a1012112796/test_rtt_413
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413 can 异常处理逻辑尝试调整

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将仅在 ACT 异常处理结束发送等待改为所有异常均结束发送等待。
待测试验证。

Signed-off-by: a1012112796 <1012112796@qq.com>
This commit is contained in:
a1012112796
2024-11-13 15:39:03 +08:00
parent 5f6eb7aa69
commit d8d96bd242
1 changed files with 17 additions and 7 deletions
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24
libraries/HAL_Drivers/drv_can.c
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@@ -1088,13 +1088,13 @@ void CAN3_SCE_IRQHandler(void)
break; break;
case RT_CAN_BUS_ACK_ERR:/* attention !!! test ack err's unit is transmit unit */ case RT_CAN_BUS_ACK_ERR:/* attention !!! test ack err's unit is transmit unit */
drv_can3.device.status.ackerrcnt++; drv_can3.device.status.ackerrcnt++;
if (!READ_BIT(drv_can3.CanHandle.Instance->TSR, CAN_FLAG_TXOK0)) // if (!READ_BIT(drv_can3.CanHandle.Instance->TSR, CAN_FLAG_TXOK0))
rt_hw_can_isr(&drv_can3.device, RT_CAN_EVENT_TX_FAIL | 0 << 8); // rt_hw_can_isr(&drv_can3.device, RT_CAN_EVENT_TX_FAIL | 0 << 8);
else if (!READ_BIT(drv_can3.CanHandle.Instance->TSR, CAN_FLAG_TXOK0)) // else if (!READ_BIT(drv_can3.CanHandle.Instance->TSR, CAN_FLAG_TXOK0))
rt_hw_can_isr(&drv_can3.device, RT_CAN_EVENT_TX_FAIL | 1 << 8); // rt_hw_can_isr(&drv_can3.device, RT_CAN_EVENT_TX_FAIL | 1 << 8);
else if (!READ_BIT(drv_can3.CanHandle.Instance->TSR, CAN_FLAG_TXOK0)) // else if (!READ_BIT(drv_can3.CanHandle.Instance->TSR, CAN_FLAG_TXOK0))
rt_hw_can_isr(&drv_can3.device, RT_CAN_EVENT_TX_FAIL | 2 << 8); // rt_hw_can_isr(&drv_can3.device, RT_CAN_EVENT_TX_FAIL | 2 << 8);
break; // break;
case RT_CAN_BUS_IMPLICIT_BIT_ERR: case RT_CAN_BUS_IMPLICIT_BIT_ERR:
case RT_CAN_BUS_EXPLICIT_BIT_ERR: case RT_CAN_BUS_EXPLICIT_BIT_ERR:
drv_can3.device.status.biterrcnt++; drv_can3.device.status.biterrcnt++;
@@ -1109,6 +1109,16 @@ void CAN3_SCE_IRQHandler(void)
drv_can3.device.status.snderrcnt = (errtype >> 16 & 0xFF); drv_can3.device.status.snderrcnt = (errtype >> 16 & 0xFF);
drv_can3.device.status.errcode = errtype & 0x07; drv_can3.device.status.errcode = errtype & 0x07;
hcan->Instance->MSR |= CAN_MSR_ERRI; hcan->Instance->MSR |= CAN_MSR_ERRI;
// 警告: 为了避免can 发送线程在异常情况被阻塞，在遇到异常时，强制异常结束发送逻辑
// 本段代码待测试 !!!!
if (!READ_BIT(drv_can3.CanHandle.Instance->TSR, CAN_FLAG_TXOK0))
rt_hw_can_isr(&drv_can3.device, RT_CAN_EVENT_TX_FAIL | 0 << 8);
else if (!READ_BIT(drv_can3.CanHandle.Instance->TSR, CAN_FLAG_TXOK0))
rt_hw_can_isr(&drv_can3.device, RT_CAN_EVENT_TX_FAIL | 1 << 8);
else if (!READ_BIT(drv_can3.CanHandle.Instance->TSR, CAN_FLAG_TXOK0))
rt_hw_can_isr(&drv_can3.device, RT_CAN_EVENT_TX_FAIL | 2 << 8);
rt_interrupt_leave(); rt_interrupt_leave();
} }
#endif /* BSP_USING_CAN3 */ #endif /* BSP_USING_CAN3 */