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Update drv_can.c #10354

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88 changes: 49 additions & 39 deletions bsp/stm32/libraries/HAL_Drivers/drivers/drv_can.c
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Original file line number Diff line number Diff line change
Expand Up @@ -704,6 +704,53 @@ static void _can_rx_isr(struct rt_can_device *can, rt_uint32_t fifo)
}
}

static void _can_check_tx_complete(struct rt_can_device *can)
{
CAN_HandleTypeDef *hcan;
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(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);
}
}
}

static void _can_sce_isr(struct rt_can_device *can)
{
CAN_HandleTypeDef *hcan;
Expand All @@ -715,51 +762,14 @@ static void _can_sce_isr(struct rt_can_device *can)
{
case RT_CAN_BUS_BIT_PAD_ERR:
can->status.bitpaderrcnt++;
_can_check_tx_complete(can);
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);
}
}
_can_check_tx_complete(can);
break;
case RT_CAN_BUS_IMPLICIT_BIT_ERR:
case RT_CAN_BUS_EXPLICIT_BIT_ERR:
Expand Down
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