From 77ecf515e55750b1e2dc0fc60b04fe3fd3ec13a3 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 4 Jun 2024 18:11:21 -0700
Subject: [PATCH] clear stuck CAN messages before switching multiplexing
 (#1967)

* clear stuck CAN messages before switching multiplexing

* todo
---
 board/main.c | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/board/main.c b/board/main.c
index 4bd784bf..b481c28b 100644
--- a/board/main.c
+++ b/board/main.c
@@ -97,6 +97,9 @@ void set_safety_mode(uint16_t mode, uint16_t param) {
       heartbeat_counter = 0U;
       heartbeat_lost = false;
       if (current_board->has_obd) {
+        // Clear any pending messages in the can core (i.e. sending while comma power is unplugged)
+        // TODO: rewrite using hardware queues rather than fifo to cancel specific messages
+        llcan_clear_send(CANIF_FROM_CAN_NUM(1));
         if (param == 0U) {
           current_board->set_can_mode(CAN_MODE_OBD_CAN2);
         } else {