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[Arduino_CAN] support both 11-Bit (standard) and 29-Bit (extended) IDs #709

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Merged
merged 1 commit into from
Sep 4, 2023
+8 −4
Merged

[Arduino_CAN] support both 11-Bit (standard) and 29-Bit (extended) IDs #709

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2 changes: 1 addition & 1 deletion libraries/Arduino_CAN/examples/CANWrite/CANWrite.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -35,7 +35,7 @@ void loop()
*/
uint8_t const msg_data[] = {0xCA,0xFE,0,0,0,0,0,0};
memcpy((void *)(msg_data + 4), &msg_cnt, sizeof(msg_cnt));
CanMsg msg(CAN_ID, sizeof(msg_data), msg_data);
CanMsg msg(CanStandardId(CAN_ID), sizeof(msg_data), msg_data);

/* Transmit the CAN message, capture and display an
* error core in case of failure.
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10 changes: 7 additions & 3 deletions libraries/Arduino_CAN/src/Arduino_CAN.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -48,12 +48,14 @@ void Arduino_CAN::end()

int Arduino_CAN::write(CanMsg const & msg)
{
bool const is_standard_id = msg.isStandardId();

mbed::CANMessage const can_msg(
msg.id,
is_standard_id ? msg.getStandardId() : msg.getExtendedId(),
msg.data,
msg.data_length,
CANData,
CANStandard);
is_standard_id ? CANStandard : CANExtended);

return _can.write(can_msg);
}
Expand All @@ -65,8 +67,10 @@ size_t Arduino_CAN::available()

if (msg_read)
{
bool const is_standard_id = (can_msg.format == CANStandard);

CanMsg const msg(
can_msg.id,
is_standard_id ? CanStandardId(can_msg.id) : CanExtendedId(can_msg.id),
can_msg.len,
can_msg.data);

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