diff options
| -rw-r--r-- | bsp/stm32/libraries/HAL_Drivers/drv_can.c | 4 | ||||
| -rw-r--r-- | components/drivers/can/can.c | 10 |
2 files changed, 12 insertions, 2 deletions
diff --git a/bsp/stm32/libraries/HAL_Drivers/drv_can.c b/bsp/stm32/libraries/HAL_Drivers/drv_can.c index d0221b9623..9c91ab0b48 100644 --- a/bsp/stm32/libraries/HAL_Drivers/drv_can.c +++ b/bsp/stm32/libraries/HAL_Drivers/drv_can.c @@ -515,7 +515,11 @@ static int _can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t fifo) /* get len */ pmsg->len = rxheader.DLC; /* get hdr */ +#ifdef BSP_USING_CAN2 pmsg->hdr = rxheader.FilterMatchIndex; +#else + pmsg->hdr = (rxheader.FilterMatchIndex + 1) >> 1; +#endif return RT_EOK; } diff --git a/components/drivers/can/can.c b/components/drivers/can/can.c index 48604993b9..3d60dbaa55 100644 --- a/components/drivers/can/can.c +++ b/components/drivers/can/can.c @@ -853,7 +853,10 @@ void rt_hw_can_isr(struct rt_can_device *can, int event) level = rt_hw_interrupt_disable(); rx_length = can->hdr[hdr].msgs * sizeof(struct rt_can_msg); rt_hw_interrupt_enable(level); - can->hdr[hdr].filter.ind(&can->parent, can->hdr[hdr].filter.args, hdr, rx_length); + if (rx_length) + { + can->hdr[hdr].filter.ind(&can->parent, can->hdr[hdr].filter.args, hdr, rx_length); + } } else #endif @@ -867,7 +870,10 @@ void rt_hw_can_isr(struct rt_can_device *can, int event) rx_length = rt_list_len(&rx_fifo->uselist)* sizeof(struct rt_can_msg); rt_hw_interrupt_enable(level); - can->parent.rx_indicate(&can->parent, rx_length); + if (rx_length) + { + can->parent.rx_indicate(&can->parent, rx_length); + } } } break; |