can: Fix critical section ESP_LOG functions
This commit removes any function calls within
the CAN driver that result in a call to ESP_LOG
whilst inside a critical section.
These function calls are either moved outside
critical sections (e.g., intr_alloc and gpio
functions), or substituted (e.g., assert()).
Closes
@@ -724,13 +724,14 @@ esp_err_t can_driver_install(const can_general_config_t *g_config, const can_tim
can_config_error(DRIVER_DEFAULT_EWL, DRIVER_DEFAULT_REC, DRIVER_DEFAULT_TEC);
can_config_acceptance_filter(f_config->acceptance_code, f_config->acceptance_mask, f_config->single_filter);
can_config_clk_out(g_config->clkout_divider);
- //Allocate GPIO and Interrupts
- can_configure_gpio(g_config->tx_io, g_config->rx_io, g_config->clkout_io, g_config->bus_off_io);
(void) can_get_interrupt_reason(); //Read interrupt reg to clear it before allocating ISR
- ESP_ERROR_CHECK(esp_intr_alloc(ETS_CAN_INTR_SOURCE, 0, can_intr_handler_main, NULL, &p_can_obj->isr_handle));
//Todo: Allow interrupt to be registered to specified CPU
CAN_EXIT_CRITICAL();
+ //Allocate GPIO and Interrupts
+ can_configure_gpio(g_config->tx_io, g_config->rx_io, g_config->clkout_io, g_config->bus_off_io);
+ ESP_ERROR_CHECK(esp_intr_alloc(ETS_CAN_INTR_SOURCE, 0, can_intr_handler_main, NULL, &p_can_obj->isr_handle));
+
#ifdef CONFIG_PM_ENABLE
ESP_ERROR_CHECK(esp_pm_lock_acquire(p_can_obj->pm_lock)); //Acquire pm_lock to keep APB clock at 80MHz
#endif
@@ -775,13 +776,13 @@ esp_err_t can_driver_uninstall(void)
(void) can_get_interrupt_reason();
(void) can_get_arbitration_lost_capture();
(void) can_get_error_code_capture();
-
- ESP_ERROR_CHECK(esp_intr_free(p_can_obj->isr_handle)); //Free interrupt
periph_module_disable(PERIPH_CAN_MODULE); //Disable CAN peripheral
p_can_obj_dummy = p_can_obj; //Use dummy to shorten critical section
p_can_obj = NULL;
CAN_EXIT_CRITICAL();
+ ESP_ERROR_CHECK(esp_intr_free(p_can_obj_dummy->isr_handle)); //Free interrupt
+
//Delete queues, semaphores, and power management locks
if (p_can_obj_dummy->tx_queue != NULL) {
vQueueDelete(p_can_obj_dummy->tx_queue);
