From b33d1f0a4ecbd799fed97c2f27f7a5fe5b19f818 Mon Sep 17 00:00:00 2001
From: gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4>
Date: Sun, 6 Dec 2009 15:13:33 +0000
Subject: git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@1379
 35acf78f-673a-0410-8e92-d51de3d6d3f4

---
 os/hal/platforms/STM32/can_lld.c | 25 +++++++++++--------------
 1 file changed, 11 insertions(+), 14 deletions(-)

(limited to 'os')

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.*/
-- 
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