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Merge branch 'bugfix/twai_assert_program_logic' into 'master'

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TWAI: Remove asserts used for program logic

Closes IDFGH-3729

See merge request espressif/esp-idf!9834
This commit is contained in:
Michael (XIAO Xufeng)
2020-07-30 18:09:50 +08:00
parent 570629dcca f790e0cc28
commit c77c4ccf6c
1 changed files with 11 additions and 6 deletions
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15
components/driver/twai.c
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@@ -130,7 +130,8 @@ static inline void twai_handle_bus_off(int *alert_req)
static inline void twai_handle_recovery_complete(int *alert_req) static inline void twai_handle_recovery_complete(int *alert_req)
{ {
//Bus recovery complete. //Bus recovery complete.
assert(twai_hal_handle_bus_recov_cplt(&twai_context)); bool recov_cplt = twai_hal_handle_bus_recov_cplt(&twai_context);
assert(recov_cplt);
//Reset and set flags to the equivalent of the stopped state //Reset and set flags to the equivalent of the stopped state
TWAI_RESET_FLAG(p_twai_obj->control_flags, CTRL_FLAG_RECOVERING | CTRL_FLAG_ERR_WARN | TWAI_RESET_FLAG(p_twai_obj->control_flags, CTRL_FLAG_RECOVERING | CTRL_FLAG_ERR_WARN |
@@ -381,7 +382,8 @@ esp_err_t twai_driver_install(const twai_general_config_t *g_config, const twai_
} }
periph_module_reset(PERIPH_TWAI_MODULE); periph_module_reset(PERIPH_TWAI_MODULE);
periph_module_enable(PERIPH_TWAI_MODULE); //Enable APB CLK to TWAI peripheral periph_module_enable(PERIPH_TWAI_MODULE); //Enable APB CLK to TWAI peripheral
assert(twai_hal_init(&twai_context)); bool init = twai_hal_init(&twai_context);
assert(init);
twai_hal_configure(&twai_context, t_config, f_config, DRIVER_DEFAULT_INTERRUPTS, g_config->clkout_divider); twai_hal_configure(&twai_context, t_config, f_config, DRIVER_DEFAULT_INTERRUPTS, g_config->clkout_divider);
//Todo: Allow interrupt to be registered to specified CPU //Todo: Allow interrupt to be registered to specified CPU
TWAI_EXIT_CRITICAL(); TWAI_EXIT_CRITICAL();
@@ -467,7 +469,8 @@ esp_err_t twai_start(void)
//Todo: Add assert to see if in reset mode. //Should already be in bus-off mode, set again to make sure //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 //Currently in listen only mode, need to set to mode specified by configuration
assert(twai_hal_start(&twai_context, p_twai_obj->mode)); bool started = twai_hal_start(&twai_context, p_twai_obj->mode);
assert(started);
TWAI_RESET_FLAG(p_twai_obj->control_flags, CTRL_FLAG_STOPPED); TWAI_RESET_FLAG(p_twai_obj->control_flags, CTRL_FLAG_STOPPED);
TWAI_EXIT_CRITICAL(); TWAI_EXIT_CRITICAL();
@@ -481,7 +484,8 @@ esp_err_t twai_stop(void)
TWAI_CHECK_FROM_CRIT(p_twai_obj != NULL, ESP_ERR_INVALID_STATE); TWAI_CHECK_FROM_CRIT(p_twai_obj != NULL, ESP_ERR_INVALID_STATE);
TWAI_CHECK_FROM_CRIT(!(p_twai_obj->control_flags & (CTRL_FLAG_STOPPED | CTRL_FLAG_BUS_OFF)), ESP_ERR_INVALID_STATE); TWAI_CHECK_FROM_CRIT(!(p_twai_obj->control_flags & (CTRL_FLAG_STOPPED | CTRL_FLAG_BUS_OFF)), ESP_ERR_INVALID_STATE);
assert(twai_hal_stop(&twai_context)); bool stopped = twai_hal_stop(&twai_context);
assert(stopped);
TWAI_RESET_FLAG(p_twai_obj->control_flags, CTRL_FLAG_TX_BUFF_OCCUPIED); TWAI_RESET_FLAG(p_twai_obj->control_flags, CTRL_FLAG_TX_BUFF_OCCUPIED);
TWAI_SET_FLAG(p_twai_obj->control_flags, CTRL_FLAG_STOPPED); TWAI_SET_FLAG(p_twai_obj->control_flags, CTRL_FLAG_STOPPED);
@@ -630,7 +634,8 @@ esp_err_t twai_initiate_recovery(void)
TWAI_SET_FLAG(p_twai_obj->control_flags, CTRL_FLAG_RECOVERING); TWAI_SET_FLAG(p_twai_obj->control_flags, CTRL_FLAG_RECOVERING);
//Trigger start of recovery process //Trigger start of recovery process
assert(twai_hal_start_bus_recovery(&twai_context)); bool started = twai_hal_start_bus_recovery(&twai_context);
assert(started);
TWAI_EXIT_CRITICAL(); TWAI_EXIT_CRITICAL();
return ESP_OK; return ESP_OK;