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Merge branch 'contrib/github_pr_15484_v5.0' into 'release/v5.0'

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fix(twai): fixed twai assert fail during recover (GitHub PR) (v5.0)

See merge request espressif/esp-idf!37996
This commit is contained in:
morris
2025-03-27 13:45:35 +08:00
parent 29797ad298 d1b03d36ba
commit 10130e92d7
2 changed files with 7 additions and 4 deletions
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8
components/driver/twai.c
View File

@@ -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 * 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--; p_twai_obj->tx_msg_count--;
assert(p_twai_obj->tx_msg_count >= 0); //Sanity check assert(p_twai_obj->tx_msg_count >= 0); //Sanity check
//Check if there are more frames to transmit //If not bus-off, check if there are more frames to transmit
if (p_twai_obj->tx_msg_count > 0 && p_twai_obj->tx_queue != NULL) { 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; twai_hal_frame_t frame;
int res = xQueueReceiveFromISR(p_twai_obj->tx_queue, &frame, task_woken); int res = xQueueReceiveFromISR(p_twai_obj->tx_queue, &frame, task_woken);
if (res == pdTRUE) { if (res == pdTRUE) {

3
components/hal/include/hal/twai_hal.h
View File

@@ -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) 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_HAL_SET_BITS(hal_ctx->state_flags, TWAI_HAL_STATE_FLAG_RECOVERING);
twai_ll_exit_reset_mode(hal_ctx->dev); 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 * @param check_flags Bit mask of flags to check
* @return True if one or more of the flags in check_flags are set * @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) 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; return hal_ctx->state_flags & check_flags;