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clear stuck CAN messages before switching multiplexing (#1967)

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* clear stuck CAN messages before switching multiplexing

* todo
This commit is contained in:
Shane Smiskol
2024-06-04 18:11:21 -07:00
committed by GitHub
parent e2c9a81c4f
commit 77ecf515e5
1 changed files with 3 additions and 0 deletions
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3
board/main.c
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@@ -97,6 +97,9 @@ void set_safety_mode(uint16_t mode, uint16_t param) {
heartbeat_counter = 0U;
heartbeat_lost = false;
if (current_board->has_obd) {
// Clear any pending messages in the can core (i.e. sending while comma power is unplugged)
// TODO: rewrite using hardware queues rather than fifo to cancel specific messages
llcan_clear_send(CANIF_FROM_CAN_NUM(1));
if (param == 0U) {
current_board->set_can_mode(CAN_MODE_OBD_CAN2);
} else {