diff --git a/ports/stm32/fdcan.c b/ports/stm32/fdcan.c
index b3b1da998c79d..2892572f40a96 100644
--- a/ports/stm32/fdcan.c
+++ b/ports/stm32/fdcan.c
@@ -200,26 +200,38 @@ void can_clearfilter(pyb_can_obj_t *self, uint32_t f, uint8_t bank) {
int can_receive(FDCAN_HandleTypeDef *can, int fifo, FDCAN_RxHeaderTypeDef *hdr, uint8_t *data, uint32_t timeout_ms) {
volatile uint32_t *rxf, *rxa;
+ uint32_t fl;
+
if (fifo == FDCAN_RX_FIFO0) {
rxf = &can->Instance->RXF0S;
rxa = &can->Instance->RXF0A;
+ fl = FDCAN_RXF0S_F0FL;
} else {
rxf = &can->Instance->RXF1S;
rxa = &can->Instance->RXF1A;
+ fl = FDCAN_RXF1S_F1FL;
}
// Wait for a message to become available, with timeout
uint32_t start = HAL_GetTick();
- while ((*rxf & 7) == 0) {
- MICROPY_EVENT_POLL_HOOK
- if (HAL_GetTick() - start >= timeout_ms) {
- return -MP_ETIMEDOUT;
+ while ((*rxf & fl) == 0) {
+ if (timeout_ms != HAL_MAX_DELAY) {
+ if (HAL_GetTick() - start >= timeout_ms) {
+ return -MP_ETIMEDOUT;
+ }
}
+ MICROPY_EVENT_POLL_HOOK
}
// Get pointer to incoming message
- uint32_t index = (can->Instance->RXF0S & FDCAN_RXF0S_F0GI) >> 8;
- uint32_t *address = (uint32_t *)(can->msgRam.RxFIFO0SA + (index * can->Init.RxFifo0ElmtSize * 4));
+ uint32_t index, *address;
+ if (fifo == FDCAN_RX_FIFO0) {
+ index = (*rxf & FDCAN_RXF0S_F0GI) >> FDCAN_RXF0S_F0GI_Pos;
+ address = (uint32_t *)(can->msgRam.RxFIFO0SA + (index * can->Init.RxFifo0ElmtSize * 4));
+ } else {
+ index = (*rxf & FDCAN_RXF1S_F1GI) >> FDCAN_RXF1S_F1GI_Pos;
+ address = (uint32_t *)(can->msgRam.RxFIFO1SA + (index * can->Init.RxFifo1ElmtSize * 4));
+ }
// Parse header of message
hdr->IdType = *address & FDCAN_ELEMENT_MASK_XTD;
diff --git a/ports/stm32/pyb_can.c b/ports/stm32/pyb_can.c
index ad2efbef4be1a..224b8f28b0eab 100644
--- a/ports/stm32/pyb_can.c
+++ b/ports/stm32/pyb_can.c
@@ -432,6 +432,20 @@ STATIC mp_obj_t pyb_can_send(size_t n_args, const mp_obj_t *pos_args, mp_map_t *
HAL_StatusTypeDef status;
#if MICROPY_HW_ENABLE_FDCAN
+ uint32_t timeout_ms = args[ARG_timeout].u_int;
+ uint32_t start = HAL_GetTick();
+ while (HAL_FDCAN_GetTxFifoFreeLevel(&self->can) == 0) {
+ if (timeout_ms == 0) {
+ mp_raise_OSError(MP_ETIMEDOUT);
+ }
+ // Check for the Timeout
+ if (timeout_ms != HAL_MAX_DELAY) {
+ if (HAL_GetTick() - start >= timeout_ms) {
+ mp_raise_OSError(MP_ETIMEDOUT);
+ }
+ }
+ MICROPY_EVENT_POLL_HOOK
+ }
status = HAL_FDCAN_AddMessageToTxFifoQ(&self->can, &tx_msg, tx_data);
#else
self->can.pTxMsg = &tx_msg;
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