Can

Hi mate,

For now the CAN IDs to monitor are hard coded in DIAG.c.

You can see the u32CANPriorityAddress array (length 4 IDs) are set to 80, 1096, 1088, 428 for the VW DSG. These are the 4 CAN messages that will be monitored.

The 4 x 8 byte received CAN frames are stored in the same order at the u32CANPriorityAddress array order.

So CANID=80, CANID=1096, CANID=1088, CANID=428 received data are stored at buffer pu8CANDataBuffer.

pu8CANBuffer[0] to pu8CANBuffer[7] is data for CANID=80, pu8CANBuffer[8] to pu8CANBuffer[15] is data for CANID=1096, etc.

For the Teensy CAN controller, the CAN buffer is represented by 32-bit values, but these are little endian so the data becomes backwards.

So you will see at the pu8CANBuffer:

CANID=XXX [BYTE1][BYTE2][BYTE3][BYTE4][BYTE5][BYTE6][BYTE7][BYTE8]
--------------------------------------------------------------------
CANID=80 [3][2][1][0][7][6][5][4] <- data array index
CANID=1096 [11][10][9][8][15][14][13][12]
CANID=1088 [19][18][17][16][23][22][21][20]
CANID=428 [27][26][25][24][31][30][29][28]

TORQUE_u32ATXTorqueLimit is data array index 16 so that is CANID=1088 4th byte. You can see this from the code.

Hope this helps!

Matthew