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Tom-evnut wants to merge 2 commits into from
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Allow Extended flag with low IDs #46

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cf32f48
Add Extended Flag
Tom-evnut Apr 24, 2026
065c177
aligning with master
Tom-evnut Apr 24, 2026
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8 changes: 5 additions & 3 deletions include/canhardware.h
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Original file line number Diff line number Diff line change
Expand Up @@ -58,9 +58,11 @@ class CanHardware

CanHardware();
virtual void SetBaudrate(enum baudrates baudrate) = 0;
void Send(uint32_t canId, uint32_t data[2]) { Send(canId, data, 8); }
void Send(uint32_t canId, uint8_t data[8], uint8_t len) { Send(canId, (uint32_t*)data, len); }
virtual void Send(uint32_t canId, uint32_t data[2], uint8_t len) = 0;
void Send(uint32_t canId, uint32_t data[2]) { Send(canId, data, 8, false); }
void Send(uint32_t canId, uint8_t data[8], uint8_t len) { Send(canId, (uint32_t*)data, len, false); }
void Send(uint32_t canId, uint8_t data[8], uint8_t len, bool ext) { Send(canId, (uint32_t*)data, len, ext); }
void Send(uint32_t canId, uint32_t data[2], uint8_t len) { Send(canId, (uint32_t*)data, len, false); }
virtual void Send(uint32_t canId, uint32_t data[2], uint8_t len, bool ext) = 0;
void HandleRx(uint32_t canId, uint32_t data[2], uint8_t dlc);
bool AddCallback(CanCallback* cb);
bool RegisterUserMessage(uint32_t canId, uint32_t mask = 0);
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2 changes: 1 addition & 1 deletion include/stm32_can.h
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Expand Up @@ -30,7 +30,7 @@ class Stm32Can: public CanHardware
public:
Stm32Can(uint32_t baseAddr, enum baudrates baudrate, bool remap = false);
void SetBaudrate(enum baudrates baudrate);
void Send(uint32_t canId, uint32_t data[2], uint8_t len);
void Send(uint32_t canId, uint32_t data[2], uint8_t len, bool ext);
void HandleTx();
void HandleMessage(int fifo);
static Stm32Can* GetInterface(int index);
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33 changes: 25 additions & 8 deletions src/stm32_can.cpp
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Expand Up @@ -222,21 +222,38 @@ void Stm32Can::SetBaudrate(enum baudrates baudrate)
* \return void
*
*/
void Stm32Can::Send(uint32_t canId, uint32_t data[2], uint8_t len)
void Stm32Can::Send(uint32_t canId, uint32_t data[2], uint8_t len, bool ext)
{
DISABLE_CAN_USER_INTERRUPTS();

can_disable_irq(canDev, CAN_IER_TMEIE);

if (can_transmit(canDev, canId, canId > 0x7FF, false, len, (uint8_t*)data) < 0 && sendCnt < SENDBUFFER_LEN)
if(ext)
{
/* enqueue in send buffer if all TX mailboxes are full */
sendBuffer[sendCnt].id = canId;
sendBuffer[sendCnt].len = len;
sendBuffer[sendCnt].data[0] = data[0];
sendBuffer[sendCnt].data[1] = data[1];
sendCnt++;
if (can_transmit(canDev, canId, ext, false, len, (uint8_t*)data) < 0 && sendCnt < SENDBUFFER_LEN)
{
/* enqueue in send buffer if all TX mailboxes are full */
sendBuffer[sendCnt].id = canId;
sendBuffer[sendCnt].len = len;
sendBuffer[sendCnt].data[0] = data[0];
sendBuffer[sendCnt].data[1] = data[1];
sendCnt++;
}
}
else
{
if (can_transmit(canDev, canId, canId > 0x7FF, false, len, (uint8_t*)data) < 0 && sendCnt < SENDBUFFER_LEN)
{
/* enqueue in send buffer if all TX mailboxes are full */
sendBuffer[sendCnt].id = canId;
sendBuffer[sendCnt].len = len;
sendBuffer[sendCnt].data[0] = data[0];
sendBuffer[sendCnt].data[1] = data[1];
sendCnt++;
}

}


if (sendCnt > 0)
{
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