Corrected extended identifier bug

library.properties

@@ -1,9 +1,9 @@
 name=ACAN2517FD
-version=1.0.2
+version=1.0.3
 author=Pierre Molinaro
 maintainer=Pierre Molinaro <[email protected]>
 sentence=Driver for MCP2517FD CAN Controller (CAN FD mode)
-paragraph=This library is an Arduino CAN network driver for the MCP2517FD CAN Controller, in CAN FD mode. Compatible with ACAN, ACAN2515, ACAN2517 libraries. Default configuration sends and receives any frame – no default filter to provide. Reception filters (up to 32) can be easily defined.
+paragraph=This library is an Arduino CAN network driver for the MCP2517FD CAN Controller, in CAN FD mode. Compatible with ACAN, ACAN2515, ACAN2515Tiny, ACAN2517 libraries. Default configuration sends and receives any frame – no default filter to provide. Reception filters (up to 32) can be easily defined.
 category=Communication
 url=https://github.com/pierremolinaro/acan2517FD
 architectures=*

src/ACAN2517FD.cpp

@@ -495,8 +495,12 @@ void ACAN2517FD::appendInControllerTxFIFO (const CANFDMessage & inMessage) {
   const uint16_t ramAddress = (uint16_t) (0x400 + readRegisterSPI (C1FIFOUA_REGISTER (2))) ;
   assertCS () ;
     writeCommandSPI (ramAddress) ;
-  //--- Write identifier (see DS20005678A, page 27)
-    writeWordSPI (inMessage.id) ;
+    //--- Write identifier: if an extended frame is sent, identifier bits sould be reordered (see DS20005678B, page 27)
+      uint32_t idf = inMessage.id ;
+      if (inMessage.ext) {
+        idf = ((inMessage.id >> 18) & 0x7FF) | ((inMessage.id & 0x3FFFF) << 11) ;
+      }
+      writeWordSPI (idf) ;
   //--- Write DLC, RTR, IDE bits
     uint32_t data = lengthCodeForLength (inMessage.len) ;
     if (inMessage.rtr) {
@@ -529,8 +533,12 @@ bool ACAN2517FD::sendViaTXQ (const CANFDMessage & inMessage) {
     const uint16_t ramAddress = (uint16_t) (0x400 + readRegisterSPI (C1TXQUA_REGISTER)) ;
     assertCS () ;
       writeCommandSPI (ramAddress) ;
-    //--- Write identifier (see DS20005678A, page 34)
-      writeWordSPI (inMessage.id) ;
+    //--- Write identifier: if an extended frame is sent, identifier bits sould be reordered (see DS20005678B, page 27)
+      uint32_t idf = inMessage.id ;
+      if (inMessage.ext) {
+        idf = ((inMessage.id >> 18) & 0x7FF) | ((inMessage.id & 0x3FFFF) << 11) ;
+      }
+      writeWordSPI (idf) ;
     //--- Write DLC, RTR, IDE bits
       uint32_t data = lengthCodeForLength (inMessage.len) ;
       if (inMessage.rtr) {
@@ -660,6 +668,11 @@ void ACAN2517FD::receiveInterrupt (void) {
       message.data32 [i] = readWordSPI () ;
     }
   deassertCS () ;
+//--- If an extended frame is received, identifier bits sould be reordered (see DS20005678B, page 42)
+  if (message.ext) {
+    const uint32_t tempID = message.id ;
+    message.id = ((tempID >> 11) & 0x3FFFF) | ((tempID & 0x7FF) << 18) ;
+  }
 //--- Append message to driver receive FIFO
   mDriverReceiveBuffer.append (message) ;
 //--- Increment FIFO