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fix(twai): fixed twai assert fail when recover

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driver try start new frame in ISR however already bus off

Closes https://github.com/espressif/esp-idf/issues/9697
This commit is contained in:
diplfranzhoepfinger
2025-02-27 14:14:42 +01:00
committed by wanckl
parent 8b80e26f4d
commit 30d871d206
2 changed files with 10 additions and 7 deletions
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8
components/driver/twai/twai.c
View File

@ -1,5 +1,5 @@
/*
* SPDX-FileCopyrightText: 2015-2024 Espressif Systems (Shanghai) CO LTD
* SPDX-FileCopyrightText: 2015-2025 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
@ -191,8 +191,10 @@ static inline void twai_handle_tx_buffer_frame(twai_obj_t *p_twai_obj, BaseType_
p_twai_obj->tx_msg_count--;
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) {
//If not bus-off, check if there are more frames to transmit
if (!twai_hal_check_state_flags(&p_twai_obj->hal, TWAI_HAL_STATE_FLAG_BUS_OFF)
&& p_twai_obj->tx_msg_count > 0
&& p_twai_obj->tx_queue != NULL) {
twai_hal_frame_t frame;
int res = xQueueReceiveFromISR(p_twai_obj->tx_queue, &frame, task_woken);
if (res == pdTRUE) {

9
components/hal/include/hal/twai_hal.h
View File

@ -141,6 +141,7 @@ void twai_hal_stop(twai_hal_context_t *hal_ctx);
*/
static inline void twai_hal_start_bus_recovery(twai_hal_context_t *hal_ctx)
{
TWAI_HAL_CLEAR_BITS(hal_ctx->state_flags, TWAI_HAL_STATE_FLAG_TX_BUFF_OCCUPIED);
TWAI_HAL_SET_BITS(hal_ctx->state_flags, TWAI_HAL_STATE_FLAG_RECOVERING);
twai_ll_exit_reset_mode(hal_ctx->dev);
}
@ -202,7 +203,7 @@ static inline bool twai_hal_check_last_tx_successful(twai_hal_context_t *hal_ctx
* @param check_flags Bit mask of flags to check
* @return True if one or more of the flags in check_flags are set
*/
__attribute__((always_inline))
static inline bool twai_hal_check_state_flags(twai_hal_context_t *hal_ctx, uint32_t check_flags)
{
return hal_ctx->state_flags & check_flags;
@ -300,7 +301,7 @@ static inline bool twai_hal_read_rx_buffer_and_clear(twai_hal_context_t *hal_ctx
}
#else
if (twai_ll_get_status(hal_ctx->dev) & TWAI_LL_STATUS_DOS) {
//No need to release RX buffer as we'll be releaseing all RX frames in continuously later
//No need to release RX buffer as we'll be releasing all RX frames in continuously later
return false;
}
#endif
@ -323,7 +324,7 @@ __attribute__((always_inline))
static inline uint32_t twai_hal_clear_rx_fifo_overrun(twai_hal_context_t *hal_ctx)
{
uint32_t msg_cnt = 0;
//Note: Need to keep polling th rx message counter incase another message arrives whilst clearing
//Note: Need to keep polling th rx message counter in case another message arrives whilst clearing
while (twai_ll_get_rx_msg_count(hal_ctx->dev) > 0) {
twai_ll_set_cmd_release_rx_buffer(hal_ctx->dev);
msg_cnt++;
@ -347,7 +348,7 @@ static inline uint32_t twai_hal_clear_rx_fifo_overrun(twai_hal_context_t *hal_ct
* - Checking if a reset will cancel a TX. If so, mark that we need to retry that message after the reset
* - Save how many RX messages were lost due to this reset
* - Enter reset mode to stop any the peripheral from receiving any bus activity
* - Store the regsiter state of the peripheral
* - Store the register state of the peripheral
*
* @param hal_ctx Context of the HAL layer
*/