diff options
Diffstat (limited to 'fw/can.c')
| -rw-r--r-- | fw/can.c | 19 |
1 files changed, 8 insertions, 11 deletions
@@ -240,13 +240,13 @@ canIE(bool enable) { static void packId(CanId *id, U8 sidh, U8 sidl, U8 eid8, U8 eid0) { if (sidl & IDE) { // extended ID - id->type = CAN_ID_EXT; + id->isExt = true; id->eid[0] = (U8)(sidh << 3u) | (U8)(sidl >> 5u); // sid[7:0] id->eid[1] = (U8)(eid0 << 3u) | (U8)(sidh >> 5u); //eid[4:0], sid[10:8] id->eid[2] = (U8)(eid8 << 3u) | (U8)(eid0 >> 5u); // eid[12:5] id->eid[3] = (U8)((sidl & 0x3) << 3u) | (U8)(eid8 >> 5u); // eid[17:13] } else { // standard ID - id->type = CAN_ID_STD; + id->isExt = false; id->sid.lo = (U8)(sidh << 3u) | (U8)(sidl >> 5u); // sid[7:0] id->sid.hi = sidh >> 5u; // sid[10:8] } @@ -295,19 +295,16 @@ canReadRxb1(CanFrame *frame) { // e.g., RXMnSIDH etc. static void writeId(const CanId *id, Reg sidh, Reg sidl, Reg eid8, Reg eid0) { - switch (id->type) { - case CAN_ID_STD: // standard ID - write(sidh, (U8)(id->sid.hi << 5u) | (U8)(id->sid.lo >> 3u)); - write(sidl, (U8) (id->sid.lo << 5u)); - write(eid8, 0x00); - write(eid0, 0x00); - break; - case CAN_ID_EXT: // extended ID + if (id->isExt) { // extended write(sidh, (U8)(id->eid[1] << 5u) | (U8)(id->eid[0] >> 3u)); // sid[10:3] write(sidl, (U8)(id->eid[0] << 5u) | IDE | (U8)((id->eid[3] >> 3u) & 0x03)); // sid[2:0], exide, eid[28:27] write(eid8, (U8)(id->eid[3] << 5u) | (U8)(id->eid[2] >> 3u)); // eid[26:19] write(eid0, (U8)(id->eid[2] << 5u) | (U8)(id->eid[1] >> 3u)); // eid[18:11] - break; + } else { // standard + write(sidh, (U8)(id->sid.hi << 5u) | (U8)(id->sid.lo >> 3u)); + write(sidl, (U8) (id->sid.lo << 5u)); + write(eid8, 0x00); + write(eid0, 0x00); } } |