From 4e832a7d7e558d028a1a54e8559fc2f63c285e8f Mon Sep 17 00:00:00 2001
From: Vincent Dupont <vincent@otakeys.com>
Date: Wed, 11 Oct 2017 10:01:33 +0200
Subject: [PATCH] can/device: improve bus-off management
---
sys/can/device.c | 13 ++++++++-----
1 file changed, 8 insertions(+), 5 deletions(-)
diff --git a/sys/can/device.c b/sys/can/device.c
index 8d12aa05d8..8f81a2a85c 100644
--- a/sys/can/device.c
+++ b/sys/can/device.c
@@ -159,7 +159,10 @@ static int power_down(candev_dev_t *candev_dev)
#endif
canopt_state_t state = CANOPT_STATE_SLEEP;
int res = dev->driver->set(dev, CANOPT_STATE, &state, sizeof(state));
- dev->state = CAN_STATE_SLEEPING;
+
+ if (dev->state != CAN_STATE_BUS_OFF) {
+ dev->state = CAN_STATE_SLEEPING;
+ }
#ifdef MODULE_CAN_PM
xtimer_remove(&candev_dev->pm_timer);
@@ -211,6 +214,9 @@ static void *_can_device_thread(void *args)
candev_dev->pid = thread_getpid();
+#ifdef MODULE_CAN_TRX
+ can_trx_init(candev_dev->trx);
+#endif
#ifdef MODULE_CAN_PM
if (candev_dev->rx_inactivity_timeout == 0) {
candev_dev->rx_inactivity_timeout = CAN_DEVICE_PM_DEFAULT_RX_TIMEOUT;
@@ -222,9 +228,6 @@ static void *_can_device_thread(void *args)
candev_dev->pm_timer.arg = candev_dev;
pm_reset(candev_dev, candev_dev->rx_inactivity_timeout);
#endif
-#ifdef MODULE_CAN_TRX
- can_trx_init(candev_dev->trx);
-#endif
int res;
can_pkt_t *pkt;
@@ -240,7 +243,7 @@ static void *_can_device_thread(void *args)
candev_dev->ifnum = can_dll_register_candev(candev_dev);
dev->driver->init(dev);
- dev->state = CAN_STATE_ERROR_ACTIVE;
+ power_up(candev_dev);
while (1) {
msg_receive(&msg);
--
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