git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@1379 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 11 insertions, 14 deletions

diff --git a/os/hal/platforms/STM32/can_lld.c b/os/hal/platforms/STM32/can_lld.c
index 3c8a17b84..b9b088515 100644
--- a/os/hal/platforms/STM32/can_lld.c
+++ b/os/hal/platforms/STM32/can_lld.c
@@ -292,13 +292,10 @@ void can_lld_transmit(CANDriver *canp, const CANTxFrame *ctfp) {
 

   /* Preparing the message.*/

   if (ctfp->cf_IDE)

-    tir = ((uint32_t)ctfp->cf_EID << 3) |

-          ((uint32_t)ctfp->cf_IDE << 2) |

-          ((uint32_t)ctfp->cf_RTR << 1);

+    tir = ((uint32_t)ctfp->cf_EID << 3) | ((uint32_t)ctfp->cf_RTR << 1) |

+          CAN_TI0R_IDE;

   else

-    tir = ((uint32_t)ctfp->cf_SID << 24) |

-          ((uint32_t)ctfp->cf_IDE << 2) |

-          ((uint32_t)ctfp->cf_RTR << 1);

+    tir = ((uint32_t)ctfp->cf_SID << 21) | ((uint32_t)ctfp->cf_RTR << 1);

   tmbp->TDTR = ctfp->cf_DLC;

   tmbp->TDLR = ctfp->cf_data32[0];

   tmbp->TDHR = ctfp->cf_data32[1];

@@ -329,22 +326,22 @@ void can_lld_receive(CANDriver *canp, CANRxFrame *crfp) {
   uint32_t r;

 

   /* Fetches the message.*/

-  r = canp->cd_can->sFIFOMailBox[0].RDTR;

-  crfp->cf_DLC = r & CAN_RDT0R_DLC;

-  crfp->cf_FMI = (uint8_t)(r >> 8);

-  crfp->cf_TIME = (uint16_t)(r >> 16);

   r = canp->cd_can->sFIFOMailBox[0].RIR;

-  crfp->cf_RTR = r & CAN_RI0R_RTR;

-  crfp->cf_IDE = r & CAN_RI0R_IDE;

+  crfp->cf_RTR = (r & CAN_RI0R_RTR) >> 1;

+  crfp->cf_IDE = (r & CAN_RI0R_IDE) >> 2;

   if (crfp->cf_IDE)

     crfp->cf_EID = r >> 3;

   else

-    crfp->cf_SID = r >> 24;

+    crfp->cf_SID = r >> 21;

+  r = canp->cd_can->sFIFOMailBox[0].RDTR;

+  crfp->cf_DLC = r & CAN_RDT0R_DLC;

+  crfp->cf_FMI = (uint8_t)(r >> 8);

+  crfp->cf_TIME = (uint16_t)(r >> 16);

   crfp->cf_data32[0] = canp->cd_can->sFIFOMailBox[0].RDLR;

   crfp->cf_data32[1] = canp->cd_can->sFIFOMailBox[0].RDHR;

 

   /* Releases the mailbox.*/

-  canp->cd_can->RF0R |= CAN_RF0R_RFOM0;

+  canp->cd_can->RF0R = CAN_RF0R_RFOM0;

 

   /* If the queue is empty re-enables the interrupt in order to generate

      events again.*/