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Fix: Only use a single transmit buffer when transmitting OpenCyphal/CAN frames. #65

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Sep 12, 2022
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Fix: Only use a single transmit buffer when transmitting OpenCyphal/CAN frames. #65

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7 changes: 7 additions & 0 deletions src/ArduinoMCP2515.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -133,6 +133,13 @@ bool ArduinoMCP2515::transmitCANFrame(uint32_t const id, uint8_t const * data, u
return true;
}

#if LIBCANARD
/* Only use a single transmit buffer in order to prevent unintentional
* priority inversion while transmitting OpenCyphal/CAN frames.
*/
return false;
#endif

if (isBitClr(_io.readRegister(Register::TXB1CTRL), bp(TXBnCTRL::TXREQ)))
{
_ctrl.transmit(TxB::TxB1, id, data, len);
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