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Merge branch 'bugfix/can_driver_assertions_v3.3' into 'release/v3.3'

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drivers/can: fix skipped function calls when assertions disabled (backport v3.3)

See merge request espressif/esp-idf!6406
This commit is contained in:
Jiang Jiang Jian 2019-10-21 20:12:54 +08:00
commit f490eda68c
1 changed files with 23 additions and 11 deletions
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34
components/driver/can.c
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@ -454,13 +454,17 @@ static void can_intr_handler_tx(can_status_reg_t *status, int *alert_req)
//Update TX message count
p_can_obj->tx_msg_count--;
configASSERT(p_can_obj->tx_msg_count >= 0); //Sanity check
assert(p_can_obj->tx_msg_count >= 0); //Sanity check
//Check if there are more frames to transmit
if (p_can_obj->tx_msg_count > 0 && p_can_obj->tx_queue != NULL) {
can_frame_t frame;
configASSERT(xQueueReceiveFromISR(p_can_obj->tx_queue, &frame, NULL) == pdTRUE);
can_set_tx_buffer_and_transmit(&frame);
int res = xQueueReceiveFromISR(p_can_obj->tx_queue, &frame, NULL);
if (res == pdTRUE) {
can_set_tx_buffer_and_transmit(&frame);
} else {
assert(false && "failed to get a frame from TX queue");
}
} else {
//No more frames to transmit
CAN_RESET_FLAG(p_can_obj->control_flags, CTRL_FLAG_TX_BUFF_OCCUPIED);
@ -675,7 +679,8 @@ esp_err_t can_driver_install(const can_general_config_t *g_config, const can_tim
}
periph_module_reset(PERIPH_CAN_MODULE);
periph_module_enable(PERIPH_CAN_MODULE); //Enable APB CLK to CAN peripheral
configASSERT(can_enter_reset_mode() == ESP_OK); //Must enter reset mode to write to config registers
esp_err_t err = can_exit_reset_mode(); //Must enter reset mode to write to config registers
assert(err == ESP_OK);
can_config_pelican(); //Use PeliCAN addresses
/* Note: REC is allowed to increase even in reset mode. Listen only mode
will freeze REC. The desired mode will be set when can_start() is called. */
@ -730,7 +735,8 @@ esp_err_t can_driver_uninstall()
//Check state
CAN_CHECK_FROM_CRIT(p_can_obj != NULL, ESP_ERR_INVALID_STATE);
CAN_CHECK_FROM_CRIT(p_can_obj->control_flags & (CTRL_FLAG_STOPPED | CTRL_FLAG_BUS_OFF), ESP_ERR_INVALID_STATE);
configASSERT(can_enter_reset_mode() == ESP_OK); //Enter reset mode to stop any CAN bus activity
esp_err_t err = can_exit_reset_mode(); //Enter reset mode to stop any CAN bus activity
assert(err == ESP_OK);
//Clear registers by reading
(void) can_get_interrupt_reason();
(void) can_get_arbitration_lost_capture();
@ -768,7 +774,8 @@ esp_err_t can_start()
//Reset RX queue, and RX message count
xQueueReset(p_can_obj->rx_queue);
p_can_obj->rx_msg_count = 0;
configASSERT(can_enter_reset_mode() == ESP_OK); //Should already be in bus-off mode, set again to make sure
esp_err_t err = can_exit_reset_mode(); //Should already be in bus-off mode, set again to make sure
assert(err == ESP_OK);
//Currently in listen only mode, need to set to mode specified by configuration
can_mode_t mode;
@ -781,7 +788,8 @@ esp_err_t can_start()
}
can_config_mode(mode); //Set mode
(void) can_get_interrupt_reason(); //Clear interrupt register
configASSERT(can_exit_reset_mode() == ESP_OK);
err = can_exit_reset_mode();
assert(err == ESP_OK);
CAN_RESET_FLAG(p_can_obj->control_flags, CTRL_FLAG_STOPPED);
CAN_EXIT_CRITICAL();
@ -796,7 +804,8 @@ esp_err_t can_stop()
CAN_CHECK_FROM_CRIT(!(p_can_obj->control_flags & (CTRL_FLAG_STOPPED | CTRL_FLAG_BUS_OFF)), ESP_ERR_INVALID_STATE);
//Clear interrupts and reset flags
configASSERT(can_enter_reset_mode() == ESP_OK);
esp_err_t err = can_exit_reset_mode();
assert(err == ESP_OK);
(void) can_get_interrupt_reason(); //Read interrupt register to clear interrupts
can_config_mode(CAN_MODE_LISTEN_ONLY); //Set to listen only mode to freeze REC
CAN_RESET_FLAG(p_can_obj->control_flags, CTRL_FLAG_TX_BUFF_OCCUPIED);
@ -847,11 +856,13 @@ esp_err_t can_transmit(const can_message_t *message, TickType_t ticks_to_wait)
CAN_ENTER_CRITICAL();
if (p_can_obj->control_flags & (CTRL_FLAG_STOPPED | CTRL_FLAG_BUS_OFF)) {
//TX queue was reset (due to stop/bus_off), remove copied frame from queue to prevent transmission
configASSERT(xQueueReceive(p_can_obj->tx_queue, &tx_frame, 0) == pdTRUE);
int res = xQueueReceive(p_can_obj->tx_queue, &tx_frame, 0);
assert(res == pdTRUE);
ret = ESP_ERR_INVALID_STATE;
} else if ((p_can_obj->tx_msg_count == 0) && !(p_can_obj->control_flags & CTRL_FLAG_TX_BUFF_OCCUPIED)) {
//TX buffer was freed during copy, manually trigger transmission
configASSERT(xQueueReceive(p_can_obj->tx_queue, &tx_frame, 0) == pdTRUE);
int res = xQueueReceive(p_can_obj->tx_queue, &tx_frame, 0);
assert(res == pdTRUE);
can_set_tx_buffer_and_transmit(&tx_frame);
p_can_obj->tx_msg_count++;
CAN_SET_FLAG(p_can_obj->control_flags, CTRL_FLAG_TX_BUFF_OCCUPIED);
@ -942,7 +953,8 @@ esp_err_t can_initiate_recovery()
CAN_SET_FLAG(p_can_obj->control_flags, CTRL_FLAG_RECOVERING);
//Trigger start of recovery process
configASSERT(can_exit_reset_mode() == ESP_OK);
esp_err_t err = can_exit_reset_mode();
assert(err == ESP_OK);
CAN_EXIT_CRITICAL();
return ESP_OK;