diff --git a/embassy-stm32/src/can/enums.rs b/embassy-stm32/src/can/enums.rs
index a5cca424db..69dcc6b412 100644
--- a/embassy-stm32/src/can/enums.rs
+++ b/embassy-stm32/src/can/enums.rs
@@ -59,6 +59,14 @@ pub enum FrameCreateError {
     InvalidCanId,
 }
 
+/// Id Create Errors
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum IdCreateError {
+    /// ID was out of range for 11/28 bit identifier
+    OutOfRange
+}
+
 /// Error returned by `try_read`
 #[derive(Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
diff --git a/embassy-stm32/src/can/frame.rs b/embassy-stm32/src/can/frame.rs
index d2d1f7aa6d..3497bae5f2 100644
--- a/embassy-stm32/src/can/frame.rs
+++ b/embassy-stm32/src/can/frame.rs
@@ -1,7 +1,7 @@
 //! Definition for CAN Frames
 use bit_field::BitField;
 
-use crate::can::enums::FrameCreateError;
+use crate::can::enums::{FrameCreateError, IdCreateError};
 
 /// Calculate proper timestamp when available.
 #[cfg(feature = "time")]
@@ -19,6 +19,35 @@ pub struct Header {
     flags: u8,
 }
 
+/// Convenience wrapper for embedded_can::Id
+#[derive(Debug, Copy, Clone)]
+pub struct Id (
+    // Wrapped ID
+    embedded_can::Id
+);
+
+impl TryFrom<u16> for Id {
+    type Error = IdCreateError;
+
+    fn try_from(raw_id: u16) -> Result<Self, Self::Error> {
+        let standard_id = embedded_can::StandardId::new(raw_id).ok_or(IdCreateError::OutOfRange)?;
+        Ok (Id { 0: standard_id.into() })
+    }
+}
+
+impl TryFrom<u32> for Id {
+    type Error = IdCreateError;
+
+    fn try_from(raw_id: u32) -> Result<Self, Self::Error> {
+        let extended_id = embedded_can::ExtendedId::new(raw_id).ok_or(IdCreateError::OutOfRange)?;
+        Ok (Id { 0: extended_id.into() })
+    }
+}
+
+impl From<Id> for embedded_can::Id {
+    fn from(id: Id) -> Self { id.0 }
+}
+
 #[cfg(feature = "defmt")]
 impl defmt::Format for Header {
     fn format(&self, fmt: defmt::Formatter<'_>) {
@@ -352,6 +381,7 @@ impl FdFrame {
     }
 
     /// Create new extended frame
+    /// BRS is set to false by default
     pub fn new_extended(raw_id: u32, raw_data: &[u8]) -> Result<Self, FrameCreateError> {
         if let Some(id) = embedded_can::ExtendedId::new(raw_id) {
             Self::new(Header::new(id.into(), raw_data.len() as u8, false), raw_data)