From d5fbce0547a02948fb4bf4092db5d9bd60378a92 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 1 Sep 2023 14:42:23 +1000
Subject: [PATCH] AP_HAL_ChibiOS: added last_transmit_us to CAN stats

---
 libraries/AP_HAL_ChibiOS/CANFDIface.cpp | 1 +
 libraries/AP_HAL_ChibiOS/CanIface.cpp   | 1 +
 2 files changed, 2 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/CANFDIface.cpp b/libraries/AP_HAL_ChibiOS/CANFDIface.cpp
index 5223b773a8..2d261f7242 100644
--- a/libraries/AP_HAL_ChibiOS/CANFDIface.cpp
+++ b/libraries/AP_HAL_ChibiOS/CANFDIface.cpp
@@ -796,6 +796,7 @@ void CANIface::handleTxCompleteInterrupt(const uint64_t timestamp_us)
 
             if (!pending_tx_[i].pushed) {
                 stats.tx_success++;
+                stats.last_transmit_us = timestamp_us;
                 if (pending_tx_[i].canfd_frame) {
                     stats.fdf_tx_success++;
                 }
diff --git a/libraries/AP_HAL_ChibiOS/CanIface.cpp b/libraries/AP_HAL_ChibiOS/CanIface.cpp
index 10384db180..3fd8a57d7e 100644
--- a/libraries/AP_HAL_ChibiOS/CanIface.cpp
+++ b/libraries/AP_HAL_ChibiOS/CanIface.cpp
@@ -496,6 +496,7 @@ void CANIface::handleTxMailboxInterrupt(uint8_t mailbox_index, bool txok, const
     if (txok && !txi.pushed) {
         txi.pushed = true;
         PERF_STATS(stats.tx_success);
+        stats.last_transmit_us = timestamp_us;
     }
 }