From bd410d0c1be46834fab576f05d3f1953b1dc4929 Mon Sep 17 00:00:00 2001
From: rusefillc <sdfsdfqsf2334234234>
Date: Sat, 14 Aug 2021 04:35:43 -0400
Subject: [PATCH] No pins should be restarted for no reason during config
 change #3151

---
 firmware/hw_layer/drivers/can/can_hw.cpp | 54 +++++++++++++-----------
 firmware/hw_layer/hardware.cpp           |  8 ++--
 2 files changed, 33 insertions(+), 29 deletions(-)

diff --git a/firmware/hw_layer/drivers/can/can_hw.cpp b/firmware/hw_layer/drivers/can/can_hw.cpp
index 684aafdf8f..e1cc09a0e9 100644
--- a/firmware/hw_layer/drivers/can/can_hw.cpp
+++ b/firmware/hw_layer/drivers/can/can_hw.cpp
@@ -196,33 +196,18 @@ void enableFrankensoCan(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	engineConfiguration->canReadEnabled = false;
 }
 
-// todo: we usually use 'activeConfiguration' for 'stopPin' why this unusual code here?
-// this is related to #1375
-static brain_pin_e currentTxPin = GPIO_UNASSIGNED;
-static brain_pin_e currentRxPin = GPIO_UNASSIGNED;
-
 void stopCanPins(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
-	efiSetPadUnused(currentTxPin);
-	efiSetPadUnused(currentRxPin);
+	if (isConfigurationChanged(canTxPin)) {
+		efiSetPadUnused(activeConfiguration.canTxPin);
+	}
+
+	if (isConfigurationChanged(canRxPin)) {
+		efiSetPadUnused(activeConfiguration.canRxPin);
+	}
 }
 
+// at the moment we support only very limited runtime configuration change, still not supporting online CAN toggle
 void startCanPins(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
-	// Store pins so we can disable later
-	currentTxPin = CONFIG(canTxPin);
-	currentRxPin = CONFIG(canRxPin);
-
-	efiSetPadMode("CAN TX", currentTxPin, PAL_MODE_ALTERNATE(EFI_CAN_TX_AF));
-	efiSetPadMode("CAN RX", currentRxPin, PAL_MODE_ALTERNATE(EFI_CAN_RX_AF));
-}
-
-void initCan(void) {
-	addConsoleAction("caninfo", canInfo);
-
-	isCanEnabled = 
-		(isBrainPinValid(CONFIG(canTxPin))) && // both pins are set...
-		(isBrainPinValid(CONFIG(canRxPin))) &&
-		(CONFIG(canWriteEnabled) || CONFIG(canReadEnabled)) ; // ...and either read or write is enabled
-
 	// nothing to do if we aren't enabled...
 	if (!isCanEnabled) {
 		return;
@@ -239,6 +224,27 @@ void initCan(void) {
 		return;
 	}
 
+	if (isConfigurationChanged(canTxPin)) {
+		efiSetPadMode("CAN TX", CONFIG(canTxPin), PAL_MODE_ALTERNATE(EFI_CAN_TX_AF));
+	}
+	if (isConfigurationChanged(canRxPin)) {
+		efiSetPadMode("CAN RX", CONFIG(canRxPin), PAL_MODE_ALTERNATE(EFI_CAN_RX_AF));
+	}
+}
+
+void initCan(void) {
+	addConsoleAction("caninfo", canInfo);
+
+	isCanEnabled = 
+		(isBrainPinValid(CONFIG(canTxPin))) && // both pins are set...
+		(isBrainPinValid(CONFIG(canRxPin))) &&
+		(CONFIG(canWriteEnabled) || CONFIG(canReadEnabled)) ; // ...and either read or write is enabled
+
+	// nothing to do if we aren't enabled...
+	if (!isCanEnabled) {
+		return;
+	}
+
 	switch (CONFIG(canBaudRate)) {
 	case B100KBPS:
 		canConfig = &canConfig100;
@@ -256,8 +262,6 @@ void initCan(void) {
 		break;
 	}
 
-	startCanPins();
-
 	// Initialize hardware
 #if STM32_CAN_USE_CAN2
 	// CAN1 is required for CAN2
diff --git a/firmware/hw_layer/hardware.cpp b/firmware/hw_layer/hardware.cpp
index 3ba7891370..73fbc79565 100644
--- a/firmware/hw_layer/hardware.cpp
+++ b/firmware/hw_layer/hardware.cpp
@@ -375,10 +375,6 @@ void applyNewHardwareSettings(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 
 	enginePins.startPins();
 
-#if EFI_CAN_SUPPORT
-	startCanPins();
-#endif /* EFI_CAN_SUPPORT */
-
 #if EFI_AUX_SERIAL
 	startAuxSerialPins();
 #endif /* EFI_AUX_SERIAL */
@@ -508,6 +504,10 @@ void startHardware(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	startTriggerDebugPins(PASS_ENGINE_PARAMETER_SIGNATURE);
 
 	startPedalPins(PASS_ENGINE_PARAMETER_SIGNATURE);
+
+#if EFI_CAN_SUPPORT
+	startCanPins();
+#endif /* EFI_CAN_SUPPORT */
 }
 
 void initHardware(DECLARE_ENGINE_PARAMETER_SIGNATURE) {