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Merge branch 'bugfix/can_multiple_fixes_backport_v4.1' into 'release/v4.1'

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CAN multiple bug fixes (backport v4.1)

See merge request espressif/esp-idf!9886
This commit is contained in:
Michael (XIAO Xufeng) 2020-08-03 13:04:51 +08:00
commit bd72a9ab2b
2 changed files with 13 additions and 8 deletions
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17
components/driver/can.c
View file

@ -131,7 +131,8 @@ static inline void can_handle_bus_off(int *alert_req)
static inline void can_handle_recovery_complete(int *alert_req)
{
//Bus recovery complete.
assert(can_hal_handle_bus_recov_cplt(&can_context));
bool recov_cplt = can_hal_handle_bus_recov_cplt(&can_context);
assert(recov_cplt);
//Reset and set flags to the equivalent of the stopped state
CAN_RESET_FLAG(p_can_obj->control_flags, CTRL_FLAG_RECOVERING | CTRL_FLAG_ERR_WARN |
@ -222,7 +223,7 @@ static inline void can_handle_tx_buffer_frame(BaseType_t *task_woken, int *alert
//Update TX message count
p_can_obj->tx_msg_count--;
assert(p_can_obj->tx_msg_count >= 0); //Sanity check
assert(p_can_obj->tx_msg_count >= 0); //Sanity check
//Check if there are more frames to transmit
if (p_can_obj->tx_msg_count > 0 && p_can_obj->tx_queue != NULL) {
@ -382,7 +383,8 @@ esp_err_t can_driver_install(const can_general_config_t *g_config, const can_tim
}
periph_module_reset(PERIPH_CAN_MODULE);
periph_module_enable(PERIPH_CAN_MODULE); //Enable APB CLK to CAN peripheral
assert(can_hal_init(&can_context));
bool init = can_hal_init(&can_context);
assert(init);
can_hal_configure(&can_context, t_config, f_config, DRIVER_DEFAULT_INTERRUPTS, g_config->clkout_divider);
//Todo: Allow interrupt to be registered to specified CPU
CAN_EXIT_CRITICAL();
@ -468,7 +470,8 @@ esp_err_t can_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(can_hal_start(&can_context, p_can_obj->mode));
bool started = can_hal_start(&can_context, p_can_obj->mode);
assert(started);
CAN_RESET_FLAG(p_can_obj->control_flags, CTRL_FLAG_STOPPED);
CAN_EXIT_CRITICAL();
@ -482,7 +485,8 @@ esp_err_t can_stop(void)
CAN_CHECK_FROM_CRIT(p_can_obj != NULL, ESP_ERR_INVALID_STATE);
CAN_CHECK_FROM_CRIT(!(p_can_obj->control_flags & (CTRL_FLAG_STOPPED | CTRL_FLAG_BUS_OFF)), ESP_ERR_INVALID_STATE);
assert(can_hal_stop(&can_context));
bool stopped = can_hal_stop(&can_context);
assert(stopped);
CAN_RESET_FLAG(p_can_obj->control_flags, CTRL_FLAG_TX_BUFF_OCCUPIED);
CAN_SET_FLAG(p_can_obj->control_flags, CTRL_FLAG_STOPPED);
@ -631,7 +635,8 @@ esp_err_t can_initiate_recovery(void)
CAN_SET_FLAG(p_can_obj->control_flags, CTRL_FLAG_RECOVERING);
//Trigger start of recovery process
assert(can_hal_start_bus_recovery(&can_context));
bool started = can_hal_start_bus_recovery(&can_context);
assert(started);
CAN_EXIT_CRITICAL();
return ESP_OK;

4
components/soc/esp32/include/soc/can_struct.h
View file

@ -183,8 +183,8 @@ typedef volatile struct can_dev_s {
//Misc Registers
union {
struct {
uint32_t rmc: 5; /* RMC[4:0] RX Message Counter */
uint32_t reserved27: 27; /* Internal Reserved */
uint32_t rmc: 7; /* RMC[6:0] RX Message Counter */
uint32_t reserved25: 25; /* Internal Reserved */
};
uint32_t val;
} rx_message_counter_reg; /* Address 29 */