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-rw-r--r--CAN-binder/low-can-binding/can/can-bus-dev.cpp16
1 files changed, 14 insertions, 2 deletions
diff --git a/CAN-binder/low-can-binding/can/can-bus-dev.cpp b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
index 955e617d..1837f491 100644
--- a/CAN-binder/low-can-binding/can/can-bus-dev.cpp
+++ b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
@@ -126,15 +126,27 @@ int can_bus_dev_t::create_rx_filter(const can_signal_t& s)
{
uint32_t can_id = s.get_message().get_id();
- struct utils::canfd_bcm_msg bcm_msg;
+ struct utils::basic_bcm_msg<struct can_frame> bcm_msg;
+ struct can_frame cfd;
+ memset(&cfd, 0, sizeof(cfd));
+ memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));
uint8_t bit_size = s.get_bit_size();
float val = (float)exp2(bit_size)-1;
bcm_msg.msg_head.opcode = RX_SETUP;
bcm_msg.msg_head.can_id = can_id;
+ bcm_msg.msg_head.flags = 0;
bcm_msg.msg_head.nframes = 1;
- bitfield_encode_float(val, s.get_bit_position(), bit_size, s.get_factor(), s.get_offset(), bcm_msg.frames[0].data, CANFD_MAX_DLEN);
+ bitfield_encode_float(val,
+ s.get_bit_position(),
+ bit_size,
+ s.get_factor(),
+ s.get_offset(),
+ cfd.data,
+ CAN_MAX_DLEN);
+
+ bcm_msg.frames.push_back(cfd);
if(can_socket_ << bcm_msg)
return 0;