Merge pull request #18 from karl-dietmann/main

extending .write() for sending CAN remote frames
pazi88 · Oct 17, 2023 · 33cea10 · 33cea10
2 parents 591969c + 43b54d5
commit 33cea10
Showing 1 changed file with 10 additions and 2 deletions.
diff --git a/STM32_CAN.cpp b/STM32_CAN.cpp
@@ -301,8 +301,16 @@ bool STM32_CAN::write(CAN_message_t &CAN_tx_msg, bool sendMB)
       TxHeader.IDE   = CAN_ID_STD;
   }
 
-  TxHeader.RTR   = CAN_RTR_DATA;
-  TxHeader.DLC   = CAN_tx_msg.len;
+  if (CAN_tx_msg.flags.remote == 1) // Remote frame when CAN_tx_msg.flags.remote is 1
+  {
+    TxHeader.RTR   = CAN_RTR_REMOTE;
+    TxHeader.DLC   = 0;
+  }
+  else{
+    TxHeader.RTR   = CAN_RTR_DATA;
+    TxHeader.DLC   = CAN_tx_msg.len;
+  }
+
   TxHeader.TransmitGlobalTime = DISABLE;
 
   if(HAL_CAN_AddTxMessage( n_pCanHandle, &TxHeader, CAN_tx_msg.buf, &TxMailbox) != HAL_OK)