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Check requested message before trying callbacks #14

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Merged
merged 1 commit into from
Apr 24, 2025
Merged

Check requested message before trying callbacks #14

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13 changes: 9 additions & 4 deletions src/ODriveCAN.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -145,8 +145,17 @@ void ODriveCAN::onReceive(uint32_t id, uint8_t length, const uint8_t* data) {
Serial.print(msg.data[byte_index--], HEX);
Serial.println(F(""));
#endif // DEBUG
// Check that the message is meant for this node.
if (node_id_ != (id >> ODriveCAN::kNodeIdShift))
return;
// If the message is requested, copy it in the request buffer and exit.
if ((id & ODriveCAN::kCmdIdBits) == requested_msg_id_) {
memcpy(buffer_, data, length);
requested_msg_id_ = REQUEST_PENDING;
return;
};
// Check if any of the registered callback handlers apply. Useful for cyclic
// messages.
switch (id & ODriveCAN::kCmdIdBits) {
case Get_Encoder_Estimates_msg_t::cmd_id: {
Get_Encoder_Estimates_msg_t estimates;
Expand Down Expand Up @@ -178,10 +187,6 @@ void ODriveCAN::onReceive(uint32_t id, uint8_t length, const uint8_t* data) {
Serial.print(F("waiting for: 0x"));
Serial.println(requested_msg_id_, HEX);
#endif // DEBUG
if ((id & ODriveCAN::kCmdIdBits) != requested_msg_id_)
return;
memcpy(buffer_, data, length);
requested_msg_id_ = REQUEST_PENDING;
}
}
}
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2 changes: 1 addition & 1 deletion src/ODriveCAN.h
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Expand Up @@ -161,7 +161,7 @@ class ODriveCAN {
bool getVersion(Get_Version_msg_t& msg, uint16_t timeout_ms = 10);

/**
* @brief Requests encoder feedback data. May trigger onFeedback callback if it's registered
* @brief Requests encoder feedback data.
*
* This function will block and wait for up to timeout_ms (default 10msec) for ODrive to reply
*/
Expand Down