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CAN: Add functions to clear queues and fix multiple bugs

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This commits adds the functions can_clear_transmit_queue() and
can_clear_receive_queue(). Closes #2906

The following bug are fixed:

- CAN_IO_UNUSED is now explicitly cast to enum type. Closes #2825
- Fix multiple documentation errors. Closes #2898, Closes #2794
- can_reconfigure_alerts() returns incorrect current_alerts. Closes #3028
- Add missing header file. Closes #3065
This commit is contained in:
Darian Leung
2019-02-11 14:57:43 +08:00
parent bcc21d2262
commit 099b83af67
4 changed files with 185 additions and 253 deletions
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32
components/driver/can.c
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@@ -438,6 +438,8 @@ static void can_intr_handler_rx(BaseType_t *task_woken, int *alert_req)
can_alert_handler(CAN_ALERT_RX_QUEUE_FULL, alert_req);
}
}
//Todo: Add Software Filters
//Todo: Check for data overrun of RX FIFO, then trigger alert
}
static void can_intr_handler_tx(can_status_reg_t *status, int *alert_req)
@@ -496,7 +498,6 @@ static void can_intr_handler_main(void *arg)
//Triggers when arbitration is lost
can_intr_handler_arb_lost(&alert_req);
}
//Todo: Check data overrun bug where interrupt does not trigger even when enabled
//Handle TX/RX interrupts
if (intr_reason.rx) {
@@ -913,7 +914,7 @@ esp_err_t can_reconfigure_alerts(uint32_t alerts_enabled, uint32_t *current_aler
CAN_CHECK(p_can_obj != NULL, ESP_ERR_INVALID_STATE);
CAN_ENTER_CRITICAL();
uint32_t cur_alerts;
cur_alerts = can_read_alerts(&cur_alerts, 0); //Clear any unhandled alerts
can_read_alerts(&cur_alerts, 0); //Clear any unhandled alerts
p_can_obj->alerts_enabled = alerts_enabled; //Update enabled alerts
CAN_EXIT_CRITICAL();
@@ -977,3 +978,30 @@ esp_err_t can_get_status_info(can_status_info_t *status_info)
return ESP_OK;
}
esp_err_t can_clear_transmit_queue()
{
//Check State
CAN_CHECK(p_can_obj != NULL, ESP_ERR_INVALID_STATE);
CAN_CHECK(p_can_obj->tx_queue != NULL, ESP_ERR_NOT_SUPPORTED);
CAN_ENTER_CRITICAL();
//If a message is currently undergoing transmission, the tx interrupt handler will decrement tx_msg_count
p_can_obj->tx_msg_count = (p_can_obj->control_flags & CTRL_FLAG_TX_BUFF_OCCUPIED) ? 1 : 0;
xQueueReset(p_can_obj->tx_queue);
CAN_EXIT_CRITICAL();
return ESP_OK;
}
esp_err_t can_clear_receive_queue()
{
//Check State
CAN_CHECK(p_can_obj != NULL, ESP_ERR_INVALID_STATE);
CAN_ENTER_CRITICAL();
p_can_obj->rx_msg_count = 0;
xQueueReset(p_can_obj->rx_queue);
CAN_EXIT_CRITICAL();
return ESP_OK;
}