From 35c342386e04cc624f822ed5ef715406d083ad76 Mon Sep 17 00:00:00 2001
From: Stuart W Baker <stuart_w_baker@ymail.com>
Date: Thu, 1 Dec 2022 11:41:17 -0600
Subject: [PATCH] Fix bus-off error handling. (#681)

---
 src/freertos_drivers/ti/TivaCan.cxx | 8 +++-----
 1 file changed, 3 insertions(+), 5 deletions(-)

diff --git a/src/freertos_drivers/ti/TivaCan.cxx b/src/freertos_drivers/ti/TivaCan.cxx
index d08607a60..6a7bce120 100644
--- a/src/freertos_drivers/ti/TivaCan.cxx
+++ b/src/freertos_drivers/ti/TivaCan.cxx
@@ -210,17 +210,15 @@ void TivaCan::interrupt_handler()
             txBuf->flush();
             txPending = false;
             txBuf->signal_condition_from_isr();
+
+            /* attempt recovery */
+            MAP_CANEnable(base);
         }
         if (status & CAN_STATUS_EWARN)
         {
             /* One of the error counters has exceded a value of 96 */
             ++softErrorCount;
             canState = CAN_STATE_BUS_PASSIVE;
-
-            /* flush data in the tx pipeline */
-            txBuf->flush();
-            txPending = false;
-            txBuf->signal_condition_from_isr();
         }
         if (status & CAN_STATUS_EPASS)
         {