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fix:[CAN][STM32]open时立刻启动can_start,还未完成其他配置,可能导致异常 #9642

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Merged
merged 1 commit into from
Nov 14, 2024
Merged

fix:[CAN][STM32]open时立刻启动can_start,还未完成其他配置,可能导致异常 #9642

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22 changes: 15 additions & 7 deletions bsp/stm32/libraries/HAL_Drivers/drivers/drv_can.c
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
/*
* Copyright (c) 2006-2023, RT-Thread Development Team
* Copyright (c) 2006-2024 RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
Expand Down Expand Up @@ -174,8 +174,6 @@ static rt_err_t _can_config(struct rt_can_device *can, struct can_configure *cfg

/* default filter config */
HAL_CAN_ConfigFilter(&drv_can->CanHandle, &drv_can->FilterConfig);
/* can start */
HAL_CAN_Start(&drv_can->CanHandle);

return RT_EOK;
}
Expand Down Expand Up @@ -321,7 +319,7 @@ static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
rt_uint32_t id_l = 0;
rt_uint32_t mask_h = 0;
rt_uint32_t mask_l = 0;
rt_uint32_t mask_l_tail = 0; //CAN_FxR2 bit [2:0]
rt_uint32_t mask_l_tail = 0; /*CAN_FxR2 bit [2:0]*/

if (RT_NULL == arg)
{
Expand Down Expand Up @@ -458,7 +456,6 @@ static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
}
break;
case RT_CAN_CMD_GET_STATUS:
{
rt_uint32_t errtype;
errtype = drv_can->CanHandle.Instance->ESR;
drv_can->device.status.rcverrcnt = errtype >> 24;
Expand All @@ -467,8 +464,19 @@ static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
drv_can->device.status.errcode = errtype & 0x07;

rt_memcpy(arg, &drv_can->device.status, sizeof(drv_can->device.status));
}
break;
break;
case RT_CAN_CMD_START:
argval = (rt_uint32_t) arg;
if (argval == 0)
{
HAL_CAN_Stop(&drv_can->CanHandle);
}
else
{
HAL_CAN_Start(&drv_can->CanHandle);
}

break;
}

return RT_EOK;
Expand Down
4 changes: 2 additions & 2 deletions components/drivers/can/dev_can.c
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
/*
* Copyright (c) 2006-2023, RT-Thread Development Team
* Copyright (c) 2006-2024 RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
Expand Down Expand Up @@ -435,7 +435,7 @@ static rt_err_t rt_can_close(struct rt_device *dev)
}

can->ops->control(can, RT_DEVICE_CTRL_CLR_INT, (void *)RT_DEVICE_CAN_INT_ERR);

can->ops->control(can, RT_CAN_CMD_START, RT_FALSE);
CAN_UNLOCK(can);

return RT_EOK;
Expand Down
4 changes: 3 additions & 1 deletion components/drivers/include/drivers/dev_can.h
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Original file line number Diff line number Diff line change
Expand Up @@ -111,7 +111,8 @@ enum CANBAUD
* res = rt_device_control(can_dev, RT_CAN_CMD_SET_FILTER, &cfg);
* RT_ASSERT(res == RT_EOK);
* #endif
*
* res = RT_TRUE;
* res = rt_device_control(can_dev, RT_CAN_CMD_START, &res);
* while (1)
* {
* // hdr 值为 - 1，表示直接从 uselist 链表读取数据
Expand Down Expand Up @@ -345,6 +346,7 @@ struct rt_can_ops;
#define RT_CAN_CMD_SET_CANFD 0x1A
#define RT_CAN_CMD_SET_BAUD_FD 0x1B
#define RT_CAN_CMD_SET_BITTIMING 0x1C
#define RT_CAN_CMD_START 0x1D

#define RT_DEVICE_CAN_INT_ERR 0x1000

Expand Down
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