From 3561d2619199f76a4650b0078ad1aed253338b41 Mon Sep 17 00:00:00 2001
From: VOR5HC <truc.volinh@vn.bosch.com>
Date: Wed, 6 Nov 2024 01:06:05 +0700
Subject: [PATCH] update to support extended frame ID

---
 can/interfaces/serial/serial_can.py | 16 ++++++++++++++--
 1 file changed, 14 insertions(+), 2 deletions(-)

diff --git a/can/interfaces/serial/serial_can.py b/can/interfaces/serial/serial_can.py
index 476cbd624..557943ff3 100644
--- a/can/interfaces/serial/serial_can.py
+++ b/can/interfaces/serial/serial_can.py
@@ -143,7 +143,10 @@ def send(self, msg: Message, timeout: Optional[float] = None) -> None:
 
         # Assemble message
         byte_msg = bytearray()
-        byte_msg.append(0xAA)
+        if msg.is_extended_id == True:
+            byte_msg.append(0xEE)
+        else:
+            byte_msg.append(0xAA) 
         byte_msg += timestamp
         byte_msg.append(msg.dlc)
         byte_msg += arbitration_id
@@ -179,7 +182,7 @@ def _recv_internal(
         """
         try:
             rx_byte = self._ser.read()
-            if rx_byte and ord(rx_byte) == 0xAA:
+            if rx_byte and (ord(rx_byte) == 0xAA or ord(rx_byte) == 0xEE):
                 s = self._ser.read(4)
                 timestamp = struct.unpack("<I", s)[0]
                 dlc = ord(self._ser.read())
@@ -198,12 +201,21 @@ def _recv_internal(
                 delimiter_byte = ord(self._ser.read())
                 if delimiter_byte == 0xBB:
                     # received message data okay
+                    is_extended = False
+                    if (ord(rx_byte) == 0xEE):
+                        is_extended = True
+                    elif (ord(rx_byte) == 0xAA):
+                        is_extended = False
+                    else:
+                        # do nothing
+                        pass
                     msg = Message(
                         # TODO: We are only guessing that they are milliseconds
                         timestamp=timestamp / 1000,
                         arbitration_id=arbitration_id,
                         dlc=dlc,
                         data=data,
+                        is_extended_id=is_extended
                     )
                     return msg, False