ensure message is sent again on NACK

pd0wm · Mar 27, 2024 · d1fc60b · d1fc60b
1 parent 567dbfe
commit d1fc60b
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Showing 4 changed files with 11 additions and 7 deletions.
diff --git a/board/drivers/bxcan.h b/board/drivers/bxcan.h
@@ -53,7 +53,7 @@ void update_can_health_pkt(uint8_t can_number, uint32_t ir_reg) {
       CANx->RF0R &= ~(CAN_RF0R_FOVR0);
     }
     can_health[can_number].can_core_reset_cnt += 1U;
-    llcan_clear_send(CANx);
+    llcan_clear_send(CANx, can_health[can_number].last_error != 3U);
   }
 }
 

diff --git a/board/drivers/fdcan.h b/board/drivers/fdcan.h
@@ -77,7 +77,7 @@ void update_can_health_pkt(uint8_t can_number, uint32_t ir_reg) {
      ((ir_reg & FDCAN_IR_BO) != 0)) {
       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);
+      llcan_clear_send(FDCANx, true);
     }
   }
 }

diff --git a/board/stm32f4/llbxcan.h b/board/stm32f4/llbxcan.h
@@ -152,7 +152,9 @@ bool llcan_init(CAN_TypeDef *CANx) {
   return ret;
 }
 
-void llcan_clear_send(CAN_TypeDef *CANx) {
-  CANx->TSR |= CAN_TSR_ABRQ0; // Abort message transmission on error interrupt
+void llcan_clear_send(CAN_TypeDef *CANx, bool abort) {
+  if (abort) {
+    CANx->TSR |= CAN_TSR_ABRQ0; // Abort message transmission on error interrupt
+  }
   CANx->MSR |= CAN_MSR_ERRI; // Clear error interrupt
 }
diff --git a/board/stm32h7/llfdcan.h b/board/stm32h7/llfdcan.h
@@ -260,10 +260,12 @@ bool llcan_init(FDCAN_GlobalTypeDef *FDCANx) {
   return ret;
 }
 
-void llcan_clear_send(FDCAN_GlobalTypeDef *FDCANx) {
+void llcan_clear_send(FDCAN_GlobalTypeDef *FDCANx, bool abort) {
   // from datasheet: "Transmit cancellation is not intended for Tx FIFO operation."
   // so we need to clear pending transmission manually by resetting FDCAN core
   FDCANx->IR |= 0x3FCFFFFFU; // clear all interrupts
-  bool ret = llcan_init(FDCANx);
-  UNUSED(ret);
+  if (abort) {
+    bool ret = llcan_init(FDCANx);
+    UNUSED(ret);
+  }
 }