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160e4d9a6d
The original code used a independent state with regards to the interrupt. During heavy bus error conditions the internal state could become out-of-sync with the interrupts. Further explanation: during the development of an application using CAN communication, a interrupt-run-away was found in some situations. It was found that the error interrupt triggered (Warning, Passive or Bus-Off, all triggered it) the run-away. The only recovery was a reset. Two problems were found: - the error interrupt is enabled but not cleared in the interrupt routine; - an internal variable 'State' that was used to track the message received state (empty, new, full, overflow) that was not directly related to interrupt that indicated the state. In this commit these issues are fixed by adding more values for the interrupt reason (warning, passive, bus off) and clearing the error interrupts, and making the internal state directly dependent on the interrupt state for received messages. Furthermore, introducing the FIFO1 in the CAN receive stage, another issue existed. Even if the messages are received into the FIFO1 (by selecting message filtering for FIFO0 and FIFO1), the interrupt firing was indicating FIFO0 Rx. The configuration of the interrupts for this is now also fixed. The CAN peripheral has 2 interrupt lines going into the NVIC controller. The assignment of the interrupt reasons to these 2 interrupt lines was missing. Now the reception of FIFO1 messages triggers the second interrupt line. Other interrupts (Rx FIFO0 and bus error) are assigned to the first interrupt line. Tested on a Nucleo-G474, and also checked the HAL function to work with the H7 family. |
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