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Ensure bus errors are forwarded only once, enable bus off/passive/warning interrupts

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This commit is contained in:
Eric Yanush 2024-04-22 01:45:09 -06:00
parent a5b006268b
commit 6e1290b3f1
2 changed files with 28 additions and 3 deletions
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15
embassy-stm32/src/can/bxcan/mod.rs
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@ -67,12 +67,20 @@ pub struct SceInterruptHandler<T: Instance> {
impl<T: Instance> interrupt::typelevel::Handler<T::SCEInterrupt> for SceInterruptHandler<T> {
unsafe fn on_interrupt() {
// info!("sce irq");
info!("sce irq");
let msr = T::regs().msr();
let msr_val = msr.read();
if msr_val.erri() {
msr.modify(|v| v.set_erri(true));
info!("Error interrupt");
// Disable the interrupt, but don't acknowledge the error, so that it can be
// forwarded off the the bus message consumer. If we don't provide some way for
// downstream code to determine that it has already provided this bus error instance
// to the bus message consumer, we are doomed to re-provide a single error instance for
// an indefinite amount of time.
let ier = T::regs().ier();
ier.modify(|i| i.set_errie(false));
T::state().err_waker.wake();
}
}
@ -180,6 +188,9 @@ impl<'d, T: Instance> Can<'d, T> {
w.set_fmpie(0, true);
w.set_fmpie(1, true);
w.set_tmeie(true);
w.set_bofie(true);
w.set_epvie(true);
w.set_ewgie(true);
});
T::regs().mcr().write(|w| {

16
embassy-stm32/src/can/bxcan/registers.rs
View File

@ -145,7 +145,21 @@ impl Registers {
}
pub fn curr_error(&self) -> Option<BusError> {
let err = { self.0.esr().read() };
if !self.0.msr().read().erri() {
// This ensures that once a single error instance has
// been acknowledged and forwared to the bus message consumer
// we don't continue to re-forward the same error occurrance for an
// in-definite amount of time.
return None;
}
// Since we have not already acknowledge the error, and the interrupt was
// disabled in the ISR, we will acknowledge the current error and re-enable the interrupt
// so futher errors are captured
self.0.msr().modify(|m| m.set_erri(true));
self.0.ier().modify(|i| i.set_errie(true));
let err = self.0.esr().read();
if err.boff() {
return Some(BusError::BusOff);
} else if err.epvf() {