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CAN-Debug now with timeout after failed send

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This commit is contained in:
Marcel Peterkau 2023-12-11 21:34:40 +01:00
parent be53089726
commit e8a93a600e
1 changed files with 16 additions and 3 deletions
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19
Software/src/can.cpp
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@ -3,6 +3,7 @@
MCP_CAN CAN0(GPIO_CS_CAN);
#ifdef CAN_DEBUG_MESSAGE
#define MAX_DEBUG_RETRIES 100
void sendCANDebugMessage();
#endif
@ -90,6 +91,7 @@ uint32_t Process_CAN_WheelSpeed()
void sendCANDebugMessage()
{
#define MAX_DEBUG_MULTIPLEXER 6
static uint16_t DebugSendFailTimeout = 0;
static uint8_t debugMultiplexer = 0;
byte data[8] = {debugMultiplexer, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
uint32_t millisValue = millis();
@ -131,9 +133,20 @@ void sendCANDebugMessage()
debugMultiplexer++;
debugMultiplexer = debugMultiplexer > MAX_DEBUG_MULTIPLEXER ? 0 : debugMultiplexer;
byte sndStat = CAN0.sendMsgBuf(0x7FF, 0, 8, data);
if (sndStat != CAN_OK)
Debug_pushMessage("failed sending CAN-DbgMsg: %d\n", sndStat);
if (DebugSendFailTimeout < MAX_DEBUG_RETRIES)
{
byte sndStat = CAN0.sendMsgBuf(0x7FF, 0, 8, data);
if (sndStat != CAN_OK)
{
Debug_pushMessage("failed sending CAN-DbgMsg: %d, %d\n", sndStat, DebugSendFailTimeout);
DebugSendFailTimeout++;
}
}
else if (DebugSendFailTimeout == MAX_DEBUG_RETRIES)
{
Debug_pushMessage("disable CAN-DbgMsg due to timeout");
DebugSendFailTimeout++;
}
}
#endif
#endif