autosync

Author: actions-user

CHANGELOG.md

@@ -1,3 +1,5 @@
+# [0.10.6]
+- Fixed getEndpoint not updating requested_msg_id_, causing periodic messages to be read as a TxSdo message.
 
 # [0.10.5]
 - Fixed SineWaveCAN example vbus request timeout
@@ -8,4 +10,4 @@
 
 # [0.10.3]
 
-- Fixed CAN awaitMsg timeout; now actually milliseconds instead of seconds
+- Fixed CAN awaitMsg timeout; now actually milliseconds instead of seconds

library.properties

@@ -1,6 +1,6 @@
 # https://arduino.github.io/arduino-cli/0.33/library-specification/
 name=ODriveArduino
-version=0.10.5
+version=0.10.6
 author=ODrive Robotics Inc. <[email protected]>
 maintainer=ODrive Robotics Inc. <[email protected]>
 sentence=Library to control ODrive motor controllers

src/ODriveCAN.h

@@ -281,6 +281,7 @@ class ODriveCAN {
         data[1] = (uint8_t)(endpoint_id);
         data[2] = (uint8_t)(endpoint_id >> 8);
 
+        requested_msg_id_ = 0x005; // Await TxSdo message
         can_intf_.sendMsg((node_id_ << ODriveCAN::kNodeIdShift) | 0x004, 8, data);
         if (!awaitMsg(timeout_ms)) return T{};