From 05aa1a2da4fdbc04366c449b36a89098f30101f4 Mon Sep 17 00:00:00 2001
From: Matthew Kennedy <makenne@microsoft.com>
Date: Sat, 12 Dec 2020 20:06:21 -0800
Subject: [PATCH] send ext id

---
 firmware/can_helper.cpp | 6 +++---
 firmware/can_helper.h   | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/firmware/can_helper.cpp b/firmware/can_helper.cpp
index e3e8499..a3720ac 100644
--- a/firmware/can_helper.cpp
+++ b/firmware/can_helper.cpp
@@ -2,8 +2,8 @@
 
 #include <cstring>
 
-CanTxMessage::CanTxMessage(uint32_t eid, uint8_t dlc) {
-	m_frame.IDE = CAN_IDE_STD;
+CanTxMessage::CanTxMessage(uint32_t eid, uint8_t dlc, bool isExtended) {
+	m_frame.IDE = isExtended ? CAN_IDE_EXT : CAN_IDE_STD;
 	m_frame.EID = eid;
 	m_frame.RTR = CAN_RTR_DATA;
 	m_frame.DLC = dlc;
@@ -12,7 +12,7 @@ CanTxMessage::CanTxMessage(uint32_t eid, uint8_t dlc) {
 
 CanTxMessage::~CanTxMessage() {
 	// 100 ms timeout
-	canTransmit(&CAND1, CAN_ANY_MAILBOX, &m_frame, TIME_MS2I(100));
+	canTransmitTimeout(&CAND1, CAN_ANY_MAILBOX, &m_frame, TIME_IMMEDIATE);
 }
 
 uint8_t& CanTxMessage::operator[](size_t index) {
diff --git a/firmware/can_helper.h b/firmware/can_helper.h
index 5886388..5ca3887 100644
--- a/firmware/can_helper.h
+++ b/firmware/can_helper.h
@@ -18,7 +18,7 @@ public:
     /**
      * Create a new CAN message, with the specified extended ID.
      */
-    explicit CanTxMessage(uint32_t eid, uint8_t dlc = 8);
+    explicit CanTxMessage(uint32_t eid, uint8_t dlc = 8, bool isExtended = false);
 
     /**
      * Destruction of an instance of CanTxMessage will transmit the message over the wire.