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] 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), };