From e2c9a81c4f3ee4fe50ea617f2c8c1fb705129589 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 4 Jun 2024 15:37:28 -0700
Subject: [PATCH] jungle: more robust CAN generation mode

---
 board/jungle/main.c       | 6 ++++++
 board/jungle/main_comms.h | 2 +-
 2 files changed, 7 insertions(+), 1 deletion(-)

diff --git a/board/jungle/main.c b/board/jungle/main.c
index f8e3cfcb..940fbc1b 100644
--- a/board/jungle/main.c
+++ b/board/jungle/main.c
@@ -67,6 +67,12 @@ void tick_handler(void) {
 
         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));
+        }
+      }
     }
 
     // tick drivers at 8Hz
diff --git a/board/jungle/main_comms.h b/board/jungle/main_comms.h
index f7847d22..b2a58f52 100644
--- a/board/jungle/main_comms.h
+++ b/board/jungle/main_comms.h
@@ -66,7 +66,7 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
       break;
     // **** 0xa4: Enable generated CAN traffic.
     case 0xa4:
-      generated_can_traffic = (req->param2 > 0U);
+      generated_can_traffic = (req->param1 > 0U);
       break;
     // **** 0xa8: get microsecond timer
     case 0xa8: