Ensure bus errors are forwarded only once, enable bus off/passive/warning interrupts
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a5b006268b
commit
6e1290b3f1
2 changed files with 28 additions and 3 deletions
embassy-stm32/src/can/bxcan
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@ -67,12 +67,20 @@ pub struct SceInterruptHandler<T: Instance> {
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impl<T: Instance> interrupt::typelevel::Handler<T::SCEInterrupt> for SceInterruptHandler<T> {
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impl<T: Instance> interrupt::typelevel::Handler<T::SCEInterrupt> for SceInterruptHandler<T> {
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unsafe fn on_interrupt() {
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unsafe fn on_interrupt() {
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// info!("sce irq");
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info!("sce irq");
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let msr = T::regs().msr();
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let msr = T::regs().msr();
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let msr_val = msr.read();
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let msr_val = msr.read();
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if msr_val.erri() {
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if msr_val.erri() {
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msr.modify(|v| v.set_erri(true));
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info!("Error interrupt");
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// Disable the interrupt, but don't acknowledge the error, so that it can be
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// forwarded off the the bus message consumer. If we don't provide some way for
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// downstream code to determine that it has already provided this bus error instance
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// to the bus message consumer, we are doomed to re-provide a single error instance for
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// an indefinite amount of time.
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let ier = T::regs().ier();
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ier.modify(|i| i.set_errie(false));
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T::state().err_waker.wake();
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T::state().err_waker.wake();
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}
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}
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}
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}
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@ -180,6 +188,9 @@ impl<'d, T: Instance> Can<'d, T> {
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w.set_fmpie(0, true);
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w.set_fmpie(0, true);
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w.set_fmpie(1, true);
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w.set_fmpie(1, true);
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w.set_tmeie(true);
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w.set_tmeie(true);
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w.set_bofie(true);
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w.set_epvie(true);
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w.set_ewgie(true);
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});
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});
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T::regs().mcr().write(|w| {
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T::regs().mcr().write(|w| {
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@ -145,7 +145,21 @@ impl Registers {
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}
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}
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pub fn curr_error(&self) -> Option<BusError> {
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pub fn curr_error(&self) -> Option<BusError> {
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let err = { self.0.esr().read() };
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if !self.0.msr().read().erri() {
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// This ensures that once a single error instance has
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// been acknowledged and forwared to the bus message consumer
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// we don't continue to re-forward the same error occurrance for an
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// in-definite amount of time.
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return None;
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}
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// Since we have not already acknowledge the error, and the interrupt was
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// disabled in the ISR, we will acknowledge the current error and re-enable the interrupt
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// so futher errors are captured
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self.0.msr().modify(|m| m.set_erri(true));
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self.0.ier().modify(|i| i.set_errie(true));
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let err = self.0.esr().read();
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if err.boff() {
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if err.boff() {
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return Some(BusError::BusOff);
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return Some(BusError::BusOff);
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} else if err.epvf() {
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} else if err.epvf() {
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