From 3347acda1cfa11f138d4486b3adc8c5913393d3d Mon Sep 17 00:00:00 2001
From: Oskar Weigl <oskar.weigl@gmail.com>
Date: Tue, 29 Jun 2021 11:57:13 -0700
Subject: [PATCH] add MSG_SET_LINEAR_COUNT back again at 0x19

---
 Firmware/communication/can/can_simple.cpp | 9 ++++++---
 Firmware/communication/can/can_simple.hpp | 1 +
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/Firmware/communication/can/can_simple.cpp b/Firmware/communication/can/can_simple.cpp
index a4cece39..78ed588a 100644
--- a/Firmware/communication/can/can_simple.cpp
+++ b/Firmware/communication/can/can_simple.cpp
@@ -138,12 +138,15 @@ void CANSimple::do_command(Axis& axis, const can_Message_t& msg) {
             if (msg.rtr)
                 get_vbus_voltage_callback(axis);
             break;
-        case MSG_ENCODER_REF_UPDATE:
-            encoder_ref_update(axis, msg);
-            break;
         case MSG_CLEAR_ERRORS:
             clear_errors_callback(axis, msg);
             break;
+        case MSG_SET_LINEAR_COUNT:
+            set_linear_count_callback(axis, msg);
+            break;
+        case MSG_ENCODER_REF_UPDATE:
+            encoder_ref_update(axis, msg);
+            break;
         default:
             break;
     }
diff --git a/Firmware/communication/can/can_simple.hpp b/Firmware/communication/can/can_simple.hpp
index 2ebe6d57..5c837587 100644
--- a/Firmware/communication/can/can_simple.hpp
+++ b/Firmware/communication/can/can_simple.hpp
@@ -32,6 +32,7 @@ class CANSimple {
         MSG_RESET_ODRIVE,
         MSG_GET_VBUS_VOLTAGE,
         MSG_CLEAR_ERRORS,
+        MSG_SET_LINEAR_COUNT,
         MSG_ENCODER_REF_UPDATE,
         MSG_CO_HEARTBEAT_CMD = 0x700,  // CANOpen NMT Heartbeat  SEND
     };