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修复stm32 CAN的SCE中断中只在ACK错误检查发送完成导致小概率出错的问题 #10354

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Merged
Rbb666 merged 5 commits into from
Jul 2, 2025
Merged

修复stm32 CAN的SCE中断中只在ACK错误检查发送完成导致小概率出错的问题 #10354

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3d82c43
Update drv_can.c
unnamed2 Jun 1, 2025
197ad25
Merge branch 'RT-Thread:master' into master
unnamed2 Jun 22, 2025
10a979f
更新can的isr中断，在中断中检查发送完成信息
unnamed2 Jun 22, 2025
0777f72
Merge branch 'master' of https://github.com/unnamed2/rt-thread
unnamed2 Jun 22, 2025
32a79d8
Merge branch 'RT-Thread:master' into master
unnamed2 Jul 1, 2025
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111 changes: 50 additions & 61 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 +704,55 @@ 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);
}

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);
}

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);
}

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*/
}

if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TERR1))
{
SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ1);
}

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 @@ -721,45 +770,6 @@ static void _can_sce_isr(struct rt_can_device *can)
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);
}
}
break;
case RT_CAN_BUS_IMPLICIT_BIT_ERR:
case RT_CAN_BUS_EXPLICIT_BIT_ERR:
Expand All @@ -769,6 +779,7 @@ static void _can_sce_isr(struct rt_can_device *can)
can->status.crcerrcnt++;
break;
}
_can_check_tx_complete(can);

can->status.lasterrtype = errtype & 0x70;
can->status.rcverrcnt = errtype >> 24;
Expand Down Expand Up @@ -908,28 +919,6 @@ void CAN2_SCE_IRQHandler(void)
}
#endif /* BSP_USING_CAN2 */

/**
* @brief Error CAN callback.
* @param hcan pointer to a CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @retval None
*/
void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan)
{
__HAL_CAN_ENABLE_IT(hcan, CAN_IT_ERROR_WARNING |
CAN_IT_ERROR_PASSIVE |
CAN_IT_BUSOFF |
CAN_IT_LAST_ERROR_CODE |
CAN_IT_ERROR |
CAN_IT_RX_FIFO0_MSG_PENDING |
CAN_IT_RX_FIFO0_OVERRUN |
CAN_IT_RX_FIFO0_FULL |
CAN_IT_RX_FIFO1_MSG_PENDING |
CAN_IT_RX_FIFO1_OVERRUN |
CAN_IT_RX_FIFO1_FULL |
CAN_IT_TX_MAILBOX_EMPTY);
}

int rt_hw_can_init(void)
{
struct can_configure config = CANDEFAULTCONFIG;
Expand Down