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twai: twai_driver_install() returns error on interrupt allocation failure

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This commit updates twai_driver_install() so that an error is returned when
esp_intr_alloc() fails, instead of aborting.

Closes https://github.com/espressif/esp-idf/pull/11494

[darian@espressif.com: Refactored object allocation and free procedures]
[darian@espressif.com: Updated commit message]
Signed-off-by: Darian Leung <darian@espressif.com>
This commit is contained in:
Nebojsa Cvetkovic 2023-05-24 23:31:17 +02:00 committed by morris
parent 25876e8f49
commit 075bbb526c
1 changed files with 83 additions and 57 deletions
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140
components/driver/twai/twai.c
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@ -1,10 +1,9 @@
/*
* SPDX-FileCopyrightText: 2015-2022 Espressif Systems (Shanghai) CO LTD
* SPDX-FileCopyrightText: 2015-2023 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
#include "sdkconfig.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
@ -325,10 +324,15 @@ static void twai_configure_gpio(gpio_num_t tx, gpio_num_t rx, gpio_num_t clkout,
static void twai_free_driver_obj(twai_obj_t *p_obj)
{
//Free driver object and any dependent SW resources it uses (queues, semaphores etc)
//Free driver object and any dependent SW resources it uses (queues, semaphores, interrupts, PM locks etc)
#if CONFIG_PM_ENABLE
if (p_obj->pm_lock != NULL) {
ESP_ERROR_CHECK(esp_pm_lock_delete(p_obj->pm_lock));
}
#endif //CONFIG_PM_ENABLE
if (p_obj->isr_handle) {
ESP_ERROR_CHECK(esp_intr_free(p_obj->isr_handle));
}
//Delete queues and semaphores
if (p_obj->tx_queue != NULL) {
vQueueDelete(p_obj->tx_queue);
@ -350,57 +354,92 @@ static void twai_free_driver_obj(twai_obj_t *p_obj)
free(p_obj);
}
static twai_obj_t *twai_alloc_driver_obj(uint32_t tx_queue_len, uint32_t rx_queue_len)
static esp_err_t twai_alloc_driver_obj(const twai_general_config_t *g_config, twai_clock_source_t clk_src, int controller_id, twai_obj_t **p_twai_obj_ret)
{
//Allocates driver object and any dependent SW resources it uses (queues, semaphores etc)
//Allocate driver object and any dependent SW resources it uses (queues, semaphores, interrupts, PM locks etc)
esp_err_t ret;
//Create a TWAI driver object
twai_obj_t *p_obj = heap_caps_calloc(1, sizeof(twai_obj_t), TWAI_MALLOC_CAPS);
if (p_obj == NULL) {
return NULL;
return ESP_ERR_NO_MEM;
}
#ifdef CONFIG_TWAI_ISR_IN_IRAM
//Allocate memory for queues and semaphores in DRAM
if (tx_queue_len > 0) {
p_obj->tx_queue_buff = heap_caps_calloc(tx_queue_len, sizeof(twai_hal_frame_t), TWAI_MALLOC_CAPS);
if (g_config->tx_queue_len > 0) {
p_obj->tx_queue_buff = heap_caps_calloc(g_config->tx_queue_len, sizeof(twai_hal_frame_t), TWAI_MALLOC_CAPS);
p_obj->tx_queue_struct = heap_caps_calloc(1, sizeof(StaticQueue_t), TWAI_MALLOC_CAPS);
if (p_obj->tx_queue_buff == NULL || p_obj->tx_queue_struct == NULL) {
goto cleanup;
ret = ESP_ERR_NO_MEM;
goto err;
}
}
p_obj->rx_queue_buff = heap_caps_calloc(rx_queue_len, sizeof(twai_hal_frame_t), TWAI_MALLOC_CAPS);
p_obj->rx_queue_buff = heap_caps_calloc(g_config->rx_queue_len, sizeof(twai_hal_frame_t), TWAI_MALLOC_CAPS);
p_obj->rx_queue_struct = heap_caps_calloc(1, sizeof(StaticQueue_t), TWAI_MALLOC_CAPS);
p_obj->semphr_struct = heap_caps_calloc(1, sizeof(StaticSemaphore_t), TWAI_MALLOC_CAPS);
if (p_obj->rx_queue_buff == NULL || p_obj->rx_queue_struct == NULL || p_obj->semphr_struct == NULL) {
goto cleanup;
ret = ESP_ERR_NO_MEM;
goto err;
}
//Create static queues and semaphores
if (tx_queue_len > 0) {
p_obj->tx_queue = xQueueCreateStatic(tx_queue_len, sizeof(twai_hal_frame_t), p_obj->tx_queue_buff, p_obj->tx_queue_struct);
if (g_config->tx_queue_len > 0) {
p_obj->tx_queue = xQueueCreateStatic(g_config->tx_queue_len, sizeof(twai_hal_frame_t), p_obj->tx_queue_buff, p_obj->tx_queue_struct);
if (p_obj->tx_queue == NULL) {
goto cleanup;
ret = ESP_ERR_NO_MEM;
goto err;
}
}
p_obj->rx_queue = xQueueCreateStatic(rx_queue_len, sizeof(twai_hal_frame_t), p_obj->rx_queue_buff, p_obj->rx_queue_struct);
p_obj->rx_queue = xQueueCreateStatic(g_config->rx_queue_len, sizeof(twai_hal_frame_t), p_obj->rx_queue_buff, p_obj->rx_queue_struct);
p_obj->alert_semphr = xSemaphoreCreateBinaryStatic(p_obj->semphr_struct);
if (p_obj->rx_queue == NULL || p_obj->alert_semphr == NULL) {
goto cleanup;
ret = ESP_ERR_NO_MEM;
goto err;
}
#else //CONFIG_TWAI_ISR_IN_IRAM
if (tx_queue_len > 0) {
p_obj->tx_queue = xQueueCreate(tx_queue_len, sizeof(twai_hal_frame_t));
if (g_config->tx_queue_len > 0) {
p_obj->tx_queue = xQueueCreate(g_config->tx_queue_len, sizeof(twai_hal_frame_t));
}
p_obj->rx_queue = xQueueCreate(rx_queue_len, sizeof(twai_hal_frame_t));
p_obj->rx_queue = xQueueCreate(g_config->rx_queue_len, sizeof(twai_hal_frame_t));
p_obj->alert_semphr = xSemaphoreCreateBinary();
if ((tx_queue_len > 0 && p_obj->tx_queue == NULL) || p_obj->rx_queue == NULL || p_obj->alert_semphr == NULL) {
goto cleanup;
if ((g_config->tx_queue_len > 0 && p_obj->tx_queue == NULL) || p_obj->rx_queue == NULL || p_obj->alert_semphr == NULL) {
ret = ESP_ERR_NO_MEM;
goto err;
}
#endif //CONFIG_TWAI_ISR_IN_IRAM
//Allocate interrupt
ret = esp_intr_alloc(twai_controller_periph_signals.controllers[controller_id].irq_id,
g_config->intr_flags | ESP_INTR_FLAG_INTRDISABLED,
twai_intr_handler_main,
NULL,
&p_obj->isr_handle);
if (ret != ESP_OK) {
goto err;
}
#if CONFIG_PM_ENABLE
#if SOC_TWAI_CLK_SUPPORT_APB
// DFS can change APB frequency. So add lock to prevent sleep and APB freq from changing
if (clk_src == TWAI_CLK_SRC_APB) {
// TODO: pm_lock name should also reflect the controller ID
ret = esp_pm_lock_create(ESP_PM_APB_FREQ_MAX, 0, "twai", &(p_obj->pm_lock));
if (ret != ESP_OK) {
goto err;
}
}
#else // XTAL
// XTAL freq can be closed in light sleep, so we need to create a lock to prevent light sleep
ret = esp_pm_lock_create(ESP_PM_NO_LIGHT_SLEEP, 0, "twai", &(p_obj->pm_lock));
if (ret != ESP_OK) {
goto err;
}
#endif //SOC_TWAI_CLK_SUPPORT_APB
#endif //CONFIG_PM_ENABLE
return p_obj;
*p_twai_obj_ret = p_obj;
return ESP_OK;
cleanup:
err:
twai_free_driver_obj(p_obj);
return NULL;
return ret;
}
/* ---------------------------- Public Functions ---------------------------- */
@ -440,40 +479,23 @@ esp_err_t twai_driver_install(const twai_general_config_t *g_config, const twai_
esp_err_t ret;
twai_obj_t *p_twai_obj_dummy;
//Create a TWAI object (including queues and semaphores)
p_twai_obj_dummy = twai_alloc_driver_obj(g_config->tx_queue_len, g_config->rx_queue_len);
TWAI_CHECK(p_twai_obj_dummy != NULL, ESP_ERR_NO_MEM);
// TODO: Currently only controller 0 is supported by the driver. IDF-4775
int controller_id = p_twai_obj_dummy->controller_id;
const int controller_id = 0;
//Create a TWAI object (including queues, semaphores, interrupts, and PM locks)
ret = twai_alloc_driver_obj(g_config, clk_src, controller_id, &p_twai_obj_dummy);
if (ret != ESP_OK) {
return ret;
}
//Initialize flags and variables. All other members are already set to zero by twai_alloc_driver_obj()
p_twai_obj_dummy->controller_id = controller_id;
p_twai_obj_dummy->state = TWAI_STATE_STOPPED;
p_twai_obj_dummy->mode = g_config->mode;
p_twai_obj_dummy->alerts_enabled = g_config->alerts_enabled;
p_twai_obj_dummy->module = twai_controller_periph_signals.controllers[controller_id].module;
#if CONFIG_PM_ENABLE
#if SOC_TWAI_CLK_SUPPORT_APB
// DFS can change APB frequency. So add lock to prevent sleep and APB freq from changing
if (clk_src == TWAI_CLK_SRC_APB) {
// TODO: pm_lock name should also reflect the controller ID
ret = esp_pm_lock_create(ESP_PM_APB_FREQ_MAX, 0, "twai", &(p_twai_obj_dummy->pm_lock));
if (ret != ESP_OK) {
goto err;
}
}
#else // XTAL
// XTAL freq can be closed in light sleep, so we need to create a lock to prevent light sleep
ret = esp_pm_lock_create(ESP_PM_NO_LIGHT_SLEEP, 0, "twai", &(p_twai_obj_dummy->pm_lock));
if (ret != ESP_OK) {
goto err;
}
#endif //SOC_TWAI_CLK_SUPPORT_APB
#endif //CONFIG_PM_ENABLE
//Initialize TWAI peripheral registers, and allocate interrupt
//Assign the TWAI object
TWAI_ENTER_CRITICAL();
if (p_twai_obj == NULL) {
p_twai_obj = p_twai_obj_dummy;
@ -497,14 +519,17 @@ esp_err_t twai_driver_install(const twai_general_config_t *g_config, const twai_
twai_hal_configure(&twai_context, t_config, f_config, DRIVER_DEFAULT_INTERRUPTS, g_config->clkout_divider);
TWAI_EXIT_CRITICAL();
//Allocate GPIO and Interrupts
//Assign GPIO and Interrupts
twai_configure_gpio(g_config->tx_io, g_config->rx_io, g_config->clkout_io, g_config->bus_off_io);
ESP_ERROR_CHECK(esp_intr_alloc(twai_controller_periph_signals.controllers[controller_id].irq_id, g_config->intr_flags,
twai_intr_handler_main, NULL, &p_twai_obj->isr_handle));
#if CONFIG_PM_ENABLE
//Acquire PM lock
if (p_twai_obj->pm_lock) {
ESP_ERROR_CHECK(esp_pm_lock_acquire(p_twai_obj->pm_lock)); //Acquire pm_lock during the whole driver lifetime
}
#endif //CONFIG_PM_ENABLE
//Enable interrupt
ESP_ERROR_CHECK(esp_intr_enable(p_twai_obj->isr_handle));
return ESP_OK; //TWAI module is still in reset mode, users need to call twai_start() afterwards
err:
@ -527,13 +552,14 @@ esp_err_t twai_driver_uninstall(void)
p_twai_obj = NULL;
TWAI_EXIT_CRITICAL();
ESP_ERROR_CHECK(esp_intr_free(p_twai_obj_dummy->isr_handle)); //Free interrupt
#if CONFIG_PM_ENABLE
if (p_twai_obj_dummy->pm_lock) {
//Release and delete power management lock
ESP_ERROR_CHECK(esp_pm_lock_release(p_twai_obj_dummy->pm_lock));
}
#endif //CONFIG_PM_ENABLE
//Disable interrupt
ESP_ERROR_CHECK(esp_intr_disable(p_twai_obj_dummy->isr_handle));
//Free can driver object
twai_free_driver_obj(p_twai_obj_dummy);
return ESP_OK;