Bug Report in STM32Cube HAL CAN driver.

[Palauqui.Georges]

Hello,

Sorry in advance if I should be posting this elsewhere, but I am sure someone will be able to tell me if I am wrong.

Working with STM32Cube HAL CAN driver, if found a problem in the latest version of F7 driver, but as all STM32 have same BxCAN controler I assume this is the same for all Cube HALs supplied by ST.

In stm32f7xx_hal_can.c, at HAL_CAN_GetRxMessage function :

pHeader->RTR = (CAN_RI0R_RTR & hcan->Instance->sFIFOMailBox[RxFifo].RIR) >> CAN_RI0R_RTR_Pos;

I assume the right shift shall not been done in order to have a pHeader->RTR comparable to CAN_RTR_REMOTE in stm32f7xx_hal_can.h :

#define CAN_RTR_REMOTE              (0x00000002U)  /*!< Remote frame */

So the correct line should be :

pHeader->RTR = CAN_RI0R_RTR & hcan->Instance->sFIFOMailBox[RxFifo].RIR;

[Imen.D]

Hello @Palauqui.Georges​ 

We are aware of this limitation that has impacted all STM32Cube HAL, and it will be fixed in next releases.

Thanks for the report.

Best Regards,

Imen