From e6e35ff48b6db65617149bccc8de514959c013a6 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 14 Sep 2023 08:18:57 +1000
Subject: [PATCH] HAL_ChibiOS: fixed CAN statistics on F4/L4/F3/F7

---
 libraries/AP_HAL_ChibiOS/CANIface.h   | 3 +++
 libraries/AP_HAL_ChibiOS/CanIface.cpp | 3 ++-
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_HAL_ChibiOS/CANIface.h b/libraries/AP_HAL_ChibiOS/CANIface.h
index ebda8635ec77d..47809fa79b35a 100644
--- a/libraries/AP_HAL_ChibiOS/CANIface.h
+++ b/libraries/AP_HAL_ChibiOS/CANIface.h
@@ -218,7 +218,9 @@ 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
      */
@@ -226,6 +228,7 @@ class ChibiOS::CANIface : public AP_HAL::CANIface
         return &stats;
     }
 #endif
+
     /************************************
      * Methods used inside interrupt    *
      ************************************/
diff --git a/libraries/AP_HAL_ChibiOS/CanIface.cpp b/libraries/AP_HAL_ChibiOS/CanIface.cpp
index f7edd221982f3..677f484804943 100644
--- 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.
         }