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remove odd err-frames

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The gusb-interface can report completely weird error-frames,
like being in error-ative (based on counters), and error-warning,
and bus-off at the same time.

To fix this:
  - only send state changes once.
  - don't send LEC / err counters in bus-off (invalid anyway).
  - don't send empty error frames.
This commit is contained in:
Jeroen Hofstee 2022-08-31 23:08:29 +02:00 committed by fenugrec
parent 9a663007f5
commit c25f4ce480
1 changed files with 15 additions and 10 deletions
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25
src/can.c
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@ -295,7 +295,7 @@ bool can_parse_error_status(uint32_t err, uint32_t last_err, can_data_t *hcan, s
(void) hcan;
frame->echo_id = 0xFFFFFFFF;
frame->can_id = CAN_ERR_FLAG | CAN_ERR_CRTL;
frame->can_id = CAN_ERR_FLAG;
frame->can_dlc = CAN_ERR_DLC;
frame->data[0] = CAN_ERR_LOSTARB_UNSPEC;
frame->data[1] = CAN_ERR_CRTL_UNSPEC;
@ -307,18 +307,23 @@ bool can_parse_error_status(uint32_t err, uint32_t last_err, can_data_t *hcan, s
frame->data[7] = 0;
if (err & CAN_ESR_BOFF) {
frame->can_id |= CAN_ERR_BUSOFF;
if (!(last_err & CAN_ESR_BOFF)) {
/* We transitioned to bus-off. */
frame->can_id |= CAN_ERR_BUSOFF;
should_send = true;
}
} else if (last_err & CAN_ESR_BOFF) {
/* We transitioned out of bus-off. */
should_send = true;
// - tec (overflowed) / rec (looping, likely used for recessive counting)
// are not valid in the bus-off state.
// - The warning flags remains set, error passive will cleared.
// - LEC errors will be reported, while the device isn't even allowed to send.
//
// Hence only report bus-off, ignore everything else.
return should_send;
}
/* We transitioned from passive/bus-off to active, so report the edge. */
if (!status_is_active(last_err) && status_is_active(err)) {
frame->can_id |= CAN_ERR_CRTL;
frame->data[1] |= CAN_ERR_CRTL_ACTIVE;
should_send = true;
}
@ -331,17 +336,17 @@ bool can_parse_error_status(uint32_t err, uint32_t last_err, can_data_t *hcan, s
frame->data[7] = rx_error_cnt;
if (err & CAN_ESR_EPVF) {
frame->data[1] |= CAN_ERR_CRTL_RX_PASSIVE | CAN_ERR_CRTL_TX_PASSIVE;
if (!(last_err & CAN_ESR_EPVF)) {
frame->can_id |= CAN_ERR_CRTL;
frame->data[1] |= CAN_ERR_CRTL_RX_PASSIVE | CAN_ERR_CRTL_TX_PASSIVE;
should_send = true;
}
} else if (err & CAN_ESR_EWGF) {
frame->data[1] |= CAN_ERR_CRTL_RX_WARNING | CAN_ERR_CRTL_TX_WARNING;
} else if (err & CAN_ESR_EWGF) {
if (!(last_err & CAN_ESR_EWGF)) {
frame->can_id |= CAN_ERR_CRTL;
frame->data[1] |= CAN_ERR_CRTL_RX_WARNING | CAN_ERR_CRTL_TX_WARNING;
should_send = true;
}
} else if (last_err & (CAN_ESR_EPVF | CAN_ESR_EWGF)) {
should_send = true;
}
uint8_t lec = (err>>4) & 0x07;