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Merge pull request #20644 from kfessel/p-fix-can

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cpu/samd5x/can: fix flag handling on receive
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Karl Fessel 2024-05-08 23:04:09 +00:00 committed by GitHub
commit d387f323aa
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1 changed files with 13 additions and 0 deletions
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13
cpu/samd5x/periph/can.c
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@ -412,6 +412,9 @@ static uint8_t _form_message_marker(can_mm_t *can_mm)
static int _send(candev_t *candev, const struct can_frame *frame)
{
/* this assertion ensures the EFF-FLAG is set or the id does not exceed the CAN_SFF_MASK*/
assert( (frame->can_id & CAN_EFF_FLAG)
|| ((frame->can_id & CAN_SFF_MASK) == (frame->can_id & CAN_EFF_MASK)) );
can_t *dev = container_of(candev, can_t, candev);
if (frame->can_dlc > CAN_MAX_DLEN) {
@ -716,7 +719,12 @@ static void _isr(candev_t *candev)
else {
DEBUG_PUTS("Received extended CAN frame");
frame_received.can_id = dev->msg_ram_conf.rx_fifo_0[rx_get_idx].RXF0E_0.bit.ID;
frame_received.can_id |= CAN_EFF_FLAG;
}
if (dev->msg_ram_conf.rx_fifo_0[rx_get_idx].RXF0E_0.bit.RTR) {
frame_received.can_id |= CAN_RTR_FLAG;
}
frame_received.can_dlc = dev->msg_ram_conf.rx_fifo_0[rx_get_idx].RXF0E_1.bit.DLC;
memcpy(frame_received.data, (uint32_t *)dev->msg_ram_conf.rx_fifo_0[rx_get_idx].RXF0E_DATA, frame_received.can_dlc);
@ -747,7 +755,12 @@ static void _isr(candev_t *candev)
else {
DEBUG_PUTS("Received extended CAN frame");
frame_received.can_id = dev->msg_ram_conf.rx_fifo_1[rx_get_idx].RXF1E_0.bit.ID;
frame_received.can_id |= CAN_EFF_FLAG;
}
if (dev->msg_ram_conf.rx_fifo_1[rx_get_idx].RXF1E_0.bit.RTR) {
frame_received.can_id |= CAN_RTR_FLAG;
}
frame_received.can_dlc = dev->msg_ram_conf.rx_fifo_1[rx_get_idx].RXF1E_1.bit.DLC;
memcpy(frame_received.data, (uint32_t *)dev->msg_ram_conf.rx_fifo_1[rx_get_idx].RXF1E_DATA, frame_received.can_dlc);