diff options
| -rw-r--r-- | ports/stm32/fdcan.c | 10 |
1 files changed, 8 insertions, 2 deletions
diff --git a/ports/stm32/fdcan.c b/ports/stm32/fdcan.c index b3b1da998..bafc7e3f5 100644 --- a/ports/stm32/fdcan.c +++ b/ports/stm32/fdcan.c @@ -218,8 +218,14 @@ int can_receive(FDCAN_HandleTypeDef *can, int fifo, FDCAN_RxHeaderTypeDef *hdr, } // Get pointer to incoming message - uint32_t index = (can->Instance->RXF0S & FDCAN_RXF0S_F0GI) >> 8; - uint32_t *address = (uint32_t *)(can->msgRam.RxFIFO0SA + (index * can->Init.RxFifo0ElmtSize * 4)); + uint32_t index, *address; + if (fifo == FDCAN_RX_FIFO0) { + index = (*rxf & FDCAN_RXF0S_F0GI) >> FDCAN_RXF0S_F0GI_Pos; + address = (uint32_t *)(can->msgRam.RxFIFO0SA + (index * can->Init.RxFifo0ElmtSize * 4)); + } else { + index = (*rxf & FDCAN_RXF1S_F1GI) >> FDCAN_RXF1S_F1GI_Pos; + address = (uint32_t *)(can->msgRam.RxFIFO1SA + (index * can->Init.RxFifo1ElmtSize * 4)); + } // Parse header of message hdr->IdType = *address & FDCAN_ELEMENT_MASK_XTD; |