FaSTTUBe/steering-wheel
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Use one fewer CAN mailbox

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This commit is contained in:
Jasper Blanckenburg
2022-03-14 16:27:52 +01:00
parent 37123a43e8
commit c5df4d7b79
1 changed files with 4 additions and 2 deletions
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6
lib/FT_2018_STW_CAN/FT_2018_STW_CAN.cpp
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@ -19,8 +19,10 @@ void Init_Can_0() {
Can0.setNumTXBoxes(1); // reserves mailbox 0 for tx only 8 mailboxes are Can0.setNumTXBoxes(1); // reserves mailbox 0 for tx only 8 mailboxes are
// available (the other 7 mailboxes are for rx) // available (the other 7 mailboxes are for rx)
Can0.watchFor(CAN_ID_BCU_APS_BRAKE); // We only have 7 mailboxes, but want to receive 8 messages. This trick should
Can0.watchFor(CAN_ID_BCU_ETC); // allow us to receive BCU_APS_BRAKE and BCU_ETC in the same mailbox.
Can0.watchFor(CAN_ID_BCU_APS_BRAKE & CAN_ID_BCU_ETC,
~(CAN_ID_BCU_APS_BRAKE ^ CAN_ID_BCU_ETC));
Can0.watchFor(CAN_ID_BCU_SHIFT_CTRL); Can0.watchFor(CAN_ID_BCU_SHIFT_CTRL);
Can0.watchFor(CAN_ID_BCU_LAP_TIME); Can0.watchFor(CAN_ID_BCU_LAP_TIME);
Can0.watchFor(CAN_ID_MS4_IGN_REV_ATH); Can0.watchFor(CAN_ID_MS4_IGN_REV_ATH);