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AP_HAL_ChibiOS: record error states in CANFDIface and CANIface

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This commit is contained in:
Siddharth Purohit 2021-05-20 14:15:24 +05:30 committed by Andrew Tridgell
parent a6f00e4f80
commit ad9a8c8bd9
4 changed files with 14 additions and 5 deletions
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7
libraries/AP_HAL_ChibiOS/CANFDIface.cpp
View File

@ -886,6 +886,7 @@ void CANIface::pollErrorFlagsFromISR()
const uint8_t cel = can_->ECR >> 16;
if (cel != 0) {
stats.ecr = can_->ECR;
for (int i = 0; i < NumTxMailboxes; i++) {
if (!pending_tx_[i].abort_on_error || pending_tx_[i].aborted) {
continue;
@ -1041,7 +1042,8 @@ void CANIface::get_stats(ExpandingString &str)
"rx_overflow: %lu\n"
"rx_errors: %lu\n"
"num_busoff_err: %lu\n"
"num_events: %lu\n",
"num_events: %lu\n"
"ECR: %lx\n",
stats.tx_requests,
stats.tx_rejected,
stats.tx_success,
@ -1051,7 +1053,8 @@ void CANIface::get_stats(ExpandingString &str)
stats.rx_overflow,
stats.rx_errors,
stats.num_busoff_err,
stats.num_events);
stats.num_events,
stats.ecr);
}
#endif

1
libraries/AP_HAL_ChibiOS/CANFDIface.h
View File

@ -159,6 +159,7 @@ class ChibiOS::CANIface : public AP_HAL::CANIface
uint32_t rx_errors;
uint32_t num_busoff_err;
uint32_t num_events;
uint32_t ecr;
} stats;
public:

1
libraries/AP_HAL_ChibiOS/CANIface.h
View File

@ -153,6 +153,7 @@ class ChibiOS::CANIface : public AP_HAL::CANIface
uint32_t rx_errors;
uint32_t num_busoff_err;
uint32_t num_events;
uint32_t esr;
} stats;
#endif

10
libraries/AP_HAL_ChibiOS/CanIface.cpp
View File

@ -590,6 +590,9 @@ void CANIface::pollErrorFlagsFromISR()
{
const uint8_t lec = uint8_t((can_->ESR & bxcan::ESR_LEC_MASK) >> bxcan::ESR_LEC_SHIFT);
if (lec != 0) {
#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)
stats.esr = can_->ESR; // Record error status
#endif
can_->ESR = 0;
// Serving abort requests
@ -950,7 +953,8 @@ void CANIface::get_stats(ExpandingString &str)
"rx_overflow: %lu\n"
"rx_errors: %lu\n"
"num_busoff_err: %lu\n"
"num_events: %lu\n",
"num_events: %lu\n"
"ESR: %lx\n",
stats.tx_requests,
stats.tx_rejected,
stats.tx_success,
@ -960,8 +964,8 @@ void CANIface::get_stats(ExpandingString &str)
stats.rx_overflow,
stats.rx_errors,
stats.num_busoff_err,
stats.num_events);
memset(&stats, 0, sizeof(stats));
stats.num_events,
stats.esr);
}
#endif