PR comments

Author: zklapow

src/can.rs

@@ -130,15 +130,19 @@ impl embedded_hal_can::Frame for CanFrame {
 impl embedded_hal_can::Filter for CanFilter {
     type Id = CanId;
 
+    /// Construct a filter which filters messages for a specific identified
     fn from_id(id: Self::Id) -> Self {
         CanFilter::new(CanFilterData::IdFilter(id))
     }
 
+    /// Construct an "empty" filter which will accept all messages
     fn accept_all() -> Self {
         CanFilter::new(CanFilterData::AcceptAll)
     }
 
     // TODO: Constructing filters like this is fairly limiting because ideally we would have the full "filter state" available, so for non-extended filters this could be 2 masks and filters or 4 ids for id lists
+
+    /// Constuct a mask filter. This method accepts two parameters, the mask which designates which bits are actually matched againts and the filter, with the actual bits to match.
     fn from_mask(mask: u32, filter: u32) -> Self {
         assert!(
             mask < MAX_EXTENDED_ID,
@@ -417,6 +421,7 @@ impl Receiver for CanFifo {
         Err(nb::Error::WouldBlock)
     }
 
+    /// Sets a filter in the next open filter register.
     fn set_filter(&mut self, filter: Self::Filter) {
         cortex_m::interrupt::free(|_cs| {
             let can = unsafe { &*stm32::CAN::ptr() };