Fixes for CAN init on T41

adbancroft · Mar 15, 2024 · 6f9348a · 6f9348a
1 parent 5bef8d4
commit 6f9348a
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Showing 4 changed files with 11 additions and 6 deletions.
diff --git a/speeduino/board_teensy41.cpp b/speeduino/board_teensy41.cpp
@@ -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);

diff --git a/speeduino/board_teensy41.h b/speeduino/board_teensy41.h
@@ -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
diff --git a/speeduino/comms_CAN.cpp b/speeduino/comms_CAN.cpp
@@ -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

diff --git a/speeduino/init.cpp b/speeduino/init.cpp
@@ -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;