From e59b6c7ab4d763c73ddfdb9794f61026e1f875df Mon Sep 17 00:00:00 2001 From: wdfk-prog <66928464+wdfk-prog@users.noreply.github.com> Date: Mon, 24 Oct 2022 10:37:19 +0800 Subject: [PATCH] =?UTF-8?q?FIX:=20[bsp][stm32]CAN=E4=BB=8EACK=E9=94=99?= =?UTF-8?q?=E8=AF=AF=E6=81=A2=E5=A4=8D=E5=90=8E=E5=8F=91=E9=80=81=E5=BC=82?= =?UTF-8?q?=E5=B8=B8=20(#6511)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * 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 --- bsp/stm32/libraries/HAL_Drivers/drv_can.c | 240 +++++++++------------- 1 file changed, 98 insertions(+), 142 deletions(-) diff --git a/bsp/stm32/libraries/HAL_Drivers/drv_can.c b/bsp/stm32/libraries/HAL_Drivers/drv_can.c index d119f91f3a..fd26514963 100644 --- a/bsp/stm32/libraries/HAL_Drivers/drv_can.c +++ b/bsp/stm32/libraries/HAL_Drivers/drv_can.c @@ -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 -/* 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) +{ + CAN_HandleTypeDef *hcan; + 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) { - rt_interrupt_enter(); CAN_HandleTypeDef *hcan; - hcan = &drv_can1.CanHandle; + 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 */ -- GitLab