[incubator-nuttx] 02/04: stm32f7: Add the option to include RTR in CAN header

[ac...@apache.org]

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acassis pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx.git

commit 7a346bee2645bb849b8a6deddaf7bda3aec49a47
Author: Claudio Micheli <cl...@auterion.com>
AuthorDate: Mon May 25 10:29:42 2020 +0200

    stm32f7: Add the option to include RTR in CAN header
    
    Signed-off-by: Claudio Micheli <cl...@auterion.com>
---
 arch/arm/src/stm32f7/stm32_can.c | 7 +++++--
 drivers/can/Kconfig              | 6 ++++++
 2 files changed, 11 insertions(+), 2 deletions(-)

diff --git a/arch/arm/src/stm32f7/stm32_can.c b/arch/arm/src/stm32f7/stm32_can.c
index 6c76472..6f5ccda 100644
--- a/arch/arm/src/stm32f7/stm32_can.c
+++ b/arch/arm/src/stm32f7/stm32_can.c
@@ -1288,8 +1288,11 @@ static int stm32can_send(FAR struct can_dev_s *dev,
     }
 
 #else
-  regval &= ~CAN_TIR_STID_MASK;
-  regval |= (uint32_t)msg->cm_hdr.ch_id << CAN_TIR_STID_SHIFT;
+  regval |= ( ( (uint32_t) msg->cm_hdr.ch_id << CAN_TIR_STID_SHIFT) & CAN_TIR_STID_MASK );
+
+#ifdef CONFIG_CAN_USE_RTR
+  regval |= (msg->cm_hdr.ch_rtr ? CAN_TIR_RTR : 0);
+#endif
 #endif
 
   stm32can_putreg(priv, STM32_CAN_TIR_OFFSET(txmb), regval);
diff --git a/drivers/can/Kconfig b/drivers/can/Kconfig
index d5298d7..ae54205 100644
--- a/drivers/can/Kconfig
+++ b/drivers/can/Kconfig
@@ -128,6 +128,12 @@ config CAN_NPOLLWAITERS
 	---help---
 		The maximum number of threads that may be waiting on the
 		poll method.
+		
+config CAN_USE_RTR
+	bool "Include RTR in CAN header"
+	default n
+	---help---
+		This selection includes RTR bitfield in the CAN header.
 
 comment "CAN Bus Controllers:"