Fixes for CAN init on T41
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@ -7,9 +7,12 @@
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#include "timers.h"
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#include "timers.h"
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#include "comms_secondary.h"
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#include "comms_secondary.h"
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/*
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//These are declared locally in comms_CAN now due to this issue: https://github.com/tonton81/FlexCAN_T4/issues/67
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FlexCAN_T4<CAN1, RX_SIZE_256, TX_SIZE_16> Can0;
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FlexCAN_T4<CAN1, RX_SIZE_256, TX_SIZE_16> Can0;
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FlexCAN_T4<CAN2, RX_SIZE_256, TX_SIZE_16> Can1;
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FlexCAN_T4<CAN2, RX_SIZE_256, TX_SIZE_16> Can1;
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FlexCAN_T4<CAN3, RX_SIZE_256, TX_SIZE_16> Can2;
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FlexCAN_T4<CAN3, RX_SIZE_256, TX_SIZE_16> Can2;
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*/
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static void PIT_isr();
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static void PIT_isr();
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static void TMR1_isr(void);
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static void TMR1_isr(void);
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@ -172,10 +172,13 @@
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#define SECONDARY_SERIAL_T HardwareSerial
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#define SECONDARY_SERIAL_T HardwareSerial
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#include <FlexCAN_T4.h>
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#include <FlexCAN_T4.h>
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/*
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//These are declared locally in comms_CAN now due to this issue: https://github.com/tonton81/FlexCAN_T4/issues/67
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extern FlexCAN_T4<CAN1, RX_SIZE_256, TX_SIZE_16> Can0;
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extern FlexCAN_T4<CAN1, RX_SIZE_256, TX_SIZE_16> Can0;
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extern FlexCAN_T4<CAN2, RX_SIZE_256, TX_SIZE_16> Can1;
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extern FlexCAN_T4<CAN2, RX_SIZE_256, TX_SIZE_16> Can1;
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extern FlexCAN_T4<CAN3, RX_SIZE_256, TX_SIZE_16> Can2;
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extern FlexCAN_T4<CAN3, RX_SIZE_256, TX_SIZE_16> Can2;
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//#define NATIVE_CAN_AVAILABLE //Disable for now as it causes lockup
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*/
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#define NATIVE_CAN_AVAILABLE //Disable for now as it causes lockup
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#endif //CORE_TEENSY
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#endif //CORE_TEENSY
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#endif //TEENSY41_H
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#endif //TEENSY41_H
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@ -17,11 +17,10 @@ CAN_message_t inMsg;
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CAN_message_t outMsg;
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CAN_message_t outMsg;
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//These are declared locally for Teensy due to this issue: https://github.com/tonton81/FlexCAN_T4/issues/67
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//These are declared locally for Teensy due to this issue: https://github.com/tonton81/FlexCAN_T4/issues/67
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#if defined(CORE_TEENSY35) // use for Teensy 3.5 only
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#if defined(CORE_TEENSY35) || defined(CORE_TEENSY36) // use for Teensy 3.5/3.6 only
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FlexCAN_T4<CAN0, RX_SIZE_256, TX_SIZE_16> Can0;
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FlexCAN_T4<CAN0, RX_SIZE_256, TX_SIZE_16> Can0;
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#elif defined(CORE_TEENSY41) // use for Teensy 3.6 only
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#elif defined(CORE_TEENSY41) // use for Teensy 4.1 only
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FlexCAN_T4<CAN0, RX_SIZE_256, TX_SIZE_16> Can0;
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FlexCAN_T4<CAN1, RX_SIZE_256, TX_SIZE_16> Can0;
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FlexCAN_T4<CAN1, RX_SIZE_256, TX_SIZE_16> Can1;
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#endif
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#endif
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// Forward declare
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// Forward declare
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@ -1539,7 +1539,7 @@ void setPinMapping(byte boardID)
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pinTrigger = 20; //The CAS pin
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pinTrigger = 20; //The CAS pin
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pinTrigger2 = 21; //The Cam Sensor pin
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pinTrigger2 = 21; //The Cam Sensor pin
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pinTrigger3 = 23;
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pinTrigger3 = 24;
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pinStepperDir = 34;
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pinStepperDir = 34;
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pinStepperStep = 35;
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pinStepperStep = 35;
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