From e63b0d7a2f89e3b210569ce77f45e9cb14ac6ae8 Mon Sep 17 00:00:00 2001
From: Torin Cooper-Bennun <tcbennun@maxiluxsystems.com>
Date: Tue, 27 Feb 2024 10:38:07 +0000
Subject: [PATCH 1/2] stm32: can: fd: fix SID read/write from buf elems
---
embassy-stm32/src/can/fd/peripheral.rs | 6 ++++--
1 file changed, 4 insertions(+), 2 deletions(-)
diff --git a/embassy-stm32/src/can/fd/peripheral.rs b/embassy-stm32/src/can/fd/peripheral.rs
index 0771d6fbb..8e4ecf4a5 100644
--- a/embassy-stm32/src/can/fd/peripheral.rs
+++ b/embassy-stm32/src/can/fd/peripheral.rs
@@ -721,13 +721,15 @@ fn make_id(id: u32, extended: bool) -> embedded_can::Id {
if extended {
embedded_can::Id::from(unsafe { embedded_can::ExtendedId::new_unchecked(id & 0x1FFFFFFF) })
} 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) {
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),
};
From 9a4f58fe158551bd0c38d23a71f6b719d4ce5130 Mon Sep 17 00:00:00 2001
From: Torin Cooper-Bennun <tcbennun@maxiluxsystems.com>
Date: Tue, 27 Feb 2024 10:38:40 +0000
Subject: [PATCH 2/2] stm32: can: fd: only TX with BRS if also TXing with FDF
---
embassy-stm32/src/can/fd/peripheral.rs | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/embassy-stm32/src/can/fd/peripheral.rs b/embassy-stm32/src/can/fd/peripheral.rs
index 8e4ecf4a5..9c29e4887 100644
--- a/embassy-stm32/src/can/fd/peripheral.rs
+++ b/embassy-stm32/src/can/fd/peripheral.rs
@@ -739,7 +739,7 @@ fn put_tx_header(mailbox: &mut TxBufferElement, header: &Header) {
} else {
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| {
unsafe { w.id().bits(id) }