CAN bus recovery error

[marlinarnz]

When connected to only one other unstable CAN bus node, the ESP32 crashes and continuously reboots with this message:

...
Error sending CAN message: Try to start the CAN driver
Info: Started CAN bus recovery
Error sending CAN message: Try to start the CAN driver
Error sending CAN message: Try to start the CAN driver
Info: Started CAN bus recovery

assert failed: twai_handle_tx_buffer_frame twai.c:183 (p_twai_obj->tx_msg_count >= 0)

Backtrace: 0x4008353d:0x3ffbf14c |<-CORRUPTED

Potentially solve it by emptying the TX messages before restarting/recovering.

[marlinarnz]

This issue seems to be common without being properly fixed at the moment: https://github.com/espressif/esp-idf/issues/9697 https://github.com/espressif/esp-idf/issues/9169

In this case here, it seems to occur in conditions with unstable voltage supply and message send cycles of 10ms or less.

[marlinarnz]

Occurs when bus-off because of too many transmit fails

Error sending CAN message: wrong state
Info: Started CAN bus recovery
Info: Waiting for CAN bus to recover
assert failed: twai_handle_tx_buffer_frame twai.c:183 (p_twai_obj->tx_msg_count >= 0)

Trying to solve it by setting TWAI config parameters in C:\Users\<username>\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.14\tools\sdk\esp32\sdkconfig:

#
# TWAI configuration
#
# CONFIG_TWAI_ISR_IN_IRAM is not set
CONFIG_TWAI_ERRATA_FIX_BUS_OFF_REC=y
# CONFIG_TWAI_ERRATA_FIX_TX_INTR_LOST=y --> disabled as crash fix
CONFIG_TWAI_ERRATA_FIX_RX_FRAME_INVALID=y
CONFIG_TWAI_ERRATA_FIX_RX_FIFO_CORRUPT=y
# CONFIG_TWAI_ERRATA_FIX_LISTEN_ONLY_DOM is not set
# end of TWAI configuration

[italocjs]

Any updates on this?

[marlinarnz]

The config bugfix above works seamlessly for the ESP32. Will test it with the ESP32-S3 soon.