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TWAI: Remove asserts used for program logic

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This commit fixes the bug where TWAI driver program logic was being
called in assert(), thus leading to the logic being omitted in
release builds.
This commit is contained in:
Darian Leung 2020-07-28 23:54:58 +08:00
parent 519b8898b3
commit 21e2f02962
1 changed files with 11 additions and 6 deletions
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17
components/driver/twai.c
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@ -129,7 +129,8 @@ static inline void twai_handle_bus_off(int *alert_req)
static inline void twai_handle_recovery_complete(int *alert_req)
{
//Bus recovery complete.
assert(twai_hal_handle_bus_recov_cplt(&twai_context));
bool recov_cplt = twai_hal_handle_bus_recov_cplt(&twai_context);
assert(recov_cplt);
//Reset and set flags to the equivalent of the stopped state
TWAI_RESET_FLAG(p_twai_obj->control_flags, CTRL_FLAG_RECOVERING | CTRL_FLAG_ERR_WARN |
@ -220,7 +221,7 @@ static inline void twai_handle_tx_buffer_frame(BaseType_t *task_woken, int *aler
//Update TX message count
p_twai_obj->tx_msg_count--;
assert(p_twai_obj->tx_msg_count >= 0); //Sanity check
assert(p_twai_obj->tx_msg_count >= 0); //Sanity check
//Check if there are more frames to transmit
if (p_twai_obj->tx_msg_count > 0 && p_twai_obj->tx_queue != NULL) {
@ -380,7 +381,8 @@ esp_err_t twai_driver_install(const twai_general_config_t *g_config, const twai_
}
periph_module_reset(PERIPH_TWAI_MODULE);
periph_module_enable(PERIPH_TWAI_MODULE); //Enable APB CLK to TWAI peripheral
assert(twai_hal_init(&twai_context));
bool init = twai_hal_init(&twai_context);
assert(init);
twai_hal_configure(&twai_context, t_config, f_config, DRIVER_DEFAULT_INTERRUPTS, g_config->clkout_divider);
//Todo: Allow interrupt to be registered to specified CPU
TWAI_EXIT_CRITICAL();
@ -466,7 +468,8 @@ esp_err_t twai_start(void)
//Todo: Add assert to see if in reset mode. //Should already be in bus-off mode, set again to make sure
//Currently in listen only mode, need to set to mode specified by configuration
assert(twai_hal_start(&twai_context, p_twai_obj->mode));
bool started = twai_hal_start(&twai_context, p_twai_obj->mode);
assert(started);
TWAI_RESET_FLAG(p_twai_obj->control_flags, CTRL_FLAG_STOPPED);
TWAI_EXIT_CRITICAL();
@ -480,7 +483,8 @@ esp_err_t twai_stop(void)
TWAI_CHECK_FROM_CRIT(p_twai_obj != NULL, ESP_ERR_INVALID_STATE);
TWAI_CHECK_FROM_CRIT(!(p_twai_obj->control_flags & (CTRL_FLAG_STOPPED | CTRL_FLAG_BUS_OFF)), ESP_ERR_INVALID_STATE);
assert(twai_hal_stop(&twai_context));
bool stopped = twai_hal_stop(&twai_context);
assert(stopped);
TWAI_RESET_FLAG(p_twai_obj->control_flags, CTRL_FLAG_TX_BUFF_OCCUPIED);
TWAI_SET_FLAG(p_twai_obj->control_flags, CTRL_FLAG_STOPPED);
@ -629,7 +633,8 @@ esp_err_t twai_initiate_recovery(void)
TWAI_SET_FLAG(p_twai_obj->control_flags, CTRL_FLAG_RECOVERING);
//Trigger start of recovery process
assert(twai_hal_start_bus_recovery(&twai_context));
bool started = twai_hal_start_bus_recovery(&twai_context);
assert(started);
TWAI_EXIT_CRITICAL();
return ESP_OK;