CAN: show low-level error counters and flags

STM32 only

firmware/hw_layer/drivers/can/can_hw.cpp

@@ -90,9 +90,11 @@ static void canInfo() {
 
 	efiPrintf("CAN1 TX %s %s", hwPortname(engineConfiguration->canTxPin), getCan_baudrate_e(engineConfiguration->canBaudRate));
 	efiPrintf("CAN1 RX %s", hwPortname(engineConfiguration->canRxPin));
+	canHwInfo(detectCanDevice(engineConfiguration->canRxPin, engineConfiguration->canTxPin));
 
 	efiPrintf("CAN2 TX %s %s", hwPortname(engineConfiguration->can2TxPin), getCan_baudrate_e(engineConfiguration->can2BaudRate));
 	efiPrintf("CAN2 RX %s", hwPortname(engineConfiguration->can2RxPin));
+	canHwInfo(detectCanDevice(engineConfiguration->can2RxPin, engineConfiguration->can2TxPin));
 
 	efiPrintf("type=%d canReadEnabled=%s canWriteEnabled=%s period=%d", engineConfiguration->canNbcType,
 			boolToString(engineConfiguration->canReadEnabled), boolToString(engineConfiguration->canWriteEnabled),

firmware/hw_layer/ports/at32/at32_can.cpp

@@ -126,4 +126,10 @@ const CANConfig * findCanConfig(can_baudrate_e rate) {
    }
 }
 
+void canHwInfo(CANDriver* cand)
+{
+   /* TODO: */
+   (void)cand;
+}
+
 #endif /* EFI_CAN_SUPPORT */

firmware/hw_layer/ports/cypress/mpu_util.cpp

@@ -240,6 +240,12 @@ CANDriver* detectCanDevice(brain_pin_e pinRx, brain_pin_e pinTx) {
    return NULL;
 }
 
+void canHwInfo(CANDriver* cand)
+{
+	/* TODO: */
+	(void)cand;
+}
+
 #endif /* EFI_CAN_SUPPORT */
 
 bool allowFlashWhileRunning() {

firmware/hw_layer/ports/kinetis/mpu_util.cpp

@@ -233,6 +233,12 @@ CANDriver* detectCanDevice(brain_pin_e pinRx, brain_pin_e pinTx) {
    return NULL;
 }
 
+void canHwInfo(CANDriver* cand)
+{
+	/* TODO: */
+	(void)cand;
+}
+
 #endif /* EFI_CAN_SUPPORT */
 
 bool allowFlashWhileRunning() {

firmware/hw_layer/ports/mpu_util.h

@@ -43,6 +43,7 @@ bool readSlowAnalogInputs(adcsample_t* convertedSamples);
 bool isValidCanTxPin(brain_pin_e pin);
 bool isValidCanRxPin(brain_pin_e pin);
 CANDriver* detectCanDevice(brain_pin_e pinRx, brain_pin_e pinTx);
+void canHwInfo(CANDriver* cand);
 #endif // HAL_USE_CAN
 
 // Serial

firmware/hw_layer/ports/stm32/stm32_can.cpp

@@ -231,4 +231,28 @@ const CANConfig * findCanConfig(can_baudrate_e rate) {
    }
 }
 
+void canHwInfo(CANDriver* cand)
+{
+   if (cand == NULL)
+      return;
+
+   if (cand->state != CAN_READY) {
+      efiPrintf("Interface is not ready");
+      return;
+   }
+
+   if (cand->can == NULL) {
+      efiPrintf("No device assigned!");
+   }
+
+   uint32_t esr = cand->can->ESR;
+   efiPrintf("Receive error counter %d", (esr >> 24) & 0xff);
+   efiPrintf("Transmit error counter %d", (esr >> 16) & 0xff);
+   efiPrintf("Last error %d", (esr >> 4) & 0x7);
+   efiPrintf("Flags: %s %s %s",
+      (esr & 0x4) ? "BOFF" : "",
+      (esr & 0x2) ? "EPVF" : "",
+      (esr & 0x1) ? "EWGF" : "");
+}
+
 #endif /* EFI_CAN_SUPPORT */

simulator/simulator/mpu_util.h

@@ -4,6 +4,7 @@
 CANDriver* detectCanDevice(brain_pin_e pinRx, brain_pin_e pinTx);
 static bool isValidCanTxPin(brain_pin_e) { return true; }
 static bool isValidCanRxPin(brain_pin_e) { return true; }
+static canHwInfo(CANDriver*) { return; }
 #endif // HAL_USE_CAN
 
 static bool allowFlashWhileRunning() { return true; }