diff options
Diffstat (limited to 'fw/can.c')
| -rw-r--r-- | fw/can.c | 16 |
1 files changed, 8 insertions, 8 deletions
@@ -241,10 +241,10 @@ static void packId(CanId *id, U8 sidh, U8 sidl, U8 eid8, U8 eid0) { if (sidl & IDE) { // extended ID 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] + id->eid[0u] = eid0; // id[7:0] + id->eid[1u] = eid8; // idi[15:8] + id->eid[2u] = (sidh & 0x7) | (sidl & 0x3) | (sidl >> 3u); // id[23:21], id[20:18], id[17:16] + id->eid[3u] = (sidh >> 3u); // id[28:24] } else { // standard ID id->isExt = false; id->sid.lo = (U8)(sidh << 3u) | (U8)(sidl >> 5u); // sid[7:0] @@ -296,10 +296,10 @@ canReadRxb1(CanFrame *frame) { static void writeId(const CanId *id, Reg sidh, Reg sidl, Reg eid8, Reg eid0) { 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] + write(eid0, id->eid[0u]); // id[7:0] + write(eid8, id->eid[1u]); // id[15:8] + write(sidl, ((id->eid[2u] << 3u) & 0xE0) | IDE | (id->eid[2u] & 0x3)); // id[20:18], IDE, id[17:16] + write(sidh, (U8)((id->eid[3u] & 0x1F) << 3u) | (id->eid[2u] >> 5u)); // id[28:24], id[23:21] } else { // standard write(sidh, (U8)(id->sid.hi << 5u) | (U8)(id->sid.lo >> 3u)); write(sidl, (U8) (id->sid.lo << 5u)); |