drivers/can: fix skipped function calls when assertions disabled
When CONFIG_FREERTOS_ASSERT_DISABLE is set, the function calls wrapped inside the assertion macros would be removed from the code. Closes https://github.com/espressif/esp-idf/issues/4143
This commit is contained in:
parent
f819b7da90
commit
cbe8274651
1 changed files with 23 additions and 11 deletions
|
@ -452,13 +452,17 @@ static void can_intr_handler_tx(can_status_reg_t *status, int *alert_req)
|
|||
|
||||
//Update TX message count
|
||||
p_can_obj->tx_msg_count--;
|
||||
configASSERT(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) {
|
||||
can_frame_t frame;
|
||||
configASSERT(xQueueReceiveFromISR(p_can_obj->tx_queue, &frame, NULL) == pdTRUE);
|
||||
can_set_tx_buffer_and_transmit(&frame);
|
||||
int res = xQueueReceiveFromISR(p_can_obj->tx_queue, &frame, NULL);
|
||||
if (res == pdTRUE) {
|
||||
can_set_tx_buffer_and_transmit(&frame);
|
||||
} else {
|
||||
assert(false && "failed to get a frame from TX queue");
|
||||
}
|
||||
} else {
|
||||
//No more frames to transmit
|
||||
CAN_RESET_FLAG(p_can_obj->control_flags, CTRL_FLAG_TX_BUFF_OCCUPIED);
|
||||
|
@ -674,7 +678,8 @@ 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
|
||||
configASSERT(can_enter_reset_mode() == ESP_OK); //Must enter reset mode to write to config registers
|
||||
esp_err_t err = can_exit_reset_mode(); //Must enter reset mode to write to config registers
|
||||
assert(err == ESP_OK);
|
||||
can_config_pelican(); //Use PeliCAN addresses
|
||||
/* Note: REC is allowed to increase even in reset mode. Listen only mode
|
||||
will freeze REC. The desired mode will be set when can_start() is called. */
|
||||
|
@ -729,7 +734,8 @@ esp_err_t can_driver_uninstall()
|
|||
//Check state
|
||||
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);
|
||||
configASSERT(can_enter_reset_mode() == ESP_OK); //Enter reset mode to stop any CAN bus activity
|
||||
esp_err_t err = can_exit_reset_mode(); //Enter reset mode to stop any CAN bus activity
|
||||
assert(err == ESP_OK);
|
||||
//Clear registers by reading
|
||||
(void) can_get_interrupt_reason();
|
||||
(void) can_get_arbitration_lost_capture();
|
||||
|
@ -767,7 +773,8 @@ esp_err_t can_start()
|
|||
//Reset RX queue, and RX message count
|
||||
xQueueReset(p_can_obj->rx_queue);
|
||||
p_can_obj->rx_msg_count = 0;
|
||||
configASSERT(can_enter_reset_mode() == ESP_OK); //Should already be in bus-off mode, set again to make sure
|
||||
esp_err_t err = can_exit_reset_mode(); //Should already be in bus-off mode, set again to make sure
|
||||
assert(err == ESP_OK);
|
||||
|
||||
//Currently in listen only mode, need to set to mode specified by configuration
|
||||
can_mode_t mode;
|
||||
|
@ -780,7 +787,8 @@ esp_err_t can_start()
|
|||
}
|
||||
can_config_mode(mode); //Set mode
|
||||
(void) can_get_interrupt_reason(); //Clear interrupt register
|
||||
configASSERT(can_exit_reset_mode() == ESP_OK);
|
||||
err = can_exit_reset_mode();
|
||||
assert(err == ESP_OK);
|
||||
|
||||
CAN_RESET_FLAG(p_can_obj->control_flags, CTRL_FLAG_STOPPED);
|
||||
CAN_EXIT_CRITICAL();
|
||||
|
@ -795,7 +803,8 @@ esp_err_t can_stop()
|
|||
CAN_CHECK_FROM_CRIT(!(p_can_obj->control_flags & (CTRL_FLAG_STOPPED | CTRL_FLAG_BUS_OFF)), ESP_ERR_INVALID_STATE);
|
||||
|
||||
//Clear interrupts and reset flags
|
||||
configASSERT(can_enter_reset_mode() == ESP_OK);
|
||||
esp_err_t err = can_exit_reset_mode();
|
||||
assert(err == ESP_OK);
|
||||
(void) can_get_interrupt_reason(); //Read interrupt register to clear interrupts
|
||||
can_config_mode(CAN_MODE_LISTEN_ONLY); //Set to listen only mode to freeze REC
|
||||
CAN_RESET_FLAG(p_can_obj->control_flags, CTRL_FLAG_TX_BUFF_OCCUPIED);
|
||||
|
@ -846,11 +855,13 @@ esp_err_t can_transmit(const can_message_t *message, TickType_t ticks_to_wait)
|
|||
CAN_ENTER_CRITICAL();
|
||||
if (p_can_obj->control_flags & (CTRL_FLAG_STOPPED | CTRL_FLAG_BUS_OFF)) {
|
||||
//TX queue was reset (due to stop/bus_off), remove copied frame from queue to prevent transmission
|
||||
configASSERT(xQueueReceive(p_can_obj->tx_queue, &tx_frame, 0) == pdTRUE);
|
||||
int res = xQueueReceive(p_can_obj->tx_queue, &tx_frame, 0);
|
||||
assert(res == pdTRUE);
|
||||
ret = ESP_ERR_INVALID_STATE;
|
||||
} else if ((p_can_obj->tx_msg_count == 0) && !(p_can_obj->control_flags & CTRL_FLAG_TX_BUFF_OCCUPIED)) {
|
||||
//TX buffer was freed during copy, manually trigger transmission
|
||||
configASSERT(xQueueReceive(p_can_obj->tx_queue, &tx_frame, 0) == pdTRUE);
|
||||
int res = xQueueReceive(p_can_obj->tx_queue, &tx_frame, 0);
|
||||
assert(res == pdTRUE);
|
||||
can_set_tx_buffer_and_transmit(&tx_frame);
|
||||
p_can_obj->tx_msg_count++;
|
||||
CAN_SET_FLAG(p_can_obj->control_flags, CTRL_FLAG_TX_BUFF_OCCUPIED);
|
||||
|
@ -941,7 +952,8 @@ esp_err_t can_initiate_recovery()
|
|||
CAN_SET_FLAG(p_can_obj->control_flags, CTRL_FLAG_RECOVERING);
|
||||
|
||||
//Trigger start of recovery process
|
||||
configASSERT(can_exit_reset_mode() == ESP_OK);
|
||||
esp_err_t err = can_exit_reset_mode();
|
||||
assert(err == ESP_OK);
|
||||
CAN_EXIT_CRITICAL();
|
||||
|
||||
return ESP_OK;
|
||||
|
|
Loading…
Reference in a new issue