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Fix messages are not read in correct order #46

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Fix messages are not read in correct order #46

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10 changes: 7 additions & 3 deletions mcp2515.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -658,8 +658,6 @@ MCP2515::ERROR MCP2515::readMessage(const RXBn rxbn, struct can_frame *frame)

readRegisters(rxb->DATA, frame->data, dlc);

modifyRegister(MCP_CANINTF, rxb->CANINTF_RXnIF, 0);

return ERROR_OK;
}

Expand All @@ -668,10 +666,16 @@ MCP2515::ERROR MCP2515::readMessage(struct can_frame *frame)
ERROR rc;
uint8_t stat = getStatus();

if ( stat & STAT_RX0IF ) {
if ( stat & STAT_RX0IF && mcp2515_rx_index == 0) {
rc = readMessage(RXB0, frame);
if ( stat & STAT_RX1IF ) {
mcp2515_rx_index = 1;
}
modifyRegister(MCP_CANINTF, RXB[RXB0].CANINTF_RXnIF, 0);
} else if ( stat & STAT_RX1IF ) {
rc = readMessage(RXB1, frame);
mcp2515_rx_index = 0;
modifyRegister(MCP_CANINTF, RXB[RXB1].CANINTF_RXnIF, 0);
} else {
rc = ERROR_NOMSG;
}
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2 changes: 2 additions & 0 deletions mcp2515.h
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Expand Up @@ -444,6 +444,8 @@ class MCP2515

uint8_t SPICS;

uint8_t mcp2515_rx_index = 0;

private:

void startSPI();
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