jungle: more robust CAN generation mode

robbederks · Jun 4, 2024 · e2c9a81 · e2c9a81
1 parent 4df996c
commit e2c9a81
Show file tree

Hide file tree

Showing 2 changed files with 7 additions and 1 deletion.
diff --git a/board/jungle/main.c b/board/jungle/main.c
@@ -67,6 +67,12 @@ void tick_handler(void) {
 
         can_send(&to_send, to_send.bus, true);
       }
+
+      for (int i = 0; i < 3; i++) {
+        if (can_health[i].transmit_error_cnt >= 128) {
+          (void)llcan_init(CANIF_FROM_CAN_NUM(i));
+        }
+      }
     }
 
     // tick drivers at 8Hz

diff --git a/board/jungle/main_comms.h b/board/jungle/main_comms.h
@@ -66,7 +66,7 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
       break;
     // **** 0xa4: Enable generated CAN traffic.
     case 0xa4:
-      generated_can_traffic = (req->param2 > 0U);
+      generated_can_traffic = (req->param1 > 0U);
       break;
     // **** 0xa8: get microsecond timer
     case 0xa8: