2 files changed, 20 insertions, 12 deletions

diff --git a/embassy-stm32/src/can/bx/mod.rs b/embassy-stm32/src/can/bx/mod.rs
index 253bcee13..cb83799d3 100644
--- a/embassy-stm32/src/can/bx/mod.rs
+++ b/embassy-stm32/src/can/bx/mod.rs
@@ -622,17 +622,18 @@ impl Registers {
             let id = (stid << 18) | (exid);
             embedded_can::ExtendedId::new(id).unwrap().into()
         };
-        let data_len = fifo.rdtr().read().dlc();
+        let rdtr = fifo.rdtr().read();
+        let data_len = rdtr.dlc();
+
+        #[cfg(not(feature = "time"))]
+        let ts = rdtr.time();
+
         let mut data: [u8; 8] = [0; 8];
         data[0..4].copy_from_slice(&fifo.rdlr().read().0.to_ne_bytes());
         data[4..8].copy_from_slice(&fifo.rdhr().read().0.to_ne_bytes());
 
         let frame = Frame::new(Header::new(id, data_len, false), &data).unwrap();
-        let envelope = Envelope {
-            #[cfg(feature = "time")]
-            ts,
-            frame,
-        };
+        let envelope = Envelope { ts, frame };
 
         rfr.modify(|v| v.set_rfom(true));
 
diff --git a/embassy-stm32/src/can/frame.rs b/embassy-stm32/src/can/frame.rs
index fb032aee2..d2d1f7aa6 100644
--- a/embassy-stm32/src/can/frame.rs
+++ b/embassy-stm32/src/can/frame.rs
@@ -3,6 +3,14 @@ use bit_field::BitField;
 
 use crate::can::enums::FrameCreateError;
 
+/// Calculate proper timestamp when available.
+#[cfg(feature = "time")]
+pub type Timestamp = embassy_time::Instant;
+
+/// Raw register timestamp
+#[cfg(not(feature = "time"))]
+pub type Timestamp = u16;
+
 /// CAN Header, without meta data
 #[derive(Debug, Copy, Clone)]
 pub struct Header {
@@ -264,15 +272,14 @@ impl CanHeader for Frame {
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct Envelope {
     /// Reception time.
-    #[cfg(feature = "time")]
-    pub ts: embassy_time::Instant,
+    pub ts: Timestamp,
     /// The actual CAN frame.
     pub frame: Frame,
 }
 
 impl Envelope {
     /// Convert into a tuple
-    pub fn parts(self) -> (Frame, embassy_time::Instant) {
+    pub fn parts(self) -> (Frame, Timestamp) {
         (self.frame, self.ts)
     }
 }
@@ -442,15 +449,15 @@ impl CanHeader for FdFrame {
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct FdEnvelope {
     /// Reception time.
-    #[cfg(feature = "time")]
-    pub ts: embassy_time::Instant,
+    pub ts: Timestamp,
+
     /// The actual CAN frame.
     pub frame: FdFrame,
 }
 
 impl FdEnvelope {
     /// Convert into a tuple
-    pub fn parts(self) -> (FdFrame, embassy_time::Instant) {
+    pub fn parts(self) -> (FdFrame, Timestamp) {
         (self.frame, self.ts)
     }
 }