From 94e87bb6e8b42abe6b3740bfe6619bc90d478dec Mon Sep 17 00:00:00 2001
From: Claudio Micheli <claudio@auterion.com>
Date: Mon, 25 May 2020 14:01:13 +0200
Subject: [PATCH] stm32: extend CAN ioctrl with NART/ABOM. Add RTR to CAN
 header

Signed-off-by: Claudio Micheli <claudio@auterion.com>
---
 arch/arm/src/stm32/stm32_can.c | 51 ++++++++++++++++++++++++++++++++--
 1 file changed, 49 insertions(+), 2 deletions(-)

diff --git a/arch/arm/src/stm32/stm32_can.c b/arch/arm/src/stm32/stm32_can.c
index 2cdeecc07d..658147936e 100644
--- a/arch/arm/src/stm32/stm32_can.c
+++ b/arch/arm/src/stm32/stm32_can.c
@@ -1102,6 +1102,50 @@ static int stm32can_ioctl(FAR struct can_dev_s *dev, int cmd,
         }
         break;
 
+      case CANIOC_SET_NART:
+        {
+          uint32_t regval;
+          ret = stm32can_enterinitmode(priv);
+          if (ret != 0)
+            {
+              return ret;
+            }
+          regval = stm32can_getreg(priv, STM32_CAN_MCR_OFFSET);
+          if (arg == 1)
+            {
+              regval |= CAN_MCR_NART;
+            }
+          else
+            {
+              regval &= ~CAN_MCR_NART;
+            }
+          stm32can_putreg(priv, STM32_CAN_MCR_OFFSET, regval);
+          return stm32can_exitinitmode(priv);
+        }
+        break;
+
+      case CANIOC_SET_ABOM:
+        {
+          uint32_t regval;
+          ret = stm32can_enterinitmode(priv);
+          if (ret != 0)
+            {
+              return ret;
+            }
+          regval = stm32can_getreg(priv, STM32_CAN_MCR_OFFSET);
+          if (arg == 1)
+            {
+              regval |= CAN_MCR_ABOM;
+            }
+          else
+            {
+              regval &= ~CAN_MCR_ABOM;
+            }
+          stm32can_putreg(priv, STM32_CAN_MCR_OFFSET, regval);
+          return stm32can_exitinitmode(priv);
+        }
+        break;
+
       /* Unsupported/unrecognized command */
 
       default:
@@ -1211,8 +1255,11 @@ static int stm32can_send(FAR struct can_dev_s *dev,
       regval |= msg->cm_hdr.ch_id << CAN_TIR_STID_SHIFT;
     }
 #else
-  regval &= ~CAN_TIR_STID_MASK;
-  regval |= (uint32_t)msg->cm_hdr.ch_id << CAN_TIR_STID_SHIFT;
+  regval |= ( ( (uint32_t) msg->cm_hdr.ch_id << CAN_TIR_STID_SHIFT) & CAN_TIR_STID_MASK );
+
+#ifdef CONFIG_CAN_USE_RTR
+  regval |= (msg->cm_hdr.ch_rtr ? CAN_TIR_RTR : 0);
+#endif
 #endif
   stm32can_putreg(priv, STM32_CAN_TIR_OFFSET(txmb), regval);