Merge branch 'master' into bracz-callback-event-identified

* master: Fix test makefiles and test target (#736) Moves the bootloader hook so that the hook implementation gets a chance to look at incoming frames. Fixes missing includes. Fixes missing symbol error. Adds stm32f072 HAL drivers to bare.armv6m compilation target. Update HASSERT and DIE to use ets_printf() on ESP32 (#744) Adds a useful command to generate release notes. Fix MultiConfiguredPC.hxx compilation with C++20 (#737) Esp32 TWAI updates based on comments (#720) Fork spiffs/stm32f7/Stm32SPIFFS.cxx to st/Stm32Flash.hxx step 4 Fork spiffs/stm32f7/Stm32SPIFFS.cxx to st/Stm32Flash.hxx step 2 Fork spiffs/stm32f7/Stm32SPIFFS.cxx to st/Stm32Flash.hxx Fix compile error in railcom board definitions. Stm32 pwm f7xx update (#735) Add L4xx HAL include for Stm32PWM (#734) Fix missing ifdef for reboot because macos build is broken.
bakerstu · Nov 11, 2023 · 809a4c2 · 809a4c2
2 parents ca9ba6b + e9e660a
commit 809a4c2
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diff --git a/arduino/RELEASE.md b/arduino/RELEASE.md
@@ -37,6 +37,7 @@ Arduino ecosystem (whichever incarnation) are used.
 1. Edit library.properties and library.json to increment the version number.
 1. Run `arduino/libify.sh "/path/to/OpenMRNLite" . -f`
 1. Go to OpenMRNLite, commit the results to git, then push it to master.
+   To generate the commit note and later the release notes, use this command: `git log --oneline OpenMRNLite-v1.0.3..OpenMRNLite-v2.0.0 | sed -e 's/[(]#/(https:\/\/github.com\/bakerstu\/openmrn\/pull\//' | sed 's/^/bakerstu\/openmrn@/'` 
 1. go to http://github.com/openmrn/OpenMRNLite, click the releases tab, then
    create a release called v1.2.3 if your library.properties said 1.2.3 as
    version.

diff --git a/boards/bracz-railcom/hardware.hxx b/boards/bracz-railcom/hardware.hxx
@@ -472,8 +472,14 @@ struct DCCDecode
     /// counts how many edges / transitions we had on the DCC signal.
     static unsigned sampleCount_;
     static inline void cap_event_hook() { ++sampleCount_; }
+
+    // These functions fine-tune the railcom cutout timing.
+    static int time_delta_railcom_pre_usec() { return 0; } 
+    static int time_delta_railcom_mid_usec() { return 0; } 
+    static int time_delta_railcom_end_usec() { return 0; } 
 };
 
+
 #endif // ! pindefs_only
 
 #endif // _HARDWARE_HXX_
diff --git a/etc/core_target.mk b/etc/core_target.mk
@@ -13,11 +13,18 @@ include $(OPENMRNPATH)/etc/config.mk
 include $(OPENMRNPATH)/etc/path.mk
 include $(OPENMRNPATH)/etc/$(TARGET).mk
 
-# lib here is only needed for clean to work properly. Libraries are copied
-# there by the original build rules.
-SUBDIRS = $(CORELIBS) $(SYSLIB_SUBDIRS) lib
+SUBDIRS = $(CORELIBS) $(SYSLIB_SUBDIRS)
 
 # This defines how to create nonexistant directories.
 MKSUBDIR_OPENMRNINCLUDE=lib.mk
 
 include $(OPENMRNPATH)/etc/recurse.mk
+
+# lib/timestamp is a dependency to all test binaries. This rule has to have a
+# body to execute, or else make will take the mtime of this file too early in
+# the execution process. The body shall not actually touch the file, as the
+# touches happen in the BUILDDIRS recursions. This workaround ensures that when
+# a source file changes in openmrn, the tests are all re-linked and
+# re-run. Otherwise you need to run tests twice to actually execute them.
+lib/timestamp: $(BUILDDIRS)
+	true
diff --git a/etc/core_test.mk b/etc/core_test.mk
@@ -7,6 +7,8 @@
 
 ifneq ($(HOST_TARGET)$(EMU),0)
 
+include $(OPENMRNPATH)/etc/make_utils.mk
+
 FULLPATHCXXTESTSRCS := $(foreach DIR,$(SUBDIRS) tests,$(wildcard $(SRCDIR)/$(DIR)/*.cxxtest))
 
 TESTOBJSEXTRA += gtest-all.o gmock-all.o
@@ -33,16 +35,36 @@ CXXFLAGS += $(INCLUDES)
 ifdef LIBDIR
 # we are under prog.mk
 TESTLIBDEPS += $(foreach lib,$(SUBDIRS),lib/lib$(lib).a)
+
+# This ensures that link targets that depend on lib/libfoo.a will recurse into
+# the directory foo and rebuild stuff that's there. However, the dependency is
+# phrased in a way that if recursing does not change the library (when it's
+# up-to-date) then the .elf linking is not re-done.
+$(foreach lib,$(SUBDIRS),$(eval $(call SUBDIR_helper_template,$(lib))))
+
+# Ensures that when the core target is clean (missing lib/libfoo.a), make knows
+# how to build its libraries. This also ensures that the text.executable files
+# are remade when something changes in the openmrn codebase.
+$(foreach lib,$(CORELIBS),$(LIBDIR)/lib$(lib).a): $(LIBDIR)/timestamp
+
 else
 LIBDIR = lib
+
+# This ensures that link targets that depend on lib/libfoo.a will recurse into
+# the directory foo and rebuild stuff that's there. However, the dependency is
+# phrased in a way that if recursing does not change the library (when it's
+# up-to-date) then the .elf linking is not re-done.
+$(foreach lib,$(CORELIBS),$(eval $(call SUBDIR_helper_template,$(lib))))
+
 endif
 TESTLIBDEPS += $(foreach lib,$(CORELIBS),$(LIBDIR)/lib$(lib).a)
 
 LDFLAGS      += -L$(LIBDIR)
 
 $(LIBDIR)/timestamp: $(BUILDDIRS)
 
-$(info test deps $(TESTOBJSEXTRA) $(LIBDIR)/timestamp )
+
+$(info test deps $(TESTOBJSEXTRA) $(LIBDIR)/timestamp | $(BUILDDIRS) )
 $(TESTBINS): %.test$(EXTENTION) : %.test.o $(TESTOBJSEXTRA) $(LIBDIR)/timestamp lib/timestamp $(TESTLIBDEPS) $(TESTEXTRADEPS) | $(BUILDDIRS)
 	$(LD) -o $@ $(LDFLAGS) -los  $< $(TESTOBJSEXTRA) $(LIBS) $(STARTGROUP) $(LINKCORELIBS) $(ENDGROUP) $(SYSLIBRARIES) 
 
@@ -53,7 +75,7 @@ $(TESTOBJS): %.test.o : $(SRCDIR)/%.cxxtest
 	$(CXX) $(CXXFLAGS) -MMD -MF $*.dtest -MT $@ -x c++ $< -o $@
 
 gtest-all.o : %.o : $(GTESTSRCPATH)/src/%.cc
-	$(CXX) $(CXXFLAGS) -Wno-uninitialized -I$(GTESTPATH) -I$(GTESTSRCPATH) -MMD -MF $*.d   $< -o $@
+	$(CXX) $(CXXFLAGS) -Wno-uninitialized -Wno-maybe-uninitialized -I$(GTESTPATH) -I$(GTESTSRCPATH) -MMD -MF $*.d   $< -o $@
 
 gmock-all.o : %.o : $(GMOCKSRCPATH)/src/%.cc
 	$(CXX) $(CXXFLAGS) -I$(GMOCKPATH) -I$(GMOCKSRCPATH) -MMD -MF $*.d  $< -o $@

diff --git a/etc/cov.mk b/etc/cov.mk
@@ -26,12 +26,14 @@ else
 ARCHOPTIMIZATION = -g $(TESTOPTIMIZATION) -fprofile-arcs -ftest-coverage
 endif
 
-CSHAREDFLAGS = -c -frandom-seed=$(shell echo $(abspath $<) | md5sum  | sed 's/\(.*\) .*/\1/') $(ARCHOPTIMIZATION) $(INCLUDES) -Wall -Werror -Wno-unknown-pragmas -MD -MP -fno-stack-protector -D_GNU_SOURCE -DGTEST
+CSHAREDFLAGS = -c -frandom-seed=$(shell echo $(abspath $<) | md5sum  | sed 's/\(.*\) .*/\1/') \
+    $(ARCHOPTIMIZATION) $(INCLUDES) -Wall -Werror -Wno-unknown-pragmas -MD -MP \
+    -fno-stack-protector -D_GNU_SOURCE -DGTEST
 
-CFLAGS = $(CSHAREDFLAGS) -std=gnu99 $(CFLAGSEXTRA)
+CFLAGS = $(CSHAREDFLAGS) -std=gnu99 $(CFLAGSENV) $(CFLAGSEXTRA)
 
 CXXFLAGS = $(CSHAREDFLAGS) -std=c++14 -D__STDC_FORMAT_MACROS \
-           -D__STDC_LIMIT_MACROS $(CXXFLAGSEXTRA) #-D__LINEAR_MAP__
+           -D__STDC_LIMIT_MACROS $(CXXFLAGSENV) $(CXXFLAGSEXTRA) \
 
 
 LDFLAGS = $(ARCHOPTIMIZATION) -Wl,-Map="$(@:%=%.map)"

diff --git a/etc/make_utils.mk b/etc/make_utils.mk
@@ -24,13 +24,13 @@ $(foreach tgt,$(1),$(eval $(call REDIRECT_helper_template,$(tgt),$(2))))
 endef
 
 
-### Helper template to declare a dependency.
-### Arguments: target_file dependency_file
+### Helper template to declare a library subdirectory dependency.
+### Arguments: library_basename
 ### Example on how to call: Put the following on a standalone line in the Makefile
-### $(foreach lib,$(LIBDIRS),$(eval $(call SUBDIR_helper_template,lib/lib$(lib).a,build-$(lib))))
+### $(foreach lib,$(LIBDIRS),$(eval $(call SUBDIR_helper_template,$(lib))))
 define SUBDIR_helper_template
 
-$(1)/lib$(1).a: | build-$(1)
+$(1)/lib$(1).a: build-$(1)
 
 lib/lib$(1).a: $(1)/lib$(1).a
 

diff --git a/etc/test.mk b/etc/test.mk
@@ -1,116 +1,42 @@
-ifeq ($(BASENAME),)
-# if the basename is so far undefined
-BASENAME := $(notdir $(CURDIR))
-endif
+TOOLPATH ?= /usr/bin
 
-include $(OPENMRNPATH)/etc/config.mk
+# Get the $(CFLAGSENV), $(CXXFLAGSENV), $(LDFLAGSENV)
+include $(OPENMRNPATH)/etc/env.mk
 
-include $(OPENMRNPATH)/etc/linux.x86.mk
+# Define this variable if you want to use a specific (suffixed) GCC version
+# instead of the system default.
+#GCCVERSION=-8
 
-include $(OPENMRNPATH)/etc/path.mk
+CC = $(shell $(OPENMRNPATH)/bin/find_distcc.sh gcc$(GCCVERSION))
+CXX = $(shell $(OPENMRNPATH)/bin/find_distcc.sh g++$(GCCVERSION))
+AR = ar
+LD = g++$(GCCVERSION)
+OBJDUMP = objdump
 
-SRCDIR = $(OPENMRNPATH)/src/$(BASENAME)/
-VPATH = $(SRCDIR):$(GMOCKPATH)/src:$(GMOCKSRCPATH)
+AROPTS=D
 
-exist := $(wildcard $(SRCDIR)/sources)
-ifneq ($(strip $(exist)),)
-include $(SRCDIR)/sources
-else
-exist := $(wildcard sources)
-ifneq ($(strip $(exist)),)
-include sources
-else
-FULLPATHCSRCS        = $(wildcard $(VPATH)*.c)
-FULLPATHCXXSRCS      = $(wildcard $(VPATH)*.cxx)
-FULLPATHCXXTESTSRCS  = $(wildcard $(VPATH)*.cxxtest)
+HOST_TARGET := 1
 
-CSRCS       = $(notdir $(FULLPATHCSRCS))       $(wildcard *.c)
-CXXSRCS     = $(notdir $(FULLPATHCXXSRCS))     $(wildcard *.cxx)
-CXXTESTSRCS = $(notdir $(FULLPATHCXXTESTSRCS)) $(wildcard *.cxxtest)
-endif
-endif
-
-OBJS = $(CXXSRCS:.cxx=.o) $(CSRCS:.c=.o)
-TESTOBJS = $(CXXTESTSRCS:.cxxtest=.otest)
-TESTOBJSEXTRA = gtest-all.o gmock-all.o
-
-TESTBINS = $(CXXTESTSRCS:.cxxtest=.test)
-TESTOUTPUTS = $(CXXTESTSRCS:.cxxtest=.testout)
-
-LIBDIR = $(OPENMRNPATH)/targets/linux.x86/lib
-FULLPATHLIBS = $(wildcard $(LIBDIR)/*.a) $(wildcard lib/*.a)
-LIBDIRS := $(SUBDIRS)
-LIBS = $(STARTGROUP) \
-       $(foreach lib,$(LIBDIRS),-l$(lib)) \
-       $(ENDGROUP) \
-       $(LINKCORELIBS)
+STARTGROUP := -Wl,--start-group
+ENDGROUP := -Wl,--end-group
 
 TESTOPTIMIZATION=-O0
 
-INCLUDES     += -I$(GTESTPATH)/include -I$(GMOCKPATH)/include -I$(GMOCKPATH) \
-                -I$(OPENMRNPATH)/src -I$(OPENMRNPATH)/include
-CFLAGS       += -DGTEST $(INCLUDES) -Wno-unused-but-set-variable -fprofile-arcs -ftest-coverage $(TESTOPTIMIZATION)
-CXXFLAGS     += -DGTEST $(INCLUDES) -Wno-unused-but-set-variable -fprofile-arcs -ftest-coverage $(TESTOPTIMIZATION)
-SYSLIBRARIES += -lgcov -fprofile-arcs -ftest-coverage $(TESTOPTIMIZATION)
-LDFLAGS      += -L$(LIBDIR)
-
-.SUFFIXES:
-.SUFFIXES: .o .otest .c .cxx .cxxtest .test
-
-all: $(TESTBINS)
-
--include $(OBJS:.o=.d) $(TESTOBJS:.otest=.dtest)
-
-$(TESTBINS): $(OBJS) $(TESTOBJS) $(FULLPATHLIBS) $(TESTOBJSEXTRA)
-	$(LD) -o $@ $*.otest $(TESTOBJSEXTRA) \
-	$(filter $(@:.test=.o),$(OBJS)) $(OBJSEXTRA) \
-	$(LDFLAGS) $(LIBS) $(SYSLIBRARIES)
-
-$(TESTOUTPUTS): %.testout : %.test
-	(cd lcovdir; ../$< $(TESTARGS) --gtest_death_test_style=threadsafe && touch $@)
-
-gtest-all.o : %.o : $(GTESTSRCPATH)/src/%.cc
-	$(CXX) $(CXXFLAGS) -I$(GTESTPATH) -I$(GTESTSRCPATH)  $< -o $@
-	$(CXX) -MM $(CXXFLAGS) -I$(GTESTPATH) -I$(GTESTSRCPATH) $< > $*.d
-
-gmock-all.o : %.o : $(GMOCKSRCPATH)/src/%.cc
-	$(CXX) $(CXXFLAGS) -I$(GMOCKPATH) -I$(GMOCKSRCPATH)  $< -o $@
-	$(CXX) -MM $(CXXFLAGS) -I$(GMOCKPATH) -I$(GMOCKSRCPATH) $< > $*.d
-
-.cxx.o:
-	$(CXX) $(CXXFLAGS) $< -o $@
-
-.c.o:
-	$(CC) $(CFLAGS) $< -o $@
-
-.cxxtest.otest:
-	$(CXX) $(CXXFLAGS) -MF $*.dtest -x c++ $< -o $@
-#	ln -s [email protected] $*.gcno
+ARCHOPTIMIZATION = -g $(TESTOPTIMIZATION) -fdata-sections -ffunction-sections -fPIC -O0
 
-#.otest.test:
-#	$(LD) -o $@ $< $(GTESTPATH)/src/gtest-all.o \
-#	$(GTESTPATH)/src/gtest_main.o $(filter $(<:.otest=.o),$(OBJS)) \
-#	$(LDFLAGS) $(SYSLIBRARIES)
+CSHAREDFLAGS = -c -frandom-seed=$(shell echo $(abspath $<) | md5sum  | sed 's/\(.*\) .*/\1/') \
+    $(ARCHOPTIMIZATION) $(INCLUDES) -Wall -Werror -Wno-unknown-pragmas -MD -MP \
+    -fno-stack-protector -D_GNU_SOURCE -DGTEST
 
-tests: all
-	echo $(foreach TESTBINS,$(TESTBINS),gcov $(VPATH)$(TESTBINS:.test=.cxxtest))
-	[ -z "$(TESTBINS)" ] || (mkdir -p lcovdir; cd lcovdir; \
-	lcov --directory ../ --no-recursion -z; cd .. ; \
-	$(MAKE) run-tests ; cd lcovdir ; \
-	lcov --directory ../ --no-recursion --capture --output-file app.info; \
-	lcov -r app.info "/usr/include/*" -o app.info; \
-	lcov -r app.info "*.cxxtest" -o app.info; \
-	lcov -r app.info "*gtest*" -o app.info; \
-	genhtml -o . app.info )
+CFLAGS = $(CSHAREDFLAGS) -std=gnu99 $(CFLAGSENV) $(CFLAGSEXTRA)
 
-run-tests: $(TESTOUTPUTS)
+CXXFLAGS = $(CSHAREDFLAGS) -std=c++14 -D__STDC_FORMAT_MACROS \
+           -D__STDC_LIMIT_MACROS $(CXXFLAGSENV) $(CXXFLAGSEXTRA) \
 
-clean: clean-local
+LDFLAGS = $(ARCHOPTIMIZATION) -pg -Wl,-Map="$(@:%=%.map)" -Wl,--undefined=ignore_fn
 
-clean-local:
-	rm -rf *.o *.otest *.d *.dtest *.test *.gcda *.gcno *.png *.info bits ext home i686-linux-gnu opt usr *.html *.css lcovdir *.map
+SYSLIB_SUBDIRS +=
+SYSLIBRARIES = -lrt -lpthread -lavahi-client -lavahi-common $(SYSLIBRARIESEXTRA)
 
-veryclean: clean-local
+EXTENTION =
 
-#nothing to do
-mksubdirs:
diff --git a/src/freertos_drivers/esp32/Esp32HardwareTwai.cxx b/src/freertos_drivers/esp32/Esp32HardwareTwai.cxx
@@ -68,6 +68,7 @@
 #include <hal/twai_types.h>
 #include <hal/twai_hal.h>
 #include <soc/gpio_sig_map.h>
+#include <stdint.h>
 
 #include "can_frame.h"
 #include "can_ioctl.h"
@@ -234,7 +235,7 @@ static inline void twai_purge_rx_queue()
     Notifiable* n = nullptr;
     {
         AtomicHolder h(&twai.buf_lock);
-        LOG(VERBOSE, "ESP-TWAI: puring RX-Q: %d", twai.rx_buf->pending());
+        LOG(VERBOSE, "ESP-TWAI: purging RX-Q: %zu", twai.rx_buf->pending());
         twai.stats.rx_missed += twai.rx_buf->pending();
         twai.rx_buf->flush();
         std::swap(n, twai.readable_notify);
@@ -260,7 +261,7 @@ static inline void twai_purge_tx_queue()
     Notifiable* n = nullptr;
     {
         AtomicHolder h(&twai.buf_lock);
-        LOG(VERBOSE, "ESP-TWAI: puring TX-Q: %d", twai.tx_buf->pending());
+        LOG(VERBOSE, "ESP-TWAI: purging TX-Q: %zu", twai.tx_buf->pending());
         twai.stats.tx_failed += twai.tx_buf->pending();
         twai.tx_buf->flush();
         std::swap(n, twai.writable_notify);
@@ -288,7 +289,7 @@ static inline void twai_purge_tx_queue()
 /// blocking operation.
 static ssize_t twai_vfs_write(int fd, const void *buf, size_t size)
 {
-    LOG(VERBOSE, "ESP-TWAI: write(%d, %p, %d)", fd, buf, size);
+    LOG(VERBOSE, "ESP-TWAI: write(%d, %p, %zu)", fd, buf, size);
     DASSERT(fd == TWAI_VFS_FD);
     ssize_t sent = 0;
     const struct can_frame *data = (const struct can_frame *)buf;
@@ -307,7 +308,7 @@ static ssize_t twai_vfs_write(int fd, const void *buf, size_t size)
         else if (!is_twai_running())
         {
             LOG_ERROR("ESP-TWAI: TWAI driver is not running, unable to write "
-                      "%d frames.", size);
+                      "%zu frames.", size);
             bus_error = true;
             break;
         }
@@ -360,7 +361,7 @@ static ssize_t twai_vfs_write(int fd, const void *buf, size_t size)
     {
         errno = EWOULDBLOCK;
     }
-    LOG(VERBOSE, "ESP-TWAI: write() %d", sent * sizeof(struct can_frame));
+    LOG(VERBOSE, "ESP-TWAI: write() %zu", sent * sizeof(struct can_frame));
     return sent * sizeof(struct can_frame);
 }
 
@@ -373,7 +374,7 @@ static ssize_t twai_vfs_write(int fd, const void *buf, size_t size)
 /// blocking operation.
 static ssize_t twai_vfs_read(int fd, void *buf, size_t size)
 {
-    LOG(VERBOSE, "ESP-TWAI: read(%d, %p, %d)", fd, buf, size);
+    LOG(VERBOSE, "ESP-TWAI: read(%d, %p, %zu)", fd, buf, size);
     DASSERT(fd == TWAI_VFS_FD);
 
     ssize_t received = 0;
@@ -401,7 +402,7 @@ static ssize_t twai_vfs_read(int fd, void *buf, size_t size)
         return -1;
     }
 
-    LOG(VERBOSE, "ESP-TWAI: read() %d", received * sizeof(struct can_frame));
+    LOG(VERBOSE, "ESP-TWAI: read() %zu", received * sizeof(struct can_frame));
     return received * sizeof(struct can_frame);
 }
 
@@ -715,7 +716,7 @@ static void twai_isr(void *arg)
 {
     BaseType_t wakeup = pdFALSE;
     uint32_t events = twai_hal_get_events(&twai.context);
-    ESP_EARLY_LOGV(TWAI_LOG_TAG, "events: %04x", events);
+    ESP_EARLY_LOGV(TWAI_LOG_TAG, "events: %08x", events);
 
 #if defined(CONFIG_TWAI_ERRATA_FIX_RX_FRAME_INVALID) || \
     defined(CONFIG_TWAI_ERRATA_FIX_RX_FIFO_CORRUPT)
@@ -793,8 +794,8 @@ static void twai_isr(void *arg)
     // Arbitration error detected
     if (events & TWAI_HAL_EVENT_ARB_LOST)
     {
-        twai.stats.arb_error++;
-        ESP_EARLY_LOGV(TWAI_LOG_TAG, "arb-lost:%d", twai.stats.arb_error);
+        twai.stats.arb_loss++;
+        ESP_EARLY_LOGV(TWAI_LOG_TAG, "arb-lost:%d", twai.stats.arb_loss);
     }
 
     if (wakeup == pdTRUE)
@@ -877,13 +878,13 @@ void* twai_watchdog(void* param)
                 "ESP-TWAI: "
                 "RX:%d (pending:%zu,overrun:%d,discard:%d,missed:%d,lost:%d) "
                 "TX:%d (pending:%zu,suc:%d,fail:%d) "
-                "Bus (arb-err:%d,err:%d,state:%s)",
+                "Bus (arb-loss:%d,err:%d,state:%s)",
                 twai.stats.rx_processed, twai.rx_buf->pending(),
                 twai.stats.rx_overrun, twai.stats.rx_discard,
                 twai.stats.rx_missed, twai.stats.rx_lost,
                 twai.stats.tx_processed, twai.tx_buf->pending(),
                 twai.stats.tx_success, twai.stats.tx_failed,
-                twai.stats.arb_error, twai.stats.bus_error,
+                twai.stats.arb_loss, twai.stats.bus_error,
                 is_twai_running() ? "Running" :
                 is_twai_recovering() ? "Recovering" :
                 is_twai_err_warn() ? "Err-Warn" :

diff --git a/src/freertos_drivers/esp32/Esp32HardwareTwai.hxx b/src/freertos_drivers/esp32/Esp32HardwareTwai.hxx
@@ -87,8 +87,8 @@ typedef struct
     /// by the low-level TWAI driver.
     uint32_t tx_failed;
 
-    /// Number of arbitration errors that have been observed on the TWAI bus.
-    uint32_t arb_error;
+    /// Number of arbitration losses that have been observed on the TWAI bus.
+    uint32_t arb_loss;
 
     /// Number of general bus errors that have been observed on the TWAI bus.
     uint32_t bus_error;