CAN bus async receive

[kenfox]

Originally Posted by apalrd

It should just spam the Jaguar with a configuration packet at 20hz and setpoint/speed commands at 100hz

If the cRIO CAN driver buffers messages by node ID, what you describe is possible in user code (the WPILib C++ we have source code for). Isochronous status reporting by the Jaguar needs a firmware update, right?

What I'd like to do is register each C++ CANJaguar object with a background task that listens for hardware resets and user configuration changes, and then keeps the Jaguars in sync with the CANJaguar objects. If it works better to just spam configuration messages that would be easier, but there may be several messages per Jaguar and that will chew up a lot of bandwidth.

Tomorrow I can spend some quality time with a test bench, but I'm still hoping somebody will tell us how the CAN driver works.