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STM32: Fixed IRQ race condition in CAN controller initialization

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This commit is contained in:
Pavel Kirienko
2016-01-05 10:32:50 +03:00
parent 5bd641a744
commit 3050d0ae36
1 changed files with 10 additions and 5 deletions
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libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
+10 -5
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@@ -506,6 +506,7 @@ int CanIface::init(const uavcan::uint32_t bitrate, const OperatingMode mode)
if (!waitMsrINakBitStateChange(true))
{
UAVCAN_STM32_LOG("MSR INAK not set");
can_->MCR = bxcan::MCR_RESET;
return -ErrMsrInakNotSet;
}
@@ -527,6 +528,7 @@ int CanIface::init(const uavcan::uint32_t bitrate, const OperatingMode mode)
const int timings_res = computeTimings(bitrate, timings);
if (timings_res < 0)
{
can_->MCR = bxcan::MCR_RESET;
return timings_res;
}
UAVCAN_STM32_LOG("Timings: presc=%u sjw=%u bs1=%u bs2=%u",
@@ -549,11 +551,12 @@ int CanIface::init(const uavcan::uint32_t bitrate, const OperatingMode mode)
bxcan::IER_ERRIE | // General error IRQ
bxcan::IER_LECIE; // Last error code change
can_->MCR &= ~bxcan::MCR_INRQ; // Leave init mode
can_->MCR &= ~bxcan::MCR_INRQ; // Leave init mode
if (!waitMsrINakBitStateChange(false))
{
UAVCAN_STM32_LOG("MSR INAK not cleared");
can_->MCR = bxcan::MCR_RESET;
return -ErrMsrInakNotCleared;
}
@@ -971,26 +974,28 @@ int CanDriver::init(const uavcan::uint32_t bitrate, const CanIface::OperatingMod
* CAN1
*/
UAVCAN_STM32_LOG("Initing iface 0...");
res = if0_.init(bitrate, mode);
if (res < 0)
ifaces[0] = &if0_; // This link must be initialized first,
res = if0_.init(bitrate, mode); // otherwise an IRQ may fire while the interface is not linked yet;
if (res < 0) // a typical race condition.
{
UAVCAN_STM32_LOG("Iface 0 init failed %i", res);
ifaces[0] = NULL;
goto fail;
}
ifaces[0] = &if0_;
/*
* CAN2
*/
#if UAVCAN_STM32_NUM_IFACES > 1
UAVCAN_STM32_LOG("Initing iface 1...");
ifaces[1] = &if1_; // Same thing here.
res = if1_.init(bitrate, mode);
if (res < 0)
{
UAVCAN_STM32_LOG("Iface 1 init failed %i", res);
ifaces[1] = NULL;
goto fail;
}
ifaces[1] = &if1_;
#endif
UAVCAN_STM32_LOG("CAN drv init OK");