413 can 异常处理逻辑尝试调整

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>

libraries/HAL_Drivers/drv_can.c

@@ -1088,13 +1088,13 @@ void CAN3_SCE_IRQHandler(void)
         break;
     case RT_CAN_BUS_ACK_ERR:/* attention !!! test ack err's unit is transmit unit */
         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_EXPLICIT_BIT_ERR:
         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.errcode = errtype & 0x07;
     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();
 }
 #endif /* BSP_USING_CAN3 */