diff options
Diffstat (limited to 'src/stm32/can.c')
| -rw-r--r-- | src/stm32/can.c | 15 |
1 files changed, 13 insertions, 2 deletions
diff --git a/src/stm32/can.c b/src/stm32/can.c index 99fe98dc..16623f4b 100644 --- a/src/stm32/can.c +++ b/src/stm32/can.c @@ -118,6 +118,12 @@ canbus_send(struct canbus_msg *msg) mb->TDHR = msg->data32[1]; /* Request transmission */ + uint32_t tir; + if (msg->id & CANMSG_ID_EFF) + tir = ((msg->id & 0x1fffffff) << CAN_TI0R_EXID_Pos) | CAN_TI0R_IDE; + else + tir = (msg->id & 0x7ff) << CAN_TI0R_STID_Pos; + tir |= msg->id & CANMSG_ID_RTR ? CAN_TI0R_RTR : 0; mb->TIR = (msg->id << CAN_TI0R_STID_Pos) | CAN_TI0R_TXRQ; return CANMSG_DATA_LEN(msg); } @@ -131,7 +137,7 @@ canbus_set_filter(uint32_t id) /* Initialisation mode for the filter */ SOC_CAN->FA1R = 0; - uint32_t mask = CAN_RI0R_STID | CAN_TI0R_IDE | CAN_TI0R_RTR; + uint32_t mask = CAN_TI0R_STID | CAN_TI0R_IDE | CAN_TI0R_RTR; SOC_CAN->sFilterRegister[0].FR1 = CANBUS_ID_ADMIN << CAN_RI0R_STID_Pos; SOC_CAN->sFilterRegister[0].FR2 = mask; SOC_CAN->sFilterRegister[1].FR1 = (id + 1) << CAN_RI0R_STID_Pos; @@ -155,8 +161,13 @@ CAN_IRQHandler(void) if (SOC_CAN->RF0R & CAN_RF0R_FMP0) { // Read and ack data packet CAN_FIFOMailBox_TypeDef *mb = &SOC_CAN->sFIFOMailBox[0]; + uint32_t rir = mb->RIR; struct canbus_msg msg; - msg.id = (mb->RIR >> CAN_RI0R_STID_Pos) & 0x7FF; + if (rir & CAN_RI0R_IDE) + msg.id = ((rir >> CAN_RI0R_EXID_Pos) & 0x1fffffff) | CANMSG_ID_EFF; + else + msg.id = (rir >> CAN_RI0R_STID_Pos) & 0x7ff; + msg.id |= rir & CAN_RI0R_RTR ? CANMSG_ID_RTR : 0; msg.dlc = mb->RDTR & CAN_RDT0R_DLC; msg.data32[0] = mb->RDLR; msg.data32[1] = mb->RDHR; |