Merge pull request #175 from solarcaratuva/can-auto-reset-2

MotorControllerCAN auto-reset
solarcaratuva · Jul 10, 2022 · ee37931 · ee37931
2 parents e326fbd + a6f2cec
commit ee37931
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Showing 6 changed files with 29 additions and 4 deletions.
diff --git a/ECU/src/main.cpp b/ECU/src/main.cpp
@@ -7,7 +7,7 @@
 #include <mbed.h>
 #include <rtos.h>
 
-#define LOG_LEVEL              LOG_FATAL
+#define LOG_LEVEL              LOG_DEBUG
 #define MAIN_LOOP_PERIOD       1s
 #define MOTOR_THREAD_PERIOD    10ms
 #define POWERAUX_THREAD_PERIOD 10ms

diff --git a/Motor/lib/include/MotorControllerCANInterface.h b/Motor/lib/include/MotorControllerCANInterface.h
@@ -3,6 +3,7 @@
 
 #include "CANInterface.h"
 #include "MotorControllerCANStructs.h"
+#include <mbed.h>
 
 class MotorControllerCANInterface : public CANInterface {
   public:
@@ -15,6 +16,8 @@ class MotorControllerCANInterface : public CANInterface {
 
   private:
     void message_handler() override;
+    Thread bus_status_thread;
+    void check_bus_status();
 };
 
 #endif
diff --git a/Motor/lib/src/MotorControllerCANInterface.cpp b/Motor/lib/src/MotorControllerCANInterface.cpp
@@ -1,10 +1,13 @@
 #include "MotorControllerCANInterface.h"
+#include "ThisThread.h"
 #include "log.h"
 
 MotorControllerCANInterface::MotorControllerCANInterface(PinName rd, PinName td,
                                                          PinName standby_pin)
     : CANInterface(rd, td, standby_pin) {
     can.frequency(125000);
+    bus_status_thread.start(
+        callback(this, &MotorControllerCANInterface::check_bus_status));
 }
 
 int MotorControllerCANInterface::request_frames(bool power_status_frame,
@@ -63,3 +66,22 @@ void MotorControllerCANInterface::message_handler() {
         }
     }
 }
+
+void MotorControllerCANInterface::check_bus_status() {
+    while (true) {
+        int rderror = can.rderror();
+        int tderror = can.tderror();
+
+        if (rderror >= 128 || tderror >= 128) {
+            can.reset();
+            log_warn("MotorControllerCANInterface reset due to RX error %d TX "
+                     "error %d",
+                     rderror, tderror);
+        } else {
+            log_debug("MotorControllerCANInterface RX error %d TX error %d",
+                      rderror, tderror);
+        }
+
+        ThisThread::sleep_for(1s);
+    }
+}
diff --git a/Motor/src/main.cpp b/Motor/src/main.cpp
@@ -8,7 +8,7 @@
 #include <mbed.h>
 #include <rtos.h>
 
-#define LOG_LEVEL        LOG_FATAL
+#define LOG_LEVEL        LOG_DEBUG
 #define MAIN_LOOP_PERIOD 100ms
 
 EventQueue event_queue(32 * EVENTS_EVENT_SIZE);

diff --git a/PowerAux/src/main.cpp b/PowerAux/src/main.cpp
@@ -9,7 +9,7 @@
 #include <mbed.h>
 #include <rtos.h>
 
-#define LOG_LEVEL          LOG_FATAL
+#define LOG_LEVEL          LOG_DEBUG
 #define MAIN_LOOP_PERIOD   1s
 #define ERROR_CHECK_PERIOD 100ms
 #define FLASH_PERIOD       500ms

diff --git a/Solar/src/main.cpp b/Solar/src/main.cpp
@@ -7,7 +7,7 @@
 #include <mbed.h>
 #include <rtos.h>
 
-#define LOG_LEVEL        LOG_FATAL
+#define LOG_LEVEL        LOG_DEBUG
 #define MAIN_LOOP_PERIOD 1s
 
 SolarCANInterface vehicle_can_interface(CAN_RX, CAN_TX, CAN_STBY);