From 426c22cae6e36e976e60d155f817fb17c2975b6c Mon Sep 17 00:00:00 2001
From: Atabey <a.onur@munichelectrification.com>
Date: Thu, 7 Jul 2022 15:40:37 +0200
Subject: [PATCH 1/3] parametrise pcan auto reset

---
 can/interfaces/pcan/pcan.py | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/can/interfaces/pcan/pcan.py b/can/interfaces/pcan/pcan.py
index 2fea74e77..560995823 100644
--- a/can/interfaces/pcan/pcan.py
+++ b/can/interfaces/pcan/pcan.py
@@ -206,6 +206,10 @@ def __init__(
             In the range (1..16).
             Ignored if not using CAN-FD.
 
+        :param bool auto_reset:
+            Enable automatic recovery in bus off scenario.
+            Resetting the driver takes ~500ms during which
+            it will not be responsive.
         """
         self.m_objPCANBasic = PCANBasic()
 
@@ -276,6 +280,14 @@ def __init__(
                     "Ignoring error. PCAN_ALLOW_ERROR_FRAMES is still unsupported by OSX Library PCANUSB v0.10"
                 )
 
+        if kwargs.get("auto_reset", False):
+            result = self.m_objPCANBasic.SetValue(
+                self.m_PcanHandle, PCAN_BUSOFF_AUTORESET, PCAN_PARAMETER_ON
+            )
+
+            if result != PCAN_ERROR_OK:
+                raise PcanCanInitializationError(self._get_formatted_error(result))
+
         if HAS_EVENTS:
             self._recv_event = CreateEvent(None, 0, 0, None)
             result = self.m_objPCANBasic.SetValue(

From d046eb6674ae494a4d48dd8e80b9c9f12678bece Mon Sep 17 00:00:00 2001
From: Atabey <a.onur@munichelectrification.com>
Date: Mon, 11 Jul 2022 09:30:54 +0200
Subject: [PATCH 2/3] add unit tests, fix build error

---
 can/interfaces/pcan/pcan.py |  1 +
 test/test_pcan.py           | 10 ++++++++++
 2 files changed, 11 insertions(+)

diff --git a/can/interfaces/pcan/pcan.py b/can/interfaces/pcan/pcan.py
index 560995823..61d812d15 100644
--- a/can/interfaces/pcan/pcan.py
+++ b/can/interfaces/pcan/pcan.py
@@ -56,6 +56,7 @@
     PCAN_CHANNEL_FEATURES,
     FEATURE_FD_CAPABLE,
     PCAN_DICT_STATUS,
+    PCAN_BUSOFF_AUTORESET
 )
 
 
diff --git a/test/test_pcan.py b/test/test_pcan.py
index eba42d7e1..0a680fea0 100644
--- a/test/test_pcan.py
+++ b/test/test_pcan.py
@@ -363,6 +363,16 @@ def get_value_side_effect(handle, param):
             self.bus = can.Bus(bustype="pcan", device_id=dev_id)
             self.assertEqual(expected_result, self.bus.channel_info)
 
+    def test_bus_creation_auto_reset(self):
+        self.bus = can.Bus(bustype="pcan", auto_reset=True)
+        self.assertIsInstance(self.bus, PcanBus)
+        self.MockPCANBasic.assert_called_once()
+
+    def test_auto_reset_init_fault(self):
+        self.mock_pcan.SetValue = Mock(return_value=PCAN_ERROR_INITIALIZE)
+        with self.assertRaises(CanInitializationError):
+            self.bus = can.Bus(bustype="pcan", auto_reset=True)
+
 
 if __name__ == "__main__":
     unittest.main()

From e50879015ecace6a7c1600dfcb142e76a41c7558 Mon Sep 17 00:00:00 2001
From: Atabey <a.onur@munichelectrification.com>
Date: Thu, 14 Jul 2022 11:24:12 +0200
Subject: [PATCH 3/3] formatting

---
 can/interfaces/pcan/pcan.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/can/interfaces/pcan/pcan.py b/can/interfaces/pcan/pcan.py
index 61d812d15..e5b877762 100644
--- a/can/interfaces/pcan/pcan.py
+++ b/can/interfaces/pcan/pcan.py
@@ -56,7 +56,7 @@
     PCAN_CHANNEL_FEATURES,
     FEATURE_FD_CAPABLE,
     PCAN_DICT_STATUS,
-    PCAN_BUSOFF_AUTORESET
+    PCAN_BUSOFF_AUTORESET,
 )