fix bug : can send err.(can frame type)

liuhy-2020 · Sep 1, 2021 · 332f3d1 · 332f3d1
1 parent dde425a
commit 332f3d1
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/rtt_default_project_0/drivers/drv_can.c b/rtt_default_project_0/drivers/drv_can.c
@@ -420,12 +420,12 @@ static int _can_sendmsg(struct rt_can_device *can, const void *buf, rt_uint32_t
         h_can->perh->TxMailBox[box_num].TXID &= CAN_TXID0_TXMREQ_MSK;
         /* Set up the Id */
         if (RT_CAN_STDID == pmsg->ide)
-        {
-            h_can->perh->TxMailBox[box_num].TXID |= (txheader.std << CAN_TXID0_STDID_POSS) | txheader.rtr;
+        {                        
+            h_can->perh->TxMailBox[box_num].TXID |= (txheader.std << CAN_TXID0_STDID_POSS) | (txheader.rtr << CAN_TXID0_RTR_POS);
         }
         else
         {
-            h_can->perh->TxMailBox[box_num].TXID |= (txheader.ext << CAN_TXID0_EXID_POSS) | txheader.type | txheader.rtr;
+            h_can->perh->TxMailBox[box_num].TXID |= (txheader.ext << CAN_TXID0_EXID_POSS) | (txheader.type << CAN_TXID0_IDE_POS) | (txheader.rtr << CAN_TXID0_RTR_POS);
         }
         /* Set up the DLC */
         h_can->perh->TxMailBox[box_num].TXFCON = pmsg->len & 0x0FU;