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Merge pull request #2631 from MaxiluxSystems/small-fdcan-fixes

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stm32: can: fd: fix SID read/write and BRS setting for TX
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Dario Nieuwenhuis 2024-02-27 12:19:03 +00:00 committed by GitHub
commit 62c5df7e5b
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1 changed files with 5 additions and 3 deletions
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8
embassy-stm32/src/can/fd/peripheral.rs
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@ -721,13 +721,15 @@ fn make_id(id: u32, extended: bool) -> embedded_can::Id {
if extended { if extended {
embedded_can::Id::from(unsafe { embedded_can::ExtendedId::new_unchecked(id & 0x1FFFFFFF) }) embedded_can::Id::from(unsafe { embedded_can::ExtendedId::new_unchecked(id & 0x1FFFFFFF) })
} else { } else {
embedded_can::Id::from(unsafe { embedded_can::StandardId::new_unchecked((id & 0x000007FF) as u16) }) // A standard identifier is stored into ID[28:18].
embedded_can::Id::from(unsafe { embedded_can::StandardId::new_unchecked(((id >> 18) & 0x000007FF) as u16) })
} }
} }
fn put_tx_header(mailbox: &mut TxBufferElement, header: &Header) { fn put_tx_header(mailbox: &mut TxBufferElement, header: &Header) {
let (id, id_type) = match header.id() { let (id, id_type) = match header.id() {
embedded_can::Id::Standard(id) => (id.as_raw() as u32, IdType::StandardId), // A standard identifier has to be written to ID[28:18].
embedded_can::Id::Standard(id) => ((id.as_raw() as u32) << 18, IdType::StandardId),
embedded_can::Id::Extended(id) => (id.as_raw() as u32, IdType::ExtendedId), embedded_can::Id::Extended(id) => (id.as_raw() as u32, IdType::ExtendedId),
}; };
@ -737,7 +739,7 @@ fn put_tx_header(mailbox: &mut TxBufferElement, header: &Header) {
} else { } else {
FrameFormat::Classic FrameFormat::Classic
}; };
let brs = header.len() > 8 || header.bit_rate_switching(); let brs = (frame_format == FrameFormat::Fdcan) && header.bit_rate_switching();
mailbox.header.write(|w| { mailbox.header.write(|w| {
unsafe { w.id().bits(id) } unsafe { w.id().bits(id) }