From 542ff578bc734c69b068d7a736ccb9ba7a649c0d Mon Sep 17 00:00:00 2001
From: Empire <empirephoenix@yahoo.de>
Date: Thu, 30 Apr 2026 20:27:38 +0200
Subject: [PATCH] feat: add bus-off error handling in CAN error status register
 with error blinking loop

---
 Software/CAN_Sensor/src/main.rs | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/Software/CAN_Sensor/src/main.rs b/Software/CAN_Sensor/src/main.rs
index c423920..c5be6c5 100644
--- a/Software/CAN_Sensor/src/main.rs
+++ b/Software/CAN_Sensor/src/main.rs
@@ -429,6 +429,11 @@ async fn can_task(
             }
         }
 
+        // Check CAN error status register for bus-off condition
+        if hal::pac::CAN1.errsr().read().boff() {
+            blink_error_loop(info, warn, 3, 3).await; // Bus-off error
+        }
+
         while let Ok(mut frame) = CAN_TX_CH.try_receive() {
             match can.transmit(&mut frame) {
                 Ok(..) => {