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CAN: Remove asserts used for program logic

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This commit fixes the bug where CAN 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 2020-07-31 00:19:53 +08:00
parent 550ed39ea3
commit f1b651af7e
1 changed files with 11 additions and 6 deletions
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17
components/driver/can.c
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@ -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;