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drivers: log can core reset when switching multiplexing #1972

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merged 1 commit into from
Aug 27, 2024
Merged

drivers: log can core reset when switching multiplexing #1972

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8 changes: 6 additions & 2 deletions board/drivers/bxcan.h
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,11 @@ bool can_set_speed(uint8_t can_number) {
return ret;
}

void can_clear_send(CAN_TypeDef *CANx, uint8_t can_number) {
can_health[can_number].can_core_reset_cnt += 1U;
llcan_clear_send(CANx);
}

void update_can_health_pkt(uint8_t can_number, uint32_t ir_reg) {
CAN_TypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
uint32_t esr_reg = CANx->ESR;
Expand Down Expand Up @@ -52,8 +57,7 @@ void update_can_health_pkt(uint8_t can_number, uint32_t ir_reg) {
can_health[can_number].total_rx_lost_cnt += 1U;
CANx->RF0R &= ~(CAN_RF0R_FOVR0);
}
can_health[can_number].can_core_reset_cnt += 1U;
llcan_clear_send(CANx);
can_clear_send(CANx, can_number);
}
}

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10 changes: 7 additions & 3 deletions board/drivers/fdcan.h
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,12 @@ bool can_set_speed(uint8_t can_number) {
return ret;
}

void can_clear_send(FDCAN_GlobalTypeDef *FDCANx, uint8_t can_number) {
can_health[can_number].can_core_reset_cnt += 1U;
can_health[can_number].total_tx_lost_cnt += (FDCAN_TX_FIFO_EL_CNT - (FDCANx->TXFQS & FDCAN_TXFQS_TFFL)); // TX FIFO msgs will be lost after reset
llcan_clear_send(FDCANx);
}

void update_can_health_pkt(uint8_t can_number, uint32_t ir_reg) {
FDCAN_GlobalTypeDef *FDCANx = CANIF_FROM_CAN_NUM(can_number);
uint32_t psr_reg = FDCANx->PSR;
Expand Down Expand Up @@ -75,9 +81,7 @@ void update_can_health_pkt(uint8_t can_number, uint32_t ir_reg) {
// 2. H7 gets stuck in bus off recovery state indefinitely
if ((((can_health[can_number].last_error == CAN_ACK_ERROR) || (can_health[can_number].last_data_error == CAN_ACK_ERROR)) && (can_health[can_number].transmit_error_cnt > 127U)) ||
((ir_reg & FDCAN_IR_BO) != 0U)) {
can_health[can_number].can_core_reset_cnt += 1U;
can_health[can_number].total_tx_lost_cnt += (FDCAN_TX_FIFO_EL_CNT - (FDCANx->TXFQS & FDCAN_TXFQS_TFFL)); // TX FIFO msgs will be lost after reset
llcan_clear_send(FDCANx);
can_clear_send(FDCANx, can_number);
}
}
}
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2 changes: 1 addition & 1 deletion board/main.c
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Expand Up @@ -99,7 +99,7 @@ void set_safety_mode(uint16_t mode, uint16_t param) {
if (current_board->has_obd) {
// Clear any pending messages in the can core (i.e. sending while comma power is unplugged)
// TODO: rewrite using hardware queues rather than fifo to cancel specific messages
llcan_clear_send(CANIF_FROM_CAN_NUM(1));
can_clear_send(CANIF_FROM_CAN_NUM(1), 1);
if (param == 0U) {
current_board->set_can_mode(CAN_MODE_OBD_CAN2);
} else {
Expand Down
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