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stm32: can: fd: fix SID read/write from buf elems

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Torin Cooper-Bennun 2024-02-27 10:38:07 +00:00
parent d5a2b3be58
commit e63b0d7a2f
1 changed files with 4 additions and 2 deletions
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6
embassy-stm32/src/can/fd/peripheral.rs
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@ -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),
};