Added CAN next length command

Author: Ultrawipf

Firmware/FFBoard/Inc/CAN.h

@@ -30,7 +30,7 @@ typedef struct{
 
 
 class CANPort : public CommandHandler, public PersistentStorage { //  : public CanHandler if interrupt callbacks needed
-	enum class CanPort_commands : uint32_t {speed,send};
+	enum class CanPort_commands : uint32_t {speed,send,len};
 public:
 	CANPort(CAN_HandleTypeDef &hcan);
 	CANPort(CAN_HandleTypeDef &hcan,const OutputPin* silentPin);
@@ -87,6 +87,8 @@ class CANPort : public CommandHandler, public PersistentStorage { //  : public C
 	bool active = false;
 	int32_t portUsers = 0;
 
+	CAN_TxHeaderTypeDef header = {0,0,0,CAN_RTR_DATA,8,(FunctionalState)0};
+
 	const std::vector<std::string> SpeedNames = {"50k","100k","125k","250k","500k","1000k"};
 
 };

Firmware/FFBoard/Src/CAN.cpp

@@ -34,6 +34,7 @@ void CANPort::registerCommands(){
 	CommandHandler::registerCommands();
 	registerCommand("speed", CanPort_commands::speed, "CAN speed preset (0:50k;1:100k;2:125k;3:250k;4:500k;5:1M)", CMDFLAG_GET|CMDFLAG_SET|CMDFLAG_INFOSTRING);
 	registerCommand("send", CanPort_commands::send, "Send CAN frame. Adr&Value required", CMDFLAG_SETADR);
+	registerCommand("len", CanPort_commands::len, "Set length of next frames", CMDFLAG_SET|CMDFLAG_GET);
 }
 
 void CANPort::saveFlash(){
@@ -353,13 +354,18 @@ CommandStatus CANPort::command(const ParsedCommand& cmd,std::vector<CommandReply
 			}
 			CAN_tx_msg msg;
 			memcpy(msg.data,&cmd.val,8);
-			msg.header.StdId = cmd.adr;
+			header.StdId = cmd.adr;
+			msg.header = header;
 			sendMessage(msg);
 		}else{
 			return CommandStatus::NOT_FOUND;
 		}
 		break;
 	}
+	case CanPort_commands::len:
+		handleGetSet(cmd, replies, header.DLC);
+		header.DLC = std::min<uint32_t>(header.DLC,8);
+		break;
 	default:
 		return CommandStatus::NOT_FOUND;
 	}