{"action":"created","comment":{"url":"https://api.github.com/repos/PolySync/oscc/pulls/comments/157254709","pull_request_review_id":83872171,"id":157254709,"diff_hunk":"@@ -13,6 +13,13 @@\n #include \"magic.h\"\n \n \n+/*\n+ * @brief CAN ID representing the range of brake messages.\n+ *\n+ */\n+#define OSCC_BRAKE_CAN_ID_INDEX (0x50)","path":"api/include/can_protocols/brake_can_protocol.h","position":8,"original_position":8,"commit_id":"a33135995024c82d81d0a3fc92552856ac90b2a7","original_commit_id":"a33135995024c82d81d0a3fc92552856ac90b2a7","user":{"login":"adrienthebo","id":172194,"avatar_url":"https://avatars1.githubusercontent.com/u/172194?v=4","gravatar_id":"","url":"https://api.github.com/users/adrienthebo","html_url":"https://github.com/adrienthebo","followers_url":"https://api.github.com/users/adrienthebo/followers","following_url":"https://api.github.com/users/adrienthebo/following{/other_user}","gists_url":"https://api.github.com/users/adrienthebo/gists{/gist_id}","starred_url":"https://api.github.com/users/adrienthebo/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/adrienthebo/subscriptions","organizations_url":"https://api.github.com/users/adrienthebo/orgs","repos_url":"https://api.github.com/users/adrienthebo/repos","events_url":"https://api.github.com/users/adrienthebo/events{/privacy}","received_events_url":"https://api.github.com/users/adrienthebo/received_events","type":"User","site_admin":false},"body":"Small nit: this is a mask for CAN IDs, and not a CAN id itself right?","created_at":"2017-12-15T17:21:10Z","updated_at":"2017-12-15T17:21:11Z","html_url":"https://github.com/PolySync/oscc/pull/229#discussion_r157254709","pull_request_url":"https://api.github.com/repos/PolySync/oscc/pulls/229","author_association":"NONE","_links":{"self":{"href":"https://api.github.com/repos/PolySync/oscc/pulls/comments/157254709"},"html":{"href":"https://github.com/PolySync/oscc/pull/229#discussion_r157254709"},"pull_request":{"href":"https://api.github.com/repos/PolySync/oscc/pulls/229"}}},"pull_request":{"url":"https://api.github.com/repos/PolySync/oscc/pulls/229","id":158496310,"html_url":"https://github.com/PolySync/oscc/pull/229","diff_url":"https://github.com/PolySync/oscc/pull/229.diff","patch_url":"https://github.com/PolySync/oscc/pull/229.patch","issue_url":"https://api.github.com/repos/PolySync/oscc/issues/229","number":229,"state":"open","locked":false,"title":"Add CAN message filtering","user":{"login":"austinjmorlan","id":12725049,"avatar_url":"https://avatars2.githubusercontent.com/u/12725049?v=4","gravatar_id":"","url":"https://api.github.com/users/austinjmorlan","html_url":"https://github.com/austinjmorlan","followers_url":"https://api.github.com/users/austinjmorlan/followers","following_url":"https://api.github.com/users/austinjmorlan/following{/other_user}","gists_url":"https://api.github.com/users/austinjmorlan/gists{/gist_id}","starred_url":"https://api.github.com/users/austinjmorlan/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/austinjmorlan/subscriptions","organizations_url":"https://api.github.com/users/austinjmorlan/orgs","repos_url":"https://api.github.com/users/austinjmorlan/repos","events_url":"https://api.github.com/users/austinjmorlan/events{/privacy}","received_events_url":"https://api.github.com/users/austinjmorlan/received_events","type":"User","site_admin":false},"body":"This PR modifies the existing CAN spec so that the IDs of CAN messages related to modules are grouped together (0x050-0x05F for the brake module, 0x060-0x06F for the steering module, 0x070-0x07F for the throttle module), and IDs of CAN messages global to all modules are also grouped together (0x090-0x09F). This allows for easier CAN filtering, which is the next thing this PR does.\r\n\r\nPrior to this, each module saw all CAN messages on the bus, causing the MCU to check the IDs of every frame and discard any that weren't relevant to its operation. This PR adds filtering that is done by the CAN transceiver: the MCU of the brake module will only receive messages in the ranges 0x050-0x05F and 0x090-0x09F, the MCU of the steering module will only receive messages in the range 0x060-0x06F and 0x090-0x09F, and the MCU of the throttle module will only receive messages in the range 0x070-0x07F and 0x090-0x09F. This reduces the load on the MCUs by not bothering them with things they don't care 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