Report CAN resyncs due to timeout and excessive jitter separately

2 files changed, 9 insertions, 7 deletions

diff --git a/src/Movement/StepTimer.cpp b/src/Movement/StepTimer.cpp
index 72598a02..5fd0d366 100644
--- a/src/Movement/StepTimer.cpp
+++ b/src/Movement/StepTimer.cpp
@@ -43,7 +43,8 @@ int32_t StepTimer::peakPosJitter = 0;
 int32_t StepTimer::peakNegJitter = 0;
 uint32_t StepTimer::peakReceiveDelay = 0;
 volatile unsigned int StepTimer::syncCount = 0;
-unsigned int StepTimer::numResyncs = 0;
+unsigned int StepTimer::numJitterResyncs = 0;
+unsigned int StepTimer::numTimeoutResyncs = 0;
 
 #endif
 
@@ -253,7 +254,7 @@ void StepTimer::DisableTimerInterrupt() noexcept
 		if (millis() - wls > MinSyncInterval)
 		{
 			syncCount = 0;
-			++numResyncs;
+			++numTimeoutResyncs;
 		}
 	}
 	return syncCount == MaxSyncCount;
@@ -310,7 +311,7 @@ void StepTimer::DisableTimerInterrupt() noexcept
 		if ((uint32_t)labs(diff) > MaxSyncJitter && locSyncCount > 1)
 		{
 			syncCount = 0;
-			++numResyncs;
+			++numJitterResyncs;
 		}
 		else
 		{
@@ -513,9 +514,9 @@ extern "C" uint32_t StepTimerGetTimerTicks() noexcept
 // Remote diagnostics
 /*static*/ void StepTimer::Diagnostics(const StringRef& reply) noexcept
 {
-	reply.lcatf("Peak sync jitter %" PRIi32 "/%" PRIi32 ", peak Rx sync delay %" PRIu32 ", resyncs %u, ", peakNegJitter, peakPosJitter, peakReceiveDelay, numResyncs);
+	reply.lcatf("Peak sync jitter %" PRIi32 "/%" PRIi32 ", peak Rx sync delay %" PRIu32 ", resyncs %u/%u, ", peakNegJitter, peakPosJitter, peakReceiveDelay, numTimeoutResyncs, numJitterResyncs);
 	peakNegJitter = peakPosJitter = 0;
-	numResyncs = 0;
+	numTimeoutResyncs = numJitterResyncs = 0;
 	peakReceiveDelay = 0;
 
 	StepTimer *pst = pendingList;
diff --git a/src/Movement/StepTimer.h b/src/Movement/StepTimer.h
index 19e00fc0..d3f3b550 100644
--- a/src/Movement/StepTimer.h
+++ b/src/Movement/StepTimer.h
@@ -86,7 +86,8 @@ public:
 	static bool IsSynced() noexcept;
 	static void Diagnostics(const StringRef& reply) noexcept;
 
-	static constexpr uint32_t MinSyncInterval = 1000;							// maximum interval in milliseconds between sync messages for us to remain synced
+	static constexpr uint32_t MinSyncInterval = 2000;							// maximum interval in milliseconds between sync messages for us to remain synced
+																				// increased from 1000 because of workaround we added for bad Tx time stamps on SAME70
 #endif
 
 #if STEP_TIMER_DEBUG
@@ -116,7 +117,7 @@ private:
 	static int32_t peakPosJitter, peakNegJitter;								// the max and min corrections we made to local time offset while synced
 	static uint32_t peakReceiveDelay;											// the maximum receive delay we measured by using the receive time stamp
 	static volatile unsigned int syncCount;										// the number of messages we have received since starting sync
-	static unsigned int numResyncs;
+	static unsigned int numJitterResyncs, numTimeoutResyncs;
 
 	static constexpr uint32_t MaxSyncJitter = StepClockRate/100;				// 10ms
 	static constexpr unsigned int MaxSyncCount = 10;