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uavcan: stm32h7: Fix improper loopback handling

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Fixes #15305
This commit is contained in:
JacobCrabill
2020-08-03 18:04:53 -07:00
committed by Daniel Agar
parent f9c8d38e44
commit b164174037
2 changed files with 10 additions and 3 deletions
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src/drivers/uavcan/uavcan_drivers/stm32h7/driver/include/uavcan_stm32h7/can.hpp
+1 -1
View File
@@ -94,7 +94,7 @@ class CanIface : public uavcan::ICanIface, uavcan::Noncopyable
uavcan::MonotonicTime deadline;
uavcan::CanFrame frame;
uavcan::uint8_t index;
//bool pending;
bool pending;
bool loopback;
bool abort_on_error;
src/drivers/uavcan/uavcan_drivers/stm32h7/driver/src/uc_stm32h7_can.cpp
+9 -2
View File
@@ -470,6 +470,7 @@ uavcan::int16_t CanIface::send(const uavcan::CanFrame &frame, uavcan::MonotonicT
txi.loopback = (flags & uavcan::CanIOFlagLoopback) != 0;
txi.abort_on_error = (flags & uavcan::CanIOFlagAbortOnError) != 0;
txi.index = index;
txi.pending = true;
return 1;
}
@@ -705,9 +706,13 @@ void CanIface::handleTxInterrupt(const uavcan::uint64_t utc_usec)
for (uint8_t i = 0; i < NumTxMailboxes; i++) {
if ((can_->TXBTO & (1 << i)) > 0) {
// Transmission Occurred in buffer i
if (pending_tx_[i].loopback && had_activity_) {
rx_queue_.push(pending_tx_[i].frame, utc_usec, uavcan::CanIOFlagLoopback);
TxItem &txi = pending_tx_[i];
if (txi.loopback && txi.pending) {
rx_queue_.push(txi.frame, utc_usec, uavcan::CanIOFlagLoopback);
}
txi.pending = false;
}
}
@@ -818,6 +823,7 @@ void CanIface::pollErrorFlagsFromISR()
if (txi.abort_on_error && ((1 << txi.index) & can_->TXBRP)) {
// Request to Cancel Tx item
can_->TXBCR = (1 << txi.index);
txi.pending = false;
error_cnt_++;
served_aborts_cnt_++;
}
@@ -835,6 +841,7 @@ void CanIface::discardTimedOutTxMailboxes(uavcan::MonotonicTime current_time)
if (((1 << txi.index) & can_->TXBRP) && txi.deadline < current_time) {
// Request to Cancel Tx item
can_->TXBCR = (1 << txi.index);
txi.pending = false;
error_cnt_++;
}
}