Ensure bus errors are forwarded only once, enable bus off/passive/warning interrupts

2 files changed, 28 insertions, 3 deletions

diff --git a/embassy-stm32/src/can/bxcan/mod.rs b/embassy-stm32/src/can/bxcan/mod.rs
index 65fd0e9c2..d43ce778d 100644
--- a/embassy-stm32/src/can/bxcan/mod.rs
+++ b/embassy-stm32/src/can/bxcan/mod.rs
@@ -67,12 +67,20 @@ pub struct SceInterruptHandler<T: Instance> {
 
 impl<T: Instance> interrupt::typelevel::Handler<T::SCEInterrupt> for SceInterruptHandler<T> {
     unsafe fn on_interrupt() {
-        // info!("sce irq");
+        info!("sce irq");
         let msr = T::regs().msr();
         let msr_val = msr.read();
 
         if msr_val.erri() {
-            msr.modify(|v| v.set_erri(true));
+            info!("Error interrupt");
+            // Disable the interrupt, but don't acknowledge the error, so that it can be
+            // forwarded off the the bus message consumer. If we don't provide some way for
+            // downstream code to determine that it has already provided this bus error instance
+            // to the bus message consumer, we are doomed to re-provide a single error instance for 
+            // an indefinite amount of time.
+            let ier = T::regs().ier();
+            ier.modify(|i| i.set_errie(false));
+
             T::state().err_waker.wake();
         }
     }
@@ -180,6 +188,9 @@ impl<'d, T: Instance> Can<'d, T> {
                 w.set_fmpie(0, true);
                 w.set_fmpie(1, true);
                 w.set_tmeie(true);
+                w.set_bofie(true);
+                w.set_epvie(true);
+                w.set_ewgie(true);
             });
 
             T::regs().mcr().write(|w| {
diff --git a/embassy-stm32/src/can/bxcan/registers.rs b/embassy-stm32/src/can/bxcan/registers.rs
index 732567797..225b25d8a 100644
--- a/embassy-stm32/src/can/bxcan/registers.rs
+++ b/embassy-stm32/src/can/bxcan/registers.rs
@@ -145,7 +145,21 @@ impl Registers {
     }
 
     pub fn curr_error(&self) -> Option<BusError> {
-        let err = { self.0.esr().read() };
+        if !self.0.msr().read().erri() {
+            // This ensures that once a single error instance has
+            // been acknowledged and forwared to the bus message consumer
+            // we don't continue to re-forward the same error occurrance for an 
+            // in-definite amount of time.
+            return None;
+        } 
+
+        // Since we have not already acknowledge the error, and the interrupt was
+        // disabled in the ISR, we will acknowledge the current error and re-enable the interrupt
+        // so futher errors are captured
+        self.0.msr().modify(|m| m.set_erri(true));
+        self.0.ier().modify(|i| i.set_errie(true));
+
+        let err = self.0.esr().read();
         if err.boff() {
             return Some(BusError::BusOff);
         } else if err.epvf() {