drivers: log can core reset when switching multiplexing (commaai#1972)

fdcan: log lost tx messages when resetting can core for multiplexing
dzid26 · Aug 27, 2024 · 8587ae3 · 8587ae3
1 parent 0a09122
commit 8587ae3
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Showing 3 changed files with 14 additions and 6 deletions.
diff --git a/board/drivers/bxcan.h b/board/drivers/bxcan.h
@@ -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;
@@ -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);
   }
 }
 

diff --git a/board/drivers/fdcan.h b/board/drivers/fdcan.h
@@ -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;
@@ -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);
     }
   }
 }

diff --git a/board/main.c b/board/main.c
@@ -95,7 +95,7 @@ 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 {