| Drawio sketch |
|---|
| mVer | 2 |
|---|
| zoom | 1 |
|---|
| simple | 0 |
|---|
| zoominComment | 10 |
|---|
| inCommentcustContentId | 02859794448 |
|---|
| pageId | 2859827205 |
|---|
| custContentIdlbox | 28597944481 |
|---|
| diagramDisplayName | Rx Logic | lbox | 1 |
|---|
| contentVer | 46 |
|---|
| revision | 46 |
|---|
| baseUrl | https://uwarg-docs.atlassian.net/wiki |
|---|
| diagramName | Rx Logic |
|---|
| pCenter | 0 |
|---|
| width | 595 |
|---|
| links | |
|---|
| tbstyle | |
|---|
| height | 763 |
|---|
|
After this change, the only thing that the interrupt does is add the received CAN frame to a queue. The superloop will call canardHandleRxFrame and dequeue messages in FIFO order. canardHandleRxFrame is a very long function, so this shortens the interrupts significantly.