add bus off recovery

lib/nmea2ktwai/Nmea2kTwai.cpp

@@ -3,7 +3,7 @@
 #include "driver/twai.h"
 #include "GwLog.h"
 
-#define TWAI_DEBUG 1
+#define TWAI_DEBUG 0
 #if TWAI_DEBUG == 1
     #define TWAI_LOG(...) LOG_DEBUG(__VA_ARGS__)
     #define TWAI_LDEBUG(...)
@@ -89,4 +89,30 @@ void Nmea2kTwai::InitCANFrameBuffers()
     }
     tNMEA2000::InitCANFrameBuffers();
     
+}
+Nmea2kTwai::STATE Nmea2kTwai::getState(){
+    twai_status_info_t state;
+    if (twai_get_status_info(&state) != ESP_OK){
+        return ST_ERROR;
+    }
+    switch(state.state){
+        case TWAI_STATE_STOPPED:
+            return ST_STOPPED;
+        case TWAI_STATE_RUNNING:
+            return ST_RUNNING;
+        case TWAI_STATE_BUS_OFF:
+            return ST_BUS_OFF;
+        case TWAI_STATE_RECOVERING:
+            return ST_RECOVERING;
+    }
+    return ST_ERROR;
+}
+bool Nmea2kTwai::startRecovery(){
+    esp_err_t rt=twai_initiate_recovery();
+    if (rt != ESP_OK){
+        LOG_DEBUG(GwLog::ERROR,"twai: initiate recovery failed with error %x",(int)rt);
+        return false;
+    }
+    LOG_DEBUG(GwLog::LOG,"twai: bus recovery started");
+    return true;
 }

lib/nmea2ktwai/Nmea2kTwai.h

@@ -6,6 +6,15 @@
 class Nmea2kTwai : public tNMEA2000{
     public:
         Nmea2kTwai(gpio_num_t _TxPin,  gpio_num_t _RxPin,GwLog *logger);
+        typedef enum{
+            ST_STOPPED,
+            ST_RUNNING,
+            ST_BUS_OFF,
+            ST_RECOVERING,
+            ST_ERROR
+        } STATE;
+        STATE getState();
+        bool startRecovery();
     protected:
     // Virtual functions for different interfaces. Currently there are own classes
     // for Arduino due internal CAN (NMEA2000_due), external MCP2515 SPI CAN bus controller (NMEA2000_mcp),
@@ -17,6 +26,8 @@ class Nmea2kTwai : public tNMEA2000{
     // and you want to change size of library send frame buffer size. See e.g. NMEA2000_teensy.cpp.
     virtual void InitCANFrameBuffers();
 
+    
+
     private:
     gpio_num_t TxPin;  
     gpio_num_t RxPin;