even more spammy

board/jungle/main.c

@@ -53,21 +53,6 @@ uint16_t button_press_cnt = 0U;
 void tick_handler(void) {
   if (TICK_TIMER->SR != 0) {
     if (generated_can_traffic) {
-      // queue up messages
-      for (uint16_t i = 0U; i < 100U; i++) {
-        CANPacket_t to_send;
-        to_send.returned = 0U;
-        to_send.rejected = 0U;
-        to_send.extended = 0U;
-        to_send.addr = 0x200U + i;
-        to_send.bus = i % 3U;
-        to_send.data_len_code = 8U;
-        (void)memcpy(to_send.data, "\xff\xff\xff\xff\xff\xff\xff\xff", dlc_to_len[to_send.data_len_code]);
-        can_set_checksum(&to_send);
-
-        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));
@@ -216,8 +201,32 @@ int main(void) {
 #endif
 
   // LED should keep on blinking all the time
-  uint64_t cnt = 0;
+  uint32_t cnt = 0;
   for (cnt=0;;cnt++) {
+    if (generated_can_traffic) {
+      // fill up all the queues
+      can_ring *qs[] = {&can_tx1_q, &can_tx2_q, &can_tx3_q};
+      for (int j = 0; j < 3; j++) {
+        for (uint16_t n = 0U; n < can_slots_empty(qs[j]); n++) {
+          uint16_t i = cnt % 100U;
+          CANPacket_t to_send;
+          to_send.returned = 0U;
+          to_send.rejected = 0U;
+          to_send.extended = 0U;
+          to_send.addr = 0x200U + i;
+          to_send.bus = i % 3U;
+          to_send.data_len_code = i % 8U;
+          (void)memcpy(to_send.data, "\xff\xff\xff\xff\xff\xff\xff\xff", dlc_to_len[to_send.data_len_code]);
+          can_set_checksum(&to_send);
+
+          can_send(&to_send, to_send.bus, true);
+        }
+      }
+
+      delay(1000);
+      continue;
+    }
+
     // useful for debugging, fade breaks = panda is overloaded
     for (uint32_t fade = 0U; fade < MAX_LED_FADE; fade += 1U) {
       current_board->set_led(LED_RED, true);