FlexCAN with extended ID's

[FredA]

I am having trouble getting a T3.6 to read CAN frames when the CAN ID is in extended format. With standard format ID's I have no problem.

Can someone tell me how to set up FlexCAN for extended ID's

 

[ted]

CAN_filter_t allPassFilter;
  allPassFilter.id = 0;
  allPassFilter.ext = 1;
  allPassFilter.rtr = 0;

  for (uint8_t filterNum = 4; filterNum < 16; filterNum++) {
    Can0.setFilter(allPassFilter, filterNum);
  }

an example sketch:

#include <FlexCAN.h>


/* BLINK */
int blink_led_pin = 13;
unsigned long blink_last_millis = 0;
int blink_on_interval = 1000;
int blink_off_interval = 1000;
boolean blink_state = false;

CAN_message_t inMsg;

void setup() {
  Serial.begin(115200);
  Can0.begin();
  pinMode(blink_led_pin, OUTPUT);

  Serial.println("Start");


  CAN_filter_t allPassFilter;
  allPassFilter.id = 0;
  allPassFilter.ext = 1;
  allPassFilter.rtr = 0;

  for (uint8_t filterNum = 4; filterNum < 16; filterNum++) {
    Can0.setFilter(allPassFilter, filterNum);
  }

  
}


void loop() {
  blink_led();
  while (Can0.available()) {
    Can0.read(inMsg);
    print_can_message(inMsg);
  }

}

void blink_led() {
  if ((!blink_state && (millis() - blink_last_millis) > blink_off_interval)  || (blink_state && (millis() - blink_last_millis) > blink_on_interval)) {
    blink_last_millis = millis();
    blink_state = !blink_state;
    digitalWrite(blink_led_pin, blink_state);
  }
}

void print_can_message(CAN_message_t msg) {

  uint8_t nodeid = msg.id & 0x7F;
  uint8_t pdo = msg.id >> 7;

  Serial.print(millis());
  Serial.print(" msgid: ");
  Serial.print(msg.id);
  Serial.print(" node: ");
  Serial.print(nodeid);
  Serial.print(" function code: ");
  Serial.print(pdo);
  Serial.print(": ");
  for (int i = 0; i < 8; i++) {
    Serial.print(msg.buf[i]);
    Serial.print(" ");
  }
  Serial.println();

}