Optimize CAN-Native driver and event handling

Software/src/communication/can/comm_can.cpp

@@ -6,6 +6,7 @@
 
 CAN_device_t CAN_cfg;          // CAN Config
 const int rx_queue_size = 10;  // Receive Queue size
+volatile bool send_ok_native = 0;
 volatile bool send_ok_2515 = 0;
 volatile bool send_ok_2518 = 0;
 
@@ -146,7 +147,10 @@ void transmit_can_frame(CAN_frame* tx_frame, int interface) {
       for (uint8_t i = 0; i < tx_frame->DLC; i++) {
         frame.data.u8[i] = tx_frame->data.u8[i];
       }
-      ESP32Can.CANWriteFrame(&frame);
+      send_ok_native = ESP32Can.CANWriteFrame(&frame);
+      if (!send_ok_native) {
+        datalayer.system.info.can_native_send_fail = true;
+      }
       break;
     case CAN_ADDON_MCP2515: {
 #ifdef CAN_ADDON
@@ -162,9 +166,7 @@ void transmit_can_frame(CAN_frame* tx_frame, int interface) {
 
       send_ok_2515 = can.tryToSend(MCP2515Frame);
       if (!send_ok_2515) {
-        set_event(EVENT_CAN_BUFFER_FULL, interface);
+        datalayer.system.info.can_2515_send_fail = true;
-      } else {
-        clear_event(EVENT_CAN_BUFFER_FULL);
       }
 #else   // Interface not compiled, and settings try to use it
       set_event(EVENT_INTERFACE_MISSING, interface);
@@ -187,9 +189,7 @@ void transmit_can_frame(CAN_frame* tx_frame, int interface) {
       }
       send_ok_2518 = canfd.tryToSend(MCP2518Frame);
       if (!send_ok_2518) {
-        set_event(EVENT_CANFD_BUFFER_FULL, interface);
+        datalayer.system.info.can_2518_send_fail = true;
-      } else {
-        clear_event(EVENT_CANFD_BUFFER_FULL);
       }
 #else   // Interface not compiled, and settings try to use it
       set_event(EVENT_INTERFACE_MISSING, interface);

Software/src/datalayer/datalayer.h

@@ -228,6 +228,12 @@ typedef struct {
   uint8_t can_replay_interface = CAN_NATIVE;
   /** bool, determines if CAN replay should loop or not */
   bool loop_playback = false;
+  /** bool, Native CAN failed to send flag */
+  bool can_native_send_fail = false;
+  /** bool, MCP2515 CAN failed to send flag */
+  bool can_2515_send_fail = false;
+  /** uint16_t, MCP2518 CANFD failed to send flag */
+  bool can_2518_send_fail = false;
 
 } DATALAYER_SYSTEM_INFO_TYPE;
 

Software/src/devboard/safety/safety.cpp

@@ -19,6 +19,26 @@ battery_pause_status emulator_pause_status = NORMAL;
 //battery pause status end
 
 void update_machineryprotection() {
+  // Check health status of CAN interfaces
+  if (datalayer.system.info.can_native_send_fail) {
+    set_event(EVENT_CAN_NATIVE_TX_FAILURE, 0);
+    datalayer.system.info.can_native_send_fail = false;
+  } else {
+    clear_event(EVENT_CAN_NATIVE_TX_FAILURE);
+  }
+  if (datalayer.system.info.can_2515_send_fail) {
+    set_event(EVENT_CAN_BUFFER_FULL, 0);
+    datalayer.system.info.can_2515_send_fail = false;
+  } else {
+    clear_event(EVENT_CAN_BUFFER_FULL);
+  }
+  if (datalayer.system.info.can_2518_send_fail) {
+    set_event(EVENT_CANFD_BUFFER_FULL, 0);
+    datalayer.system.info.can_2518_send_fail = false;
+  } else {
+    clear_event(EVENT_CANFD_BUFFER_FULL);
+  }
+
   // Start checking that the battery is within reason. Incase we see any funny business, raise an event!
 
   // Pause function is on OR we have a critical fault event active

Software/src/devboard/utils/events.cpp

@@ -136,7 +136,7 @@ void init_events(void) {
   events.entries[EVENT_CAN_BUFFER_FULL].level = EVENT_LEVEL_WARNING;
   events.entries[EVENT_CAN_OVERRUN].level = EVENT_LEVEL_INFO;
   events.entries[EVENT_CAN_CORRUPTED_WARNING].level = EVENT_LEVEL_WARNING;
-  events.entries[EVENT_CAN_NATIVE_TX_FAILURE].level = EVENT_LEVEL_ERROR;
+  events.entries[EVENT_CAN_NATIVE_TX_FAILURE].level = EVENT_LEVEL_WARNING;
   events.entries[EVENT_CAN_BATTERY_MISSING].level = EVENT_LEVEL_ERROR;
   events.entries[EVENT_CAN_BATTERY2_MISSING].level = EVENT_LEVEL_WARNING;
   events.entries[EVENT_CAN_CHARGER_MISSING].level = EVENT_LEVEL_INFO;
@@ -275,9 +275,9 @@ const char* get_event_message_string(EVENTS_ENUM_TYPE event) {
     case EVENT_CANMCP2515_INIT_FAILURE:
       return "CAN-MCP addon initialization failed. Check hardware";
     case EVENT_CANFD_BUFFER_FULL:
-      return "MCP2518FD buffer overflowed. Some CAN messages were not sent. Contact developers.";
+      return "MCP2518FD message failed to send. Buffer full or no one on the bus to ACK the message!";
     case EVENT_CAN_BUFFER_FULL:
-      return "MCP2515 buffer overflowed. Some CAN messages were not sent. Contact developers.";
+      return "MCP2515 message failed to send. Buffer full or no one on the bus to ACK the message!";
     case EVENT_CAN_OVERRUN:
       return "CAN message failed to send within defined time. Contact developers, CPU load might be too high.";
     case EVENT_CAN_CORRUPTED_WARNING:

Software/src/lib/miwagner-ESP32-Arduino-CAN/CAN.c

@@ -266,13 +266,13 @@ int CAN_init() {
 
 int CAN_write_frame(const CAN_frame_t *p_frame) {
 	if (sem_tx_complete == NULL) {
-		return -1;
+		return 0;
 	}
 
 	// Write the frame to the controller
 	CAN_write_frame_phy(p_frame);
 
-	return xSemaphoreTake(sem_tx_complete, 20) == pdTRUE ? 0 : -1;
+	return xSemaphoreTake(sem_tx_complete, 20) == pdTRUE ? 1 : 0;
 }
 
 int CAN_stop() {

Software/src/lib/miwagner-ESP32-Arduino-CAN/ESP32CAN.cpp

@@ -5,20 +5,14 @@
 int ESP32CAN::CANInit() {
   return CAN_init();
 }
-int ESP32CAN::CANWriteFrame(const CAN_frame_t* p_frame) {
+bool ESP32CAN::CANWriteFrame(const CAN_frame_t* p_frame) {
   static unsigned long start_time;
-  int result = -1;
+  bool result = false;
   if (tx_ok) {
     result = CAN_write_frame(p_frame);
-    tx_ok = (result == 0) ? true : false;
+    tx_ok = result;
-    if (tx_ok == false) {
+    if (!tx_ok) {
-      #ifdef DEBUG_VIA_USB
-      Serial.println("CAN failure! Check wires");
-      #endif
-      set_event(EVENT_CAN_NATIVE_TX_FAILURE, 0);
       start_time = millis();
-    } else {
-      clear_event(EVENT_CAN_NATIVE_TX_FAILURE);
     }
   } else {
     if ((millis() - start_time) >= 20) {
@@ -27,6 +21,7 @@ int ESP32CAN::CANWriteFrame(const CAN_frame_t* p_frame) {
   }
   return result;
 }
+
 int ESP32CAN::CANStop() {
   return CAN_stop();
 }

Software/src/lib/miwagner-ESP32-Arduino-CAN/ESP32CAN.h

@@ -9,7 +9,7 @@ class ESP32CAN {
   bool tx_ok = true;
   int CANInit();
   int CANConfigFilter(const CAN_filter_t* p_filter);
-  int CANWriteFrame(const CAN_frame_t* p_frame);
+  bool CANWriteFrame(const CAN_frame_t* p_frame);
   int CANStop();
   void CANSetCfg(CAN_device_t* can_cfg);
 };