autosync

examples/SineWaveCAN/SineWaveCAN.ino

@@ -244,9 +244,6 @@ void setup() {
 
 void loop() {
   pumpEvents(can_intf); // This is required on some platforms to handle incoming feedback CAN messages
-                        // Note that on MCP2515-based platforms, this will delay for a fixed 10ms.
-                        // This has been found to reduce the number of dropped messages, however it can be removed
-                        // for applications requiring loop times over 100Hz.
 
   float SINE_PERIOD = 2.0f; // Period of the position command sine wave in seconds
 

src/ODriveEnums.h

@@ -201,6 +201,7 @@ enum ODriveThermistorMode {
     THERMISTOR_MODE_QUADRATIC                = 2,
     THERMISTOR_MODE_PT1000                   = 3,
     THERMISTOR_MODE_KTY84                    = 4,
+    THERMISTOR_MODE_KTY83_122                = 5,
 };
 
 // ODrive.Can.Error

src/ODriveMCPCAN.hpp

@@ -35,10 +35,10 @@ static void onReceive(const CanMsg& msg, ODriveCAN& odrive) {
 static void pumpEvents(MCP2515Class& intf) {
     // On other platforms, this polls and processes incoming CAN messages.
     // However, this is not possible on MCP2515-based platforms.
-
+    //
     // A 10ms delay was found to reduce the number of dropped messages, however a
     // specific root cause has not been identified, and may be a quirk in the MCP2515.
-    delay(10);
+    delay(10); 
 }
 
 CREATE_CAN_INTF_WRAPPER(MCP2515Class)