Accept for standard IDs and extended IDs

2026-06-18 09:11:25 +02:00
parent 11e50b05e4
commit bb70e0675a
1 changed files with 2 additions and 1 deletions
@@ -83,7 +83,8 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
    // TODO: manage the case of FIFO overflow
    if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rxHeader, data) != HAL_OK) return;

-    message.id = rxHeader.ExtId;
+    if (rxHeader.IDE == CAN_ID_EXT) message.id = rxHeader.ExtId;
+    else message.id = rxHeader.StdId;
    message.dlc = rxHeader.DLC;
    message.isExtended = (rxHeader.IDE == CAN_ID_EXT);
    message.source = (hcan->Instance == CAN1) ? 1 : 2;