Mask out reserved bits when giving ID to candlelib

REVrobotics · Sep 19, 2024 · 273bc50 · 273bc50
1 parent 07998fa
commit 273bc50
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Showing 2 changed files with 2 additions and 1 deletion.
diff --git a/src/main/native/include/rev/CANMessage.h b/src/main/native/include/rev/CANMessage.h
@@ -38,6 +38,7 @@
 
 #define EXTENDED_ID_MASK 0x40000000
 #define REMOTE_FRAME_MASK 0x80000000
+#define NON_RESERVED_ARB_ID_MASK 0x1FFFFFFF
 
 namespace rev {
 namespace usb {

diff --git a/src/main/native/include/rev/Drivers/CandleWinUSB/CandleWinUSBDeviceThread.h b/src/main/native/include/rev/Drivers/CandleWinUSB/CandleWinUSBDeviceThread.h
@@ -173,7 +173,7 @@ class CandleWinUSBDeviceThread :public DriverDeviceThread {
             candle_frame_t frame;
             frame.can_dlc = el.m_msg.GetSize();
 
-            uint32_t messageId = el.m_msg.GetMessageId();
+            uint32_t messageId = el.m_msg.GetMessageId() & NON_RESERVED_ARB_ID_MASK;
 
             bool isExtended = true; // FRC CAN is always extended
             bool isRtr = messageId & REMOTE_FRAME_MASK;