Reinit CAN module if bus off detected + add camera (#68)

* Reinit CAN module if bus off detected * Add camera
waterloo-rocketry · Aug 5, 2024 · b3b2e1c · b3b2e1c
1 parent 5c06f99
commit b3b2e1c
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Showing 2 changed files with 10 additions and 1 deletion.
diff --git a/message_types.h b/message_types.h
@@ -181,6 +181,7 @@ enum BOARD_STATUS {
     E_LOGGING,                  // error_type       x                   x                   x
     E_GPS,                      // x                x                   x                   x
     E_SENSOR,                   // sensor_id        x                   x                   x
+    E_VIDEO,                    // state            x                   x                   x
 
     E_ILLEGAL_CAN_MSG,          // x                x                   x                   x
     E_SEGFAULT,                 // x                x                   x                   x
@@ -214,7 +215,8 @@ enum SENSOR_ID {
     SENSOR_PAYLOAD_TEMP,
     SENSOR_PAYLOAD_FLOW_RATE,
     SENSOR_9V_BATT_CURR_1,
-    SENSOR_9V_BATT_CURR_2
+    SENSOR_9V_BATT_CURR_2,
+    SENSOR_FPS
 };
 
 enum FILL_DIRECTION {

diff --git a/stm32h7/stm32h7_can.c b/stm32h7/stm32h7_can.c
@@ -50,6 +50,13 @@ void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
 }
 
 bool can_send(const can_msg_t* message) {
+	// Reinit the CAN module if a bus off state was detected
+	FDCAN_ProtocolStatusTypeDef protocolStatus = {};
+	HAL_FDCAN_GetProtocolStatus(fdcan_handle, &protocolStatus);
+	if (protocolStatus.BusOff) {
+		CLEAR_BIT(fdcan_handle->Instance->CCCR, FDCAN_CCCR_INIT);
+	}
+
 	FDCAN_TxHeaderTypeDef TxHeader;
 	uint8_t TxData[8] = {0};