Improved reliability of transmitting through the FlexCAN driver

Asked the driver to use only 1 tx mailbox, and increased queue size to allow nearly two full ETP EDPO windows with max size.
Open-Agriculture · Oct 12, 2023 · 9af5ee8 · 9af5ee8
1 parent b4ad234
commit 9af5ee8
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Showing 2 changed files with 11 additions and 10 deletions.
diff --git a/src/flex_can_t4_plugin.cpp b/src/flex_can_t4_plugin.cpp
@@ -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) :
@@ -104,6 +104,7 @@ namespace isobus
 		message.id = canFrame.identifier;
 		message.len = canFrame.dataLength;
 		message.flags.extended = true;
+		message.seq = 1; // Try to get messages to go out sequentially...
 		memcpy(message.buf, canFrame.data, canFrame.dataLength);
 
 		if (0 == selectedChannel)

diff --git a/src/flex_can_t4_plugin.hpp b/src/flex_can_t4_plugin.hpp
@@ -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;