HAL_ChibiOS: fixed CAN statistics on F4/L4/F3/F7

tridge · Sep 14, 2023 · e6e35ff · e6e35ff
1 parent ee316f0
commit e6e35ff
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Showing 2 changed files with 5 additions and 1 deletion.
diff --git a/libraries/AP_HAL_ChibiOS/CANIface.h b/libraries/AP_HAL_ChibiOS/CANIface.h
@@ -218,14 +218,17 @@ class ChibiOS::CANIface : public AP_HAL::CANIface
     // fetch stats text and return the size of the same,
     // results available via @SYS/can0_stats.txt or @SYS/can1_stats.txt 
     void get_stats(ExpandingString &str) override;
+#endif
 
+#if !defined(HAL_BOOTLOADER_BUILD)
     /*
       return statistics structure
      */
     const bus_stats_t *get_statistics(void) const override {
         return &stats;
     }
 #endif
+
     /************************************
      * Methods used inside interrupt    *
      ************************************/

diff --git a/libraries/AP_HAL_ChibiOS/CanIface.cpp b/libraries/AP_HAL_ChibiOS/CanIface.cpp
@@ -292,6 +292,7 @@ int16_t CANIface::send(const AP_HAL::CANFrame& frame, uint64_t tx_deadline,
     if (frame.isErrorFrame() || frame.dlc > 8) {
         return -1;
     }
+    PERF_STATS(stats.tx_requests);
 
     /*
      * Normally we should perform the same check as in @ref canAcceptNewTxFrame(), because
@@ -323,7 +324,7 @@ int16_t CANIface::send(const AP_HAL::CANFrame& frame, uint64_t tx_deadline,
         } else if ((can_->TSR & bxcan::TSR_TME2) == bxcan::TSR_TME2) {
             txmailbox = 2;
         } else {
-            PERF_STATS(stats.tx_rejected);
+            PERF_STATS(stats.tx_overflow);
             return 0;       // No transmission for you.
         }