From f4d405fb7fff7c5e9e985b65caee610f9c312221 Mon Sep 17 00:00:00 2001
From: Adrian Del Grosso <10929341+ad3154@users.noreply.github.com>
Date: Wed, 11 Oct 2023 19:34:11 -0500
Subject: [PATCH] [Arduino]: Improved reliability of transmitting ETP via
 FlexCAN

Added missing sequential message flag and increased TX buffers.
---
 .../hardware_integration/flex_can_t4_plugin.hpp       | 10 +++++-----
 hardware_integration/src/flex_can_t4_plugin.cpp       | 11 ++++++-----
 2 files changed, 11 insertions(+), 10 deletions(-)

diff --git a/hardware_integration/include/isobus/hardware_integration/flex_can_t4_plugin.hpp b/hardware_integration/include/isobus/hardware_integration/flex_can_t4_plugin.hpp
index 5f508314..456b3655 100644
--- a/hardware_integration/include/isobus/hardware_integration/flex_can_t4_plugin.hpp
+++ b/hardware_integration/include/isobus/hardware_integration/flex_can_t4_plugin.hpp
@@ -49,12 +49,12 @@ namespace isobus
 
 	private:
 #if defined(__IMXRT1062__)
-		static FlexCAN_T4<CAN1, RX_SIZE_256, TX_SIZE_256> can0;
-		static FlexCAN_T4<CAN2, RX_SIZE_256, TX_SIZE_256> can1;
-		static FlexCAN_T4<CAN3, RX_SIZE_256, TX_SIZE_256> can2;
+		static FlexCAN_T4<CAN1, RX_SIZE_256, TX_SIZE_512> can0;
+		static FlexCAN_T4<CAN2, RX_SIZE_256, TX_SIZE_512> can1;
+		static FlexCAN_T4<CAN3, RX_SIZE_256, TX_SIZE_512> can2;
 #elif defined(__MK20DX256__) || defined(__MK64FX512__) || defined(__MK66FX1M0__)
-		static FlexCAN_T4<CAN1, RX_SIZE_256, TX_SIZE_256> can0;
-		static FlexCAN_T4<CAN2, RX_SIZE_256, TX_SIZE_256> can1;
+		static FlexCAN_T4<CAN1, RX_SIZE_256, TX_SIZE_512> can0;
+		static FlexCAN_T4<CAN2, RX_SIZE_256, TX_SIZE_512> can1;
 #endif
 		std::uint8_t selectedChannel;
 		bool isOpen = false;
diff --git a/hardware_integration/src/flex_can_t4_plugin.cpp b/hardware_integration/src/flex_can_t4_plugin.cpp
index 46418ae1..ff0c6399 100644
--- a/hardware_integration/src/flex_can_t4_plugin.cpp
+++ b/hardware_integration/src/flex_can_t4_plugin.cpp
@@ -14,12 +14,12 @@
 namespace isobus
 {
 #if defined(__IMXRT1062__)
-	FlexCAN_T4<CAN1, RX_SIZE_256, TX_SIZE_256> FlexCANT4Plugin::can0;
-	FlexCAN_T4<CAN2, RX_SIZE_256, TX_SIZE_256> FlexCANT4Plugin::can1;
-	FlexCAN_T4<CAN3, RX_SIZE_256, TX_SIZE_256> FlexCANT4Plugin::can2;
+	FlexCAN_T4<CAN1, RX_SIZE_256, TX_SIZE_512> FlexCANT4Plugin::can0;
+	FlexCAN_T4<CAN2, RX_SIZE_256, TX_SIZE_512> FlexCANT4Plugin::can1;
+	FlexCAN_T4<CAN3, RX_SIZE_256, TX_SIZE_512> FlexCANT4Plugin::can2;
 #elif defined(__MK20DX256__) || defined(__MK64FX512__) || defined(__MK66FX1M0__)
-	FlexCAN_T4<CAN1, RX_SIZE_256, TX_SIZE_256> FlexCANT4Plugin::can0;
-	FlexCAN_T4<CAN2, RX_SIZE_256, TX_SIZE_256> FlexCANT4Plugin::can1;
+	FlexCAN_T4<CAN1, RX_SIZE_256, TX_SIZE_512> FlexCANT4Plugin::can0;
+	FlexCAN_T4<CAN2, RX_SIZE_256, TX_SIZE_512> FlexCANT4Plugin::can1;
 #endif
 
 	FlexCANT4Plugin::FlexCANT4Plugin(std::uint8_t channel) :
@@ -104,6 +104,7 @@ namespace isobus
 		message.id = canFrame.identifier;
 		message.len = canFrame.dataLength;
 		message.flags.extended = true;
+		message.seq = true; // Ask for sequential transmission
 		memcpy(message.buf, canFrame.data, canFrame.dataLength);
 
 		if (0 == selectedChannel)