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This fixes 2 issues where STM32 BXCAN would hang

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1. If one received frames under an `interrupt_free` section, in my case
   `init` in RTIC, the RX IRQ will fire and clear it's enable bit after
   `interrupt_free` is complete. There is no frame to read so RX is now
   unconditionally disabled forever.
2. On clearing of RX IRQ, TX stops silently. This happens due to the use
   of `write` instead of `modify` when modifying IRQ enable bits.

Solution 1: Enable RX IRQs on every call to `try_read` that return no
data. This solution also solves the issue of very delayed handling of
the RX IRQ which would cause the same issue.

Solution 2: Use `modify` instead of `write`.
This commit is contained in:
Emil Fresk 2024-10-27 09:55:00 +01:00
parent 8f27349745
commit 917f1d1f4d
1 changed files with 7 additions and 3 deletions
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10
embassy-stm32/src/can/bxcan/mod.rs
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@ -893,7 +893,7 @@ impl RxMode {
RxFifo::Fifo0 => 0usize,
RxFifo::Fifo1 => 1usize,
};
T::regs().ier().write(|w| {
T::regs().ier().modify(|w| {
w.set_fmpie(fifo_idx, false);
});
waker.wake();
@ -936,18 +936,22 @@ impl RxMode {
Self::NonBuffered(_) => {
let registers = &info.regs;
if let Some(msg) = registers.receive_fifo(RxFifo::Fifo0) {
registers.0.ier().write(|w| {
registers.0.ier().modify(|w| {
w.set_fmpie(0, true);
});
Ok(msg)
} else if let Some(msg) = registers.receive_fifo(RxFifo::Fifo1) {
registers.0.ier().write(|w| {
registers.0.ier().modify(|w| {
w.set_fmpie(1, true);
});
Ok(msg)
} else if let Some(err) = registers.curr_error() {
Err(TryReadError::BusError(err))
} else {
registers.0.ier().modify(|w| {
w.set_fmpie(0, true);
w.set_fmpie(1, true);
});
Err(TryReadError::Empty)
}
}