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Fixes for CAN init on T41

This commit is contained in:
Josh Stewart 2024-03-15 16:07:19 +11:00
parent 5bef8d4bf7
commit 6f9348a282
4 changed files with 11 additions and 6 deletions
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3
speeduino/board_teensy41.cpp
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@ -7,9 +7,12 @@
#include "timers.h"
#include "comms_secondary.h"
/*
//These are declared locally in comms_CAN now due to this issue: https://github.com/tonton81/FlexCAN_T4/issues/67
FlexCAN_T4<CAN1, RX_SIZE_256, TX_SIZE_16> Can0;
FlexCAN_T4<CAN2, RX_SIZE_256, TX_SIZE_16> Can1;
FlexCAN_T4<CAN3, RX_SIZE_256, TX_SIZE_16> Can2;
*/
static void PIT_isr();
static void TMR1_isr(void);

5
speeduino/board_teensy41.h
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@ -172,10 +172,13 @@
#define SECONDARY_SERIAL_T HardwareSerial
#include <FlexCAN_T4.h>
/*
//These are declared locally in comms_CAN now due to this issue: https://github.com/tonton81/FlexCAN_T4/issues/67
extern FlexCAN_T4<CAN1, RX_SIZE_256, TX_SIZE_16> Can0;
extern FlexCAN_T4<CAN2, RX_SIZE_256, TX_SIZE_16> Can1;
extern FlexCAN_T4<CAN3, RX_SIZE_256, TX_SIZE_16> Can2;
//#define NATIVE_CAN_AVAILABLE //Disable for now as it causes lockup
*/
#define NATIVE_CAN_AVAILABLE //Disable for now as it causes lockup
#endif //CORE_TEENSY
#endif //TEENSY41_H

7
speeduino/comms_CAN.cpp
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@ -17,11 +17,10 @@ CAN_message_t inMsg;
CAN_message_t outMsg;
//These are declared locally for Teensy due to this issue: https://github.com/tonton81/FlexCAN_T4/issues/67
#if defined(CORE_TEENSY35) // use for Teensy 3.5 only
#if defined(CORE_TEENSY35) || defined(CORE_TEENSY36) // use for Teensy 3.5/3.6 only
FlexCAN_T4<CAN0, RX_SIZE_256, TX_SIZE_16> Can0;
#elif defined(CORE_TEENSY41) // use for Teensy 3.6 only
FlexCAN_T4<CAN0, RX_SIZE_256, TX_SIZE_16> Can0;
FlexCAN_T4<CAN1, RX_SIZE_256, TX_SIZE_16> Can1;
#elif defined(CORE_TEENSY41) // use for Teensy 4.1 only
FlexCAN_T4<CAN1, RX_SIZE_256, TX_SIZE_16> Can0;
#endif
// Forward declare

2
speeduino/init.cpp
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@ -1539,7 +1539,7 @@ void setPinMapping(byte boardID)
pinTrigger = 20; //The CAS pin
pinTrigger2 = 21; //The Cam Sensor pin
pinTrigger3 = 23;
pinTrigger3 = 24;
pinStepperDir = 34;
pinStepperStep = 35;