From b95a972949ee47671d2f10d09842dc65b3bc1fa9 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=D0=94=D0=B0=D0=BD=D0=B8=D0=BB=D0=B0=20=D0=93=D0=BE=D1=80?=
 =?UTF-8?q?=D0=BD=D1=83=D1=88=D0=BA=D0=BE?= <me@okhsunrog.ru>
Date: Tue, 28 Nov 2023 14:40:41 +0300
Subject: [PATCH] better alarms and can recovery

---
 README.md      |  1 -
 main/can.c     | 11 +++++++++--
 main/can.h     |  1 +
 main/cmd_can.c |  7 ++++++-
 4 files changed, 16 insertions(+), 4 deletions(-)

diff --git a/README.md b/README.md
index 4cb9f31..ecf48ce 100644
--- a/README.md
+++ b/README.md
@@ -2,7 +2,6 @@ TODO:
     add caninstall and canstart
     canup/caninstall parameters (without filtering)
     add filtering (software and hardware)
-    better alarms handling, can recovering
     better history
     clear history and clear screen commands
     code refactoring
diff --git a/main/can.c b/main/can.c
index 1b954f6..c39efa4 100644
--- a/main/can.c
+++ b/main/can.c
@@ -10,6 +10,7 @@
 #include "xvprintf.h"
 
 bool is_error_passive = false;
+bool auto_recovery = false;
 
 SemaphoreHandle_t can_mutex;
 volatile can_status_t curr_can_state = { 0 };
@@ -86,11 +87,17 @@ void can_task(void* arg) {
             }
             if (alerts & TWAI_ALERT_BUS_OFF) {
                 print_w_clr_time("CAN went bus-off!", LOG_COLOR_RED, false);
-                // ESP_ERROR_CHECK(twai_initiate_recovery());
+                if (auto_recovery) {
+                    print_w_clr_time("Initiating auto-recovery...", LOG_COLOR_GREEN, false);
+                    twai_initiate_recovery();
+                }
             }
             if (alerts & TWAI_ALERT_BUS_RECOVERED) {
                 print_w_clr_time("CAN recovered!", LOG_COLOR_BLUE, false);
-                // ESP_ERROR_CHECK(twai_start());
+                if (auto_recovery) {
+                    print_w_clr_time("Starting CAN...", LOG_COLOR_GREEN, false);
+                    twai_start();
+                }
             }
         }
         curr_can_state = get_can_state();
diff --git a/main/can.h b/main/can.h
index 597090f..82775b7 100644
--- a/main/can.h
+++ b/main/can.h
@@ -40,6 +40,7 @@ typedef struct {
 extern SemaphoreHandle_t can_mutex;
 extern volatile can_status_t curr_can_state;
 extern bool timestamp_enabled;
+extern bool auto_recovery;
 
 // functions
 
diff --git a/main/cmd_can.c b/main/cmd_can.c
index 4c2a10b..acb50e9 100644
--- a/main/cmd_can.c
+++ b/main/cmd_can.c
@@ -1,4 +1,5 @@
 #include "cmd_can.h"
+#include "can.h"
 #include "esp_log.h"
 #include "inttypes.h"
 #include "freertos/projdefs.h"
@@ -83,6 +84,10 @@ invalid_args:
 
 
 static int canrecover(int argc, char **argv) {
+    esp_err_t res = twai_initiate_recovery();
+    if (res == ESP_OK) print_w_clr_time("Started CAN recovery.", LOG_COLOR_GREEN, false);
+    else if (curr_can_state.state == CAN_NOT_INSTALLED) print_w_clr_time("CAN driver is not installed!", LOG_COLOR_RED, false);
+    else print_w_clr_time("Can't start recovery - not in bus-off state!", LOG_COLOR_RED, false);
     return 0;
 }
 
@@ -169,7 +174,7 @@ static void register_canup(void) {
     canup_args.speed = arg_str1(NULL, NULL, "<25|50|100|125|250|500|800|1000>", "CAN bus speed, in kbits.");
     canup_args.mode = arg_str0("m", "mode", "<normal|no_ack|listen_only", "Set CAN mode. Normal, No Ack (for self-testing) or Listen Only (to prevent transmitting, for monitoring).");
     canup_args.filters = arg_str0("f", "filters", "<filters>", "CAN filters to receive only selected frames.");
-    canup_args.autorecover = arg_str0("r", "auto-recover", "<1|0>", "Set 1 to enable auto-recovery of CAN bus if case of bus-off event.");
+    canup_args.autorecover = arg_str0("r", "auto-recovery", "<1|0>", "Set 1 to enable auto-recovery of CAN bus if case of bus-off event.");
     canup_args.end = arg_end(2);
     const esp_console_cmd_t cmd = {
         .command = "canup",