stm32f0xx_hal_can.h bug found, please fix it

[RamiroGJ]

Hello friends,

I have been seeing the same bug in stm32f0xx_hal_can.h for some time, whenever I start a new project I correct it, but I would like you to leave it corrected to avoid correcting it each time I start a new project.

The bug prevents to send an address in extended format.

On line 1250, in the function:

HAL_StatusTypeDef HAL_CAN_AddTxMessage(CAN_HandleTypeDef *hcan, const CAN_TxHeaderTypeDef *pHeader, const uint8_t aData[], uint32_t *pTxMailbox)

replace the following line:

hcan->Instance->sTxMailBox[transmitmailbox].TIR = ((pHeader->ExtId << CAN_TI0R_EXID_Pos) | pHeader->IDE | pHeader->RTR);

by the following:

hcan->Instance->sTxMailBox[transmitmailbox].TIR = ((pHeader->ExtId << CAN_TI0R_EXID_Pos)|(pHeader->IDE<<<2)|pHeader->RTR);

[TDK · Accepted solution]

Lets look at the IDE parameter in HAL:

  uint32_t IDE;      /*!< Specifies the type of identifier for the message that will be transmitted.
                          This parameter can be a value of @ref CAN_identifier_type */

 Okay, so let's look at the CAN_identifier_type values:

/** @defgroup CAN_identifier_type CAN Identifier Type
  * @{
  */
#define CAN_ID_STD                  (0x00000000U)  /*!< Standard Id */
#define CAN_ID_EXT                  (0x00000004U)  /*!< Extended Id */

 So those are 0 or 4, which already accounts for the bit shift of 2.

No HAL bug here.

[RamiroGJ]

Ok, thanks, I've been wrong all this time thinking that parameter was set to "1" and this wasn't working for me.
Sometimes the way is simpler than it seems :rolling_on_the_floor_laughing: