From d1b03d36ba4ef1cc68e3979b551a813c71a66960 Mon Sep 17 00:00:00 2001 From: diplfranzhoepfinger Date: Thu, 27 Feb 2025 14:14:42 +0100 Subject: [PATCH] fix(twai): fixed twai assert fail when recover driver try start new frame in ISR however already bus off Closes https://github.com/espressif/esp-idf/issues/9697 --- components/driver/twai.c | 8 +++++--- components/hal/include/hal/twai_hal.h | 3 ++- 2 files changed, 7 insertions(+), 4 deletions(-) diff --git a/components/driver/twai.c b/components/driver/twai.c index c96520e7f9..c81ce2f684 100644 --- a/components/driver/twai.c +++ b/components/driver/twai.c @@ -1,5 +1,5 @@ /* - * SPDX-FileCopyrightText: 2015-2023 Espressif Systems (Shanghai) CO LTD + * SPDX-FileCopyrightText: 2015-2025 Espressif Systems (Shanghai) CO LTD * * SPDX-License-Identifier: Apache-2.0 */ @@ -184,8 +184,10 @@ static inline void twai_handle_tx_buffer_frame(BaseType_t *task_woken, int *aler 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(&twai_context, 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) { diff --git a/components/hal/include/hal/twai_hal.h b/components/hal/include/hal/twai_hal.h index aeeed60231..5992d3c2cf 100644 --- a/components/hal/include/hal/twai_hal.h +++ b/components/hal/include/hal/twai_hal.h @@ -129,6 +129,7 @@ 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); } @@ -188,7 +189,7 @@ 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;