From 01b12248b73d5ef77304803d33ebcb86bb7d0ff1 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <consulting@lxrobotics.com>
Date: Mon, 16 Oct 2023 12:08:17 +0200
Subject: [PATCH 1/2] Fix: we do not need to transport the full CAN frame
 every-time, just the payload that matters.

---
 src/can.c | 16 ++++++++++++----
 1 file changed, 12 insertions(+), 4 deletions(-)

diff --git a/src/can.c b/src/can.c
index 4f934bc..b6c9d34 100644
--- a/src/can.c
+++ b/src/can.c
@@ -255,12 +255,20 @@ void can_handle_data()
 {
   union x8h7_can_frame_message msg;
 
-  if (can_read(&fdcan_1, &msg)) {
-    enqueue_packet(PERIPH_FDCAN1, DATA, sizeof(msg.buf), msg.buf);
+  if (can_read(&fdcan_1, &msg))
+  {
+    enqueue_packet(PERIPH_FDCAN1,
+                   DATA,
+                   X8H7_CAN_HEADER_SIZE + msg.field.len,
+                   msg.buf);
   }
 
-  if (can_read(&fdcan_2, &msg)) {
-    enqueue_packet(PERIPH_FDCAN2, DATA, sizeof(msg.buf), msg.buf);
+  if (can_read(&fdcan_2, &msg))
+  {
+    enqueue_packet(PERIPH_FDCAN2,
+                   DATA,
+                   X8H7_CAN_HEADER_SIZE + msg.field.len,
+                   msg.buf);
   }
 }
 

From e776efaa718aabcabd56f3b267a9af669fdf50d0 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <consulting@lxrobotics.com>
Date: Mon, 16 Oct 2023 12:10:28 +0200
Subject: [PATCH 2/2] Define separate opcode for received CAN frames. Note:
 this is not an functional change.

---
 include/peripherals.h | 1 +
 src/can.c             | 4 ++--
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/include/peripherals.h b/include/peripherals.h
index 721e27c..72b89cd 100644
--- a/include/peripherals.h
+++ b/include/peripherals.h
@@ -68,6 +68,7 @@ enum Opcodes_RTC {
 
 enum Opcodes_CAN {
   CAN_TX_FRAME = 0x01,
+  CAN_RX_FRAME = 0x01,
   CAN_STATUS = 0x40,
   CAN_FILTER = 0x50,
 };
diff --git a/src/can.c b/src/can.c
index b6c9d34..03ec6c2 100644
--- a/src/can.c
+++ b/src/can.c
@@ -258,7 +258,7 @@ void can_handle_data()
   if (can_read(&fdcan_1, &msg))
   {
     enqueue_packet(PERIPH_FDCAN1,
-                   DATA,
+                   CAN_RX_FRAME,
                    X8H7_CAN_HEADER_SIZE + msg.field.len,
                    msg.buf);
   }
@@ -266,7 +266,7 @@ void can_handle_data()
   if (can_read(&fdcan_2, &msg))
   {
     enqueue_packet(PERIPH_FDCAN2,
-                   DATA,
+                   CAN_RX_FRAME,
                    X8H7_CAN_HEADER_SIZE + msg.field.len,
                    msg.buf);
   }