Merge pull request #38 from REVrobotics/fix/rtr-mask

REVrobotics · Oct 2, 2024 · 2ec4c6c · 2ec4c6c
2 parents 77162c1 + dbfe43a
commit 2ec4c6c
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/src/main/native/include/rev/Drivers/CandleWinUSB/CandleWinUSBDeviceThread.h b/src/main/native/include/rev/Drivers/CandleWinUSB/CandleWinUSBDeviceThread.h
@@ -173,10 +173,10 @@ class CandleWinUSBDeviceThread :public DriverDeviceThread {
             candle_frame_t frame;
             frame.can_dlc = el.m_msg.GetSize();
 
-            uint32_t messageId = el.m_msg.GetMessageId() & NON_RESERVED_ARB_ID_MASK;
-
             bool isExtended = true; // FRC CAN is always extended
-            bool isRtr = messageId & HAL_CAN_IS_FRAME_REMOTE;
+            bool isRtr = el.m_msg.GetMessageId() & HAL_CAN_IS_FRAME_REMOTE;
+
+            uint32_t messageId = el.m_msg.GetMessageId() & NON_RESERVED_ARB_ID_MASK;
 
             frame.can_id = messageId;
             if(isExtended) {