add ABOM, fix bug in tests

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) {

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()