Merge pull request #115 from UAVCAN/stm32-acceptance-filter-fix

Fixed the CAN acceptance filter initialization in the STM32 driver
PX4 · Nov 24, 2017 · a1022b0 · a1022b0
2 parents fa6dbde + 414a2e2
commit a1022b0
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp b/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
@@ -472,7 +472,8 @@ uavcan::int16_t CanIface::configureFilters(const uavcan::CanFilterConfig* filter
         {
             can_->FilterRegister[filter_start_index].FR1 = 0;
             can_->FilterRegister[filter_start_index].FR2 = 0;
-            can_->FA1R = 1 << filter_start_index;
+            // We can't directly overwrite FA1R because that breaks the other CAN interface
+            can_->FA1R |= 1U << filter_start_index;              // Other filters may still be enabled, we don't care
         }
         else
         {