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A CAN frame can only fit 8 bytes of data, which is extremely limiting. Using a complex function we were able to carefully bring down some floats to 2 bytes. But a much simpler implementation would need 4 bytes for an accuracy of <0.01. With this implementation, we can only fit 2 floats per frame, resulting in many more frames needing to be sent.
A CAN_FD frame can contain 64 bytes of data, raising our data cap from 2 floats to 16, which should solve our issues. We've had compatibility issues getting CAN_FD to work on the Teensy boards and the Pi, so let's take this slow and work on a separate branch:
Convert the CAN library to CAN_FD and test on a Teensy (this issue)
A CAN frame can only fit 8 bytes of data, which is extremely limiting. Using a complex function we were able to carefully bring down some floats to 2 bytes. But a much simpler implementation would need 4 bytes for an accuracy of <
0.01
. With this implementation, we can only fit 2 floats per frame, resulting in many more frames needing to be sent.A CAN_FD frame can contain 64 bytes of data, raising our data cap from 2 floats to 16, which should solve our issues. We've had compatibility issues getting CAN_FD to work on the Teensy boards and the Pi, so let's take this slow and work on a separate branch:
CAN
library to CAN_FD and test on a Teensy (this issue)When both work, we can switch.
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