-        let id = StandardId::new(0).unwrap();
-
         match self.transmit(frame) {
-            Ok(status) => Ok(Some(Frame::new_data(id, Data::new(&data).unwrap()))),
+            Ok(_status) => Ok(Some(frame.clone())),
             Err(nb::Error::WouldBlock) => Err(nb::Error::WouldBlock),
             Err(nb::Error::Other(e)) => match e {},
         }

imxrt1060-hal/src/can/isotp.rs

@@ -0,0 +1,40 @@
+use super::CAN;
+
+use crate::ccm;
+use crate::iomuxc::consts::{Unsigned, U1, U2};
+use crate::ral;
+
+use core::cmp::Ord;
+use core::convert::Infallible;
+use core::marker::PhantomData;
+
+
+/// A CAN ISO-TP builder that can build a CAN peripheral
+pub struct IsoTPBuilder<M> {
+    can: CAN<M>,
+}
+
+impl<M> IsoTPBuilder<M>
+where
+    M: Unsigned,
+{
+    pub fn new(can: CAN<M>) -> Self {
+        IsoTPBuilder {
+            can,
+        }
+    }
+
+    pub fn build(self) -> IsoTP<M> {
+        IsoTP::new(self.can)
+    }
+}
+
+pub struct IsoTP<M> {
+    pub can: CAN<M>,
+}
+
+impl<M> IsoTP<M> {
+    pub fn new(can: CAN<M>) -> Self {
+        Self { can }
+    }
+}

imxrt1060-hal/src/can/mod.rs

@@ -3,9 +3,11 @@ pub mod filter;
 mod frame;
 mod id;
 mod interrupt;
+mod isotp;
 
 pub use frame::{Data, Frame, FramePriority};
 pub use id::{ExtendedId, Id, IdReg, StandardId};
+pub use isotp::{IsoTPBuilder, IsoTP};
 use ral::{modify_reg, read_reg, write_reg};
 
 use crate::ccm;