diff options
Diffstat (limited to 'fw')
| -rw-r--r-- | fw/can.c | 16 |
1 files changed, 11 insertions, 5 deletions
@@ -110,10 +110,12 @@ enum { TXREQ = 0x08, TXERR = 0x10, - // TXBnDLC - RTR = 0x40, + // SIDL registers + SRR = 0x10, // standard frame remote transmit request bit + IDE = 0x08, // extended identifier flag bit - IDE = 0x08, // extended identifier flag bit of SIDL registers + // DLC registers + RTR = 0x40, }; // Instructions @@ -243,7 +245,7 @@ packId(CanId *id, U8 sidh, U8 sidl, U8 eid8, U8 eid0) { id->isExt = true; id->eid = ((U32)eid0 << 0u) // id[7:0] | ((U32)eid8 << 8u) // id[15:8] - | ((U32)((sidh & 0x7) | (sidl & 0x3) | (sidl >> 3u)) << 16u) // id[23:21], id[20:18], id[17:16] + | ((U32)((sidh << 5u) | (sidl >> 3u) | (sidl & 0x3)) << 16u) // id[23:21], id[20:18], id[17:16] | ((U32)(sidh >> 3u) << 24u); // id[28:24] } else { // standard ID id->isExt = false; @@ -270,7 +272,11 @@ readRxbn(U8 n, CanFrame *frame) { // Read RTR and DLC frame->dlc = spiTx(0u); - frame->rtr = frame->dlc & RTR; + if (frame->id.isExt) { + frame->rtr = frame->dlc & RTR; + } else { + frame->rtr = sidl & SRR; + } frame->dlc &= 0xF; // Read data |