feedc0de/bobbycar-boardcomputer-firmware
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Added fix for bus going offline

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This commit is contained in:
CommanderRedYT
2022-02-21 20:41:22 +01:00
parent 9bb26252c5
commit e6c3357788
1 changed files with 5 additions and 1 deletions
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6
main/can.cpp
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@ -262,9 +262,11 @@ bool tryParseCanInput()
void sendCanCommands()
{
static uint32_t can_sequential_error_cnt = 0;
static uint32_t can_sequential_bus_errors = 0;
constexpr auto send = [](uint32_t addr, auto value){
twai_message_t message;
twai_status_info_t status_info;
message.identifier = addr;
message.flags = TWAI_MSG_FLAG_SS;
message.data_length_code = sizeof(value);
@ -275,12 +277,14 @@ void sendCanCommands()
const auto timestamp_before = espchrono::millis_clock::now();
const auto result = twai_transmit(&message, timeout);
const auto status = twai_get_status_info(&status_info);
const auto timestamp_after = espchrono::millis_clock::now();
if (result == ESP_ERR_TIMEOUT)
if (result == ESP_ERR_TIMEOUT || (status == ESP_OK && status_info.bus_error_count > can_sequential_bus_errors))
{
++can_sequential_error_cnt;
++can_total_error_cnt;
can_sequential_bus_errors = status_info.bus_error_count;
ESP_LOGW(TAG, "twai_transmit() failed after %lldms with %s, seq err: %d, total err: %d",
(timestamp_after - timestamp_before).count(),