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[Arduino]: Improved reliability of transmitting ETP via FlexCAN #335

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merged 1 commit into from
Oct 12, 2023
Merged

[Arduino]: Improved reliability of transmitting ETP via FlexCAN #335

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10 changes: 5 additions & 5 deletions hardware_integration/include/isobus/hardware_integration/flex_can_t4_plugin.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
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11 changes: 6 additions & 5 deletions hardware_integration/src/flex_can_t4_plugin.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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) :
Expand Down Expand Up @@ -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)
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