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FIX: [bsp][stm32]CAN从ACK错误恢复后发送异常 (#6511)

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* 修改ry命令，已便于自定义保存路径

* modified:   components/utilities/ymodem/ry_sy.c

* 修复从被动错误恢复后发送返回异常

* 修复在自动重传模式下,ACK异常阻塞线程
- 删除TX中断函数else分支。仅当RQCP位 置一才进入该中断
- 添加SCE中断函数中关于ACK_ERR的else判断。自动重传模式下会进入该判断,打断自动重传释放完成量。

* 增加对于CAN1与CAN2的SCE中断和TX中断的公共处理函数

* formatting格式化代码
This commit is contained in:
wdfk-prog
2022-10-24 10:37:19 +08:00
committed by GitHub
parent de1d6dbc0e
commit e59b6c7ab4
1 changed files with 98 additions and 142 deletions
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240
bsp/stm32/libraries/HAL_Drivers/drv_can.c
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@@ -1,5 +1,5 @@
/*
* Copyright (c) 2006-2021, RT-Thread Development Team
* Copyright (c) 2006-2022, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
@@ -22,7 +22,7 @@
#define LOG_TAG "drv_can"
#include <drv_log.h>
/* attention !!! baud calculation example: Tclk / ((ss + bs1 + bs2) * brp) 36 / ((1 + 8 + 3) * 3) = 1MHz*/
/* attention !!! baud calculation example: Tclk / ((ss + bs1 + bs2) * brp) = 36 / ((1 + 8 + 3) * 3) = 1MHz*/
#if defined (SOC_SERIES_STM32F1)/* APB1 36MHz(max) */
static const struct stm32_baud_rate_tab can_baud_rate_tab[] =
{
@@ -689,24 +689,94 @@ static void _can_rx_isr(struct rt_can_device *can, rt_uint32_t fifo)
}
}
#ifdef BSP_USING_CAN1
/**
* @brief This function handles CAN1 TX interrupts. transmit fifo0/1/2 is empty can trigger this interrupt
*/
void CAN1_TX_IRQHandler(void)
static void _can_sce_isr(struct rt_can_device *can)
{
rt_interrupt_enter();
CAN_HandleTypeDef *hcan;
hcan = &drv_can1.CanHandle;
RT_ASSERT(can);
hcan = &((struct stm32_can *) can->parent.user_data)->CanHandle;
rt_uint32_t errtype = hcan->Instance->ESR;
switch ((errtype & 0x70) >> 4)
{
case RT_CAN_BUS_BIT_PAD_ERR:
can->status.bitpaderrcnt++;
break;
case RT_CAN_BUS_FORMAT_ERR:
can->status.formaterrcnt++;
break;
case RT_CAN_BUS_ACK_ERR:/* attention !!! test ack err's unit is transmit unit */
can->status.ackerrcnt++;
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_RQCP0))
{
if (!__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK0))
{
rt_hw_can_isr(can, RT_CAN_EVENT_TX_FAIL | 0 << 8);
}
SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP0);
}
else if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_RQCP1))
{
if (!__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK1))
{
rt_hw_can_isr(can, RT_CAN_EVENT_TX_FAIL | 1 << 8);
}
SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP1);
}
else if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_RQCP2))
{
if (!__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK2))
{
rt_hw_can_isr(can, RT_CAN_EVENT_TX_FAIL | 2 << 8);
}
SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP2);
}
else
{
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TERR0))/*IF AutoRetransmission = ENABLE,ACK ERR handler*/
{
SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ0);/*Abort the send request, trigger the TX interrupt,release completion quantity*/
}
else if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TERR1))
{
SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ1);
}
else if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TERR2))
{
SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ2);
}
}
break;
case RT_CAN_BUS_IMPLICIT_BIT_ERR:
case RT_CAN_BUS_EXPLICIT_BIT_ERR:
can->status.biterrcnt++;
break;
case RT_CAN_BUS_CRC_ERR:
can->status.crcerrcnt++;
break;
}
can->status.lasterrtype = errtype & 0x70;
can->status.rcverrcnt = errtype >> 24;
can->status.snderrcnt = (errtype >> 16 & 0xFF);
can->status.errcode = errtype & 0x07;
hcan->Instance->MSR |= CAN_MSR_ERRI;
}
static void _can_tx_isr(struct rt_can_device *can)
{
CAN_HandleTypeDef *hcan;
RT_ASSERT(can);
hcan = &((struct stm32_can *) can->parent.user_data)->CanHandle;
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_RQCP0))
{
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK0))
{
rt_hw_can_isr(&drv_can1.device, RT_CAN_EVENT_TX_DONE | 0 << 8);
rt_hw_can_isr(can, RT_CAN_EVENT_TX_DONE | 0 << 8);
}
else
{
rt_hw_can_isr(&drv_can1.device, RT_CAN_EVENT_TX_FAIL | 0 << 8);
rt_hw_can_isr(can, RT_CAN_EVENT_TX_FAIL | 0 << 8);
}
/* Write 0 to Clear transmission status flag RQCPx */
SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP0);
@@ -715,11 +785,11 @@ void CAN1_TX_IRQHandler(void)
{
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK1))
{
rt_hw_can_isr(&drv_can1.device, RT_CAN_EVENT_TX_DONE | 1 << 8);
rt_hw_can_isr(can, RT_CAN_EVENT_TX_DONE | 1 << 8);
}
else
{
rt_hw_can_isr(&drv_can1.device, RT_CAN_EVENT_TX_FAIL | 1 << 8);
rt_hw_can_isr(can, RT_CAN_EVENT_TX_FAIL | 1 << 8);
}
/* Write 0 to Clear transmission status flag RQCPx */
SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP1);
@@ -728,19 +798,25 @@ void CAN1_TX_IRQHandler(void)
{
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK2))
{
rt_hw_can_isr(&drv_can1.device, RT_CAN_EVENT_TX_DONE | 2 << 8);
rt_hw_can_isr(can, RT_CAN_EVENT_TX_DONE | 2 << 8);
}
else
{
rt_hw_can_isr(&drv_can1.device, RT_CAN_EVENT_TX_FAIL | 2 << 8);
rt_hw_can_isr(can, RT_CAN_EVENT_TX_FAIL | 2 << 8);
}
/* Write 0 to Clear transmission status flag RQCPx */
SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP2);
}
else
{
rt_hw_can_isr(&drv_can1.device, RT_CAN_EVENT_TX_FAIL | 0 << 8);
}
}
#ifdef BSP_USING_CAN1
/**
* @brief This function handles CAN1 TX interrupts. transmit fifo0/1/2 is empty can trigger this interrupt
*/
void CAN1_TX_IRQHandler(void)
{
rt_interrupt_enter();
_can_tx_isr(&drv_can1.device);
rt_interrupt_leave();
}
@@ -769,46 +845,8 @@ void CAN1_RX1_IRQHandler(void)
*/
void CAN1_SCE_IRQHandler(void)
{
rt_uint32_t errtype;
CAN_HandleTypeDef *hcan;
hcan = &drv_can1.CanHandle;
errtype = hcan->Instance->ESR;
rt_interrupt_enter();
HAL_CAN_IRQHandler(hcan);
switch ((errtype & 0x70) >> 4)
{
case RT_CAN_BUS_BIT_PAD_ERR:
drv_can1.device.status.bitpaderrcnt++;
break;
case RT_CAN_BUS_FORMAT_ERR:
drv_can1.device.status.formaterrcnt++;
break;
case RT_CAN_BUS_ACK_ERR:/* attention !!! test ack err's unit is transmit unit */
drv_can1.device.status.ackerrcnt++;
if (!READ_BIT(drv_can1.CanHandle.Instance->TSR, CAN_FLAG_TXOK0))
rt_hw_can_isr(&drv_can1.device, RT_CAN_EVENT_TX_FAIL | 0 << 8);
else if (!READ_BIT(drv_can1.CanHandle.Instance->TSR, CAN_FLAG_TXOK1))
rt_hw_can_isr(&drv_can1.device, RT_CAN_EVENT_TX_FAIL | 1 << 8);
else if (!READ_BIT(drv_can1.CanHandle.Instance->TSR, CAN_FLAG_TXOK2))
rt_hw_can_isr(&drv_can1.device, RT_CAN_EVENT_TX_FAIL | 2 << 8);
break;
case RT_CAN_BUS_IMPLICIT_BIT_ERR:
case RT_CAN_BUS_EXPLICIT_BIT_ERR:
drv_can1.device.status.biterrcnt++;
break;
case RT_CAN_BUS_CRC_ERR:
drv_can1.device.status.crcerrcnt++;
break;
}
drv_can1.device.status.lasterrtype = errtype & 0x70;
drv_can1.device.status.rcverrcnt = errtype >> 24;
drv_can1.device.status.snderrcnt = (errtype >> 16 & 0xFF);
drv_can1.device.status.errcode = errtype & 0x07;
hcan->Instance->MSR |= CAN_MSR_ERRI;
_can_sce_isr(&drv_can1.device);
rt_interrupt_leave();
}
#endif /* BSP_USING_CAN1 */
@@ -820,51 +858,7 @@ void CAN1_SCE_IRQHandler(void)
void CAN2_TX_IRQHandler(void)
{
rt_interrupt_enter();
CAN_HandleTypeDef *hcan;
hcan = &drv_can2.CanHandle;
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_RQCP0))
{
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK0))
{
rt_hw_can_isr(&drv_can2.device, RT_CAN_EVENT_TX_DONE | 0 << 8);
}
else
{
rt_hw_can_isr(&drv_can2.device, RT_CAN_EVENT_TX_FAIL | 0 << 8);
}
/* Write 0 to Clear transmission status flag RQCPx */
SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP0);
}
else if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_RQCP1))
{
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK1))
{
rt_hw_can_isr(&drv_can2.device, RT_CAN_EVENT_TX_DONE | 1 << 8);
}
else
{
rt_hw_can_isr(&drv_can2.device, RT_CAN_EVENT_TX_FAIL | 1 << 8);
}
/* Write 0 to Clear transmission status flag RQCPx */
SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP1);
}
else if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_RQCP2))
{
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK2))
{
rt_hw_can_isr(&drv_can2.device, RT_CAN_EVENT_TX_DONE | 2 << 8);
}
else
{
rt_hw_can_isr(&drv_can2.device, RT_CAN_EVENT_TX_FAIL | 2 << 8);
}
/* Write 0 to Clear transmission status flag RQCPx */
SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP2);
}
else
{
rt_hw_can_isr(&drv_can2.device, RT_CAN_EVENT_TX_FAIL | 0 << 8);
}
_can_tx_isr(&drv_can2.device);
rt_interrupt_leave();
}
@@ -893,46 +887,8 @@ void CAN2_RX1_IRQHandler(void)
*/
void CAN2_SCE_IRQHandler(void)
{
rt_uint32_t errtype;
CAN_HandleTypeDef *hcan;
hcan = &drv_can2.CanHandle;
errtype = hcan->Instance->ESR;
rt_interrupt_enter();
HAL_CAN_IRQHandler(hcan);
switch ((errtype & 0x70) >> 4)
{
case RT_CAN_BUS_BIT_PAD_ERR:
drv_can2.device.status.bitpaderrcnt++;
break;
case RT_CAN_BUS_FORMAT_ERR:
drv_can2.device.status.formaterrcnt++;
break;
case RT_CAN_BUS_ACK_ERR:
drv_can2.device.status.ackerrcnt++;
if (!READ_BIT(drv_can2.CanHandle.Instance->TSR, CAN_FLAG_TXOK0))
rt_hw_can_isr(&drv_can2.device, RT_CAN_EVENT_TX_FAIL | 0 << 8);
else if (!READ_BIT(drv_can2.CanHandle.Instance->TSR, CAN_FLAG_TXOK1))
rt_hw_can_isr(&drv_can2.device, RT_CAN_EVENT_TX_FAIL | 1 << 8);
else if (!READ_BIT(drv_can2.CanHandle.Instance->TSR, CAN_FLAG_TXOK2))
rt_hw_can_isr(&drv_can2.device, RT_CAN_EVENT_TX_FAIL | 2 << 8);
break;
case RT_CAN_BUS_IMPLICIT_BIT_ERR:
case RT_CAN_BUS_EXPLICIT_BIT_ERR:
drv_can2.device.status.biterrcnt++;
break;
case RT_CAN_BUS_CRC_ERR:
drv_can2.device.status.crcerrcnt++;
break;
}
drv_can2.device.status.lasterrtype = errtype & 0x70;
drv_can2.device.status.rcverrcnt = errtype >> 24;
drv_can2.device.status.snderrcnt = (errtype >> 16 & 0xFF);
drv_can2.device.status.errcode = errtype & 0x07;
hcan->Instance->MSR |= CAN_MSR_ERRI;
_can_sce_isr(&drv_can2.device);
rt_interrupt_leave();
}
#endif /* BSP_USING_CAN2 */