From 6886be926d54b2395e6ddb5bb33593ef12af1446 Mon Sep 17 00:00:00 2001
From: George Hotz <george@comma.ai>
Date: Thu, 24 Aug 2017 17:52:54 -0700
Subject: [PATCH] add ABOM, fix bug in tests

---
 board/drivers/can.h        | 7 ++-----
 tests/automated/helpers.py | 3 ++-
 2 files changed, 4 insertions(+), 6 deletions(-)

diff --git a/board/drivers/can.h b/board/drivers/can.h
index f75ba8537..2215b1203 100644
--- a/board/drivers/can.h
+++ b/board/drivers/can.h
@@ -137,7 +137,7 @@ void can_init(uint8_t can_number) {
   }
 
   // reset
-  CAN->MCR = CAN_MCR_TTCM;
+  CAN->MCR = CAN_MCR_TTCM | CAN_MCR_ABOM;
 
   #define CAN_TIMEOUT 1000000
   int tmp = 0;
@@ -161,10 +161,7 @@ void can_init(uint8_t can_number) {
 
   CAN->FMR &= ~(CAN_FMR_FINIT);
 
-  // enable all CAN interrupts
-  //CAN->IER = 0xFFFFFFFF;
-  //CAN->IER = CAN_IER_TMEIE | CAN_IER_FMPIE0 | CAN_IER_FMPIE1;
-  //CAN->IER = CAN_IER_TMEIE;
+  // enable certain CAN interrupts
   CAN->IER = CAN_IER_TMEIE | CAN_IER_FMPIE0;
 
   switch (can_number) {
diff --git a/tests/automated/helpers.py b/tests/automated/helpers.py
index 7a75b7a35..f24e066b9 100644
--- a/tests/automated/helpers.py
+++ b/tests/automated/helpers.py
@@ -10,12 +10,13 @@ def connect_wo_esp():
 
   # power down the ESP
   p.set_esp_power(False)
-  return p
 
   # clear old junk
   while len(p.can_recv()) > 0:
     pass
 
+  return p
+
 def connect_wifi():
   p = Panda()
   ssid, pw = p.get_serial()