From 0210cefa9e810e6e87e67b3a55646f85363d10cc Mon Sep 17 00:00:00 2001
From: embeddedteam103 <embedded.team103@gmail.com>
Date: Sun, 16 Dec 2018 16:50:13 +0200
Subject: [PATCH 1/2] Add unsigned everywhere in the driver for compatibility
 with the CAN HAL

---
 drivers/CAN.h | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/drivers/CAN.h b/drivers/CAN.h
index 228eb611f0..5f2257f97b 100644
--- a/drivers/CAN.h
+++ b/drivers/CAN.h
@@ -41,10 +41,10 @@ public:
      */
     CANMessage() : CAN_Message()
     {
-        len    = 8;
+        len    = 8U;
         type   = CANData;
         format = CANStandard;
-        id     = 0;
+        id     = 0U;
         memset(data, 0, 8);
     }
 
@@ -56,7 +56,7 @@ public:
      *  @param _type    Type of Data: Use enum CANType for valid parameter values
      *  @param _format  Data Format: Use enum CANFormat for valid parameter values
      */
-    CANMessage(unsigned _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard)
+    CANMessage(unsigned int _id, const unsigned char *_data, unsigned char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard)
     {
         len    = _len & 0xF;
         type   = _type;
@@ -70,7 +70,7 @@ public:
      *  @param _id      Message ID
      *  @param _format  Data Format: Use enum CANType for valid parameter values
      */
-    CANMessage(unsigned _id, CANFormat _format = CANStandard)
+    CANMessage(unsigned int _id, CANFormat _format = CANStandard)
     {
         len    = 0;
         type   = CANRemote;
@@ -104,10 +104,10 @@ public:
      * CAN can1(MBED_CONF_APP_CAN1_RD, MBED_CONF_APP_CAN1_TD);
      * CAN can2(MBED_CONF_APP_CAN2_RD, MBED_CONF_APP_CAN2_TD);
      *
-     * char counter = 0;
+     * unsigned char counter = 0;
      *
      * void send() {
-     *     if(can1.write(CANMessage(1337, &counter, 1))) {
+     *     if(can1.write(CANMessage(1337U, &counter, 1))) {
      *         printf("Message sent: %d\n", counter);
      *         counter++;
      *     }
@@ -116,7 +116,7 @@ public:
      *
      * int main() {
      *     ticker.attach(&send, 1);
-     *    CANMessage msg;
+     *     CANMessage msg;
      *     while(1) {
      *         if(can2.read(msg)) {
      *             printf("Message received: %d\n\n", msg.data[0]);

From 6f3ad9a93b7d5a37de6ab0b1fc611ac8bc5e2604 Mon Sep 17 00:00:00 2001
From: CoolUsername <nuguhohiy@payperex2.com>
Date: Tue, 26 Mar 2019 16:11:50 +0200
Subject: [PATCH 2/2] CR: Add signed overload

---
 drivers/CAN.h | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)

diff --git a/drivers/CAN.h b/drivers/CAN.h
index 5f2257f97b..adcc3eecf3 100644
--- a/drivers/CAN.h
+++ b/drivers/CAN.h
@@ -65,6 +65,24 @@ public:
         memcpy(data, _data, _len);
     }
 
+
+    /** Creates CAN message with specific content.
+     *
+     *  @param _id      Message ID
+     *  @param _data    Mesaage Data
+     *  @param _len     Message Data length
+     *  @param _type    Type of Data: Use enum CANType for valid parameter values
+     *  @param _format  Data Format: Use enum CANFormat for valid parameter values
+     */
+    CANMessage(unsigned int _id, const char *_data, unsigned char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard)
+    {
+        len    = _len & 0xF;
+        type   = _type;
+        format = _format;
+        id     = _id;
+        memcpy(data, _data, _len);
+    }
+
     /** Creates CAN remote message.
      *
      *  @param _id      Message ID