feedc0de/esp-idf
1
0
Fork 0
forked from espressif/esp-idf
Code Pull Requests Activity

fix(twai): fixed twai assert fail when recover

Browse Source 
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 bdd9077b6e
commit fd6ed42d7c
2 changed files with 7 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

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 * SPDX-License-Identifier: Apache-2.0
*/ */
@ -196,8 +196,10 @@ static inline void twai_handle_tx_buffer_frame(twai_obj_t *p_twai_obj, BaseType_
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(&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; 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

@ -174,6 +174,7 @@ 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);
} }
@ -235,7 +236,7 @@ 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;