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fix extended can id

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This commit is contained in:
Philipp Scheff 2023-06-16 14:56:28 +02:00
parent 35083b262b
commit f6c1108bdf
1 changed files with 4 additions and 1 deletions
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5
embassy-stm32/src/can/bxcan.rs
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@ -226,7 +226,10 @@ impl<'d, T: Instance> Can<'d, T> {
let id = if rir.ide() == RirIde::STANDARD {
Id::from(StandardId::new_unchecked(rir.stid()))
} else {
Id::from(ExtendedId::new_unchecked(rir.exid()))
let stid = (rir.stid() & 0x7FF) as u32;
let exid = rir.exid() & 0x3FFFF;
let id = (stid << 18) | (exid as u32);
Id::from(ExtendedId::new_unchecked(id))
};
let data_len = fifo.rdtr().read().dlc() as usize;
let mut data: [u8; 8] = [0; 8];