fix: recover CAN bus-off and expire stalled transmissions
This commit is contained in:
@@ -65,6 +65,7 @@ typedef struct
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#define ADC_REPORT_PERIOD_MS 500U
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#define PWM_REPORT_PERIOD_MS 20U
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#define GPIO_REPORT_PERIOD_MS 1000U
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#define CAN_TX_TIMEOUT_MS 100U
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#define CAN_HEARTBEAT_PERIOD_MS 100U
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#define DAC_CAN_TIMEOUT_MS 100U
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#define PWM_TIMEOUT_MS 1000U
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@@ -129,6 +130,26 @@ static char uart_line[UART_LINE_SIZE];
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static uint8_t uart_line_len;
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static uint8_t assi_lamp_state;
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/* Read through SWD; counters are observations, not a bus capture. */
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typedef struct
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{
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uint32_t last_esr;
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uint32_t bus_off_events;
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uint32_t recovery_events;
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uint32_t passive_events;
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uint32_t tx_queued;
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uint32_t tx_completed;
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uint32_t tx_failed;
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uint32_t tx_unobserved;
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uint32_t tx_dropped;
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uint32_t abort_requests;
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uint32_t abort_failures;
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} CanDiagnostics;
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static volatile CanDiagnostics can_diagnostics[2];
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static uint32_t can_tx_started_ms[2][3];
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static bool can_tx_tracked[2][3];
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static bool can_tx_abort_requested[2][3];
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/* USER CODE END PV */
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/* Private function prototypes -----------------------------------------------*/
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@@ -167,6 +188,7 @@ static uint32_t ReadAdcInputMillivolts(void);
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static uint32_t WheelSpeedMmPerSecond(uint32_t frequency_hz);
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static uint32_t GetTimerClockHz(const TIM_HandleTypeDef *htim);
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static void InitCaptureChannels(void);
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static void ServiceCanHealth(CAN_HandleTypeDef *hcan);
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static void ConfigureCanRuntime(CAN_HandleTypeDef *hcan);
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static void StartCanBus(CAN_HandleTypeDef *hcan, uint32_t filter_bank);
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static void SendCanFrame(CAN_HandleTypeDef *hcan,
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@@ -237,6 +259,8 @@ int main(void)
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/* USER CODE END WHILE */
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/* USER CODE BEGIN 3 */
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ServiceCanHealth(&hcan1);
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ServiceCanHealth(&hcan2);
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PollUart();
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PollCanBus(&hcan1, "CAN1");
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PollCanBus(&hcan2, "CAN2");
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@@ -366,7 +390,7 @@ static void MX_CAN1_Init(void)
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hcan1.Init.TimeSeg1 = CAN_BS1_1TQ;
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hcan1.Init.TimeSeg2 = CAN_BS2_4TQ;
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hcan1.Init.TimeTriggeredMode = DISABLE;
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hcan1.Init.AutoBusOff = DISABLE;
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hcan1.Init.AutoBusOff = ENABLE;
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hcan1.Init.AutoWakeUp = DISABLE;
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hcan1.Init.AutoRetransmission = DISABLE;
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hcan1.Init.ReceiveFifoLocked = DISABLE;
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@@ -403,7 +427,7 @@ static void MX_CAN2_Init(void)
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hcan2.Init.TimeSeg1 = CAN_BS1_1TQ;
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hcan2.Init.TimeSeg2 = CAN_BS2_4TQ;
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hcan2.Init.TimeTriggeredMode = DISABLE;
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hcan2.Init.AutoBusOff = DISABLE;
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hcan2.Init.AutoBusOff = ENABLE;
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hcan2.Init.AutoWakeUp = DISABLE;
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hcan2.Init.AutoRetransmission = DISABLE;
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hcan2.Init.ReceiveFifoLocked = DISABLE;
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@@ -1294,12 +1318,74 @@ static void InitCaptureChannels(void)
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}
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}
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static void ServiceCanHealth(CAN_HandleTypeDef *hcan)
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{
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uint32_t bus = (hcan == &hcan1) ? 0U : 1U;
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volatile CanDiagnostics *diag = &can_diagnostics[bus];
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uint32_t now = HAL_GetTick();
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uint32_t esr = hcan->Instance->ESR;
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uint32_t previous = diag->last_esr;
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if (((esr & CAN_ESR_BOFF) != 0U) && ((previous & CAN_ESR_BOFF) == 0U))
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{
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diag->bus_off_events++;
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}
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if (((esr & CAN_ESR_BOFF) == 0U) && ((previous & CAN_ESR_BOFF) != 0U))
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{
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diag->recovery_events++;
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}
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if (((esr & CAN_ESR_EPVF) != 0U) && ((previous & CAN_ESR_EPVF) == 0U))
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{
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diag->passive_events++;
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}
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diag->last_esr = esr;
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for (uint32_t index = 0U; index < 3U; index++)
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{
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uint32_t mailbox = 1UL << index;
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if (!can_tx_tracked[bus][index])
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{
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continue;
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}
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if (HAL_CAN_IsTxMessagePending(hcan, mailbox) == 0U)
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{
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/* TXOK is hardware completion, unlike HAL_OK when enqueuing. */
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if ((hcan->Instance->TSR & (CAN_TSR_TXOK0 << (8U * index))) != 0U)
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{
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diag->tx_completed++;
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}
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else
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{
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diag->tx_failed++;
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}
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can_tx_tracked[bus][index] = false;
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can_tx_abort_requested[bus][index] = false;
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}
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else if (!can_tx_abort_requested[bus][index] &&
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(((esr & CAN_ESR_BOFF) != 0U) ||
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((uint32_t)(now - can_tx_started_ms[bus][index]) >= CAN_TX_TIMEOUT_MS)))
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{
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/* Discard stale reports/ACKs; abort is asynchronous and never waits. */
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if (HAL_CAN_AbortTxRequest(hcan, mailbox) == HAL_OK)
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{
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can_tx_abort_requested[bus][index] = true;
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diag->abort_requests++;
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}
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else
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{
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diag->abort_failures++;
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}
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}
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}
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}
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static void ConfigureCanRuntime(CAN_HandleTypeDef *hcan)
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{
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hcan->Init.Prescaler = 4U;
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hcan->Init.SyncJumpWidth = CAN_SJW_1TQ;
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hcan->Init.TimeSeg1 = CAN_BS1_5TQ;
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hcan->Init.TimeSeg2 = CAN_BS2_2TQ;
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hcan->Init.AutoBusOff = ENABLE;
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hcan->Init.AutoRetransmission = ENABLE;
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if (HAL_CAN_Init(hcan) != HAL_OK)
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@@ -1340,6 +1426,16 @@ static void SendCanFrame(CAN_HandleTypeDef *hcan,
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{
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CAN_TxHeaderTypeDef tx_header = {0};
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uint32_t mailbox = 0U;
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uint32_t bus = (hcan == &hcan1) ? 0U : 1U;
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/* Account for completion before HAL can reuse a free mailbox. */
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ServiceCanHealth(hcan);
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if (((hcan->Instance->ESR & CAN_ESR_BOFF) != 0U) ||
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(HAL_CAN_GetTxMailboxesFreeLevel(hcan) == 0U))
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{
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can_diagnostics[bus].tx_dropped++;
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return;
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}
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tx_header.StdId = std_id;
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tx_header.ExtId = 0U;
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@@ -1348,7 +1444,27 @@ static void SendCanFrame(CAN_HandleTypeDef *hcan,
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tx_header.DLC = (length <= 8U) ? length : 8U;
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tx_header.TransmitGlobalTime = DISABLE;
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(void)HAL_CAN_AddTxMessage(hcan, &tx_header, (uint8_t *)data, &mailbox);
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if (HAL_CAN_AddTxMessage(hcan, &tx_header, (uint8_t *)data, &mailbox) != HAL_OK)
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{
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can_diagnostics[bus].tx_dropped++;
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return;
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}
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for (uint32_t index = 0U; index < 3U; index++)
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{
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if (mailbox == (1UL << index))
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{
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/* A completion can race the HAL mailbox selection. Do not guess TXOK. */
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if (can_tx_tracked[bus][index])
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{
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can_diagnostics[bus].tx_unobserved++;
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}
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can_tx_started_ms[bus][index] = HAL_GetTick();
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can_tx_tracked[bus][index] = true;
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can_tx_abort_requested[bus][index] = false;
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break;
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}
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}
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can_diagnostics[bus].tx_queued++;
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}
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static void BroadcastCanFrame(uint16_t std_id, const uint8_t *data, uint8_t length)
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@@ -0,0 +1,123 @@
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#!/usr/bin/env python3
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"""Run the actual firmware CAN service/send functions against a host HAL stub."""
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from pathlib import Path
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import subprocess
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import tempfile
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source = (Path(__file__).resolve().parents[1] /
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'A11_F407_SDC_ACQ_DAC_CubeMX/Src/main.c').read_text()
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def function(name):
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start = source.index('static void ' + name + '(', source.index('static void ServiceCanHealth(CAN_HandleTypeDef *hcan)\n{'))
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brace = source.index('{', start)
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depth = 1
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end = brace + 1
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while depth:
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depth += (source[end] == '{') - (source[end] == '}')
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end += 1
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return source[start:end]
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state_start = source.index('typedef struct\n{\n uint32_t last_esr;')
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state_end = source.index('static bool can_tx_abort_requested[2][3];', state_start)
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state_end += len('static bool can_tx_abort_requested[2][3];')
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harness = r'''
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#include <assert.h>
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#include <stdbool.h>
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#include <stdint.h>
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#include <string.h>
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#include <stdio.h>
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#define CAN_TX_TIMEOUT_MS 100U
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#define CAN_ESR_BOFF 4U
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#define CAN_ESR_EPVF 2U
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#define CAN_TSR_TXOK0 2U
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#define CAN_ID_STD 0U
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#define CAN_RTR_DATA 0U
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#define DISABLE 0U
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#define HAL_OK 0U
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#define HAL_ERROR 1U
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typedef struct { uint32_t ESR, TSR, pending; } CAN_TypeDef;
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typedef struct { CAN_TypeDef *Instance; } CAN_HandleTypeDef;
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typedef struct { uint32_t StdId, ExtId, IDE, RTR, DLC, TransmitGlobalTime; } CAN_TxHeaderTypeDef;
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static CAN_TypeDef regs[2];
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static CAN_HandleTypeDef hcan1 = {®s[0]}, hcan2 = {®s[1]};
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static uint32_t now, abort_calls, add_result, abort_result;
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static bool race_completion;
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static uint32_t HAL_GetTick(void) { return now; }
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static uint32_t HAL_CAN_IsTxMessagePending(CAN_HandleTypeDef *h, uint32_t mask) {
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return (h->Instance->pending & mask) != 0;
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}
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static uint32_t HAL_CAN_GetTxMailboxesFreeLevel(CAN_HandleTypeDef *h) {
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if (race_completion) { h->Instance->pending = 0; race_completion = false; }
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return 3 - __builtin_popcount(h->Instance->pending);
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}
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static uint32_t HAL_CAN_AbortTxRequest(CAN_HandleTypeDef *h, uint32_t mask) {
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(void)h; (void)mask; abort_calls++; return abort_result;
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}
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static uint32_t HAL_CAN_AddTxMessage(CAN_HandleTypeDef *h, const CAN_TxHeaderTypeDef *hdr,
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uint8_t *data, uint32_t *mailbox) {
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(void)hdr; (void)data;
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if (add_result) return add_result;
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for (uint32_t i = 0; i < 3; i++) if (!(h->Instance->pending & (1U << i))) {
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*mailbox = 1U << i; h->Instance->pending |= *mailbox;
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h->Instance->TSR &= ~(CAN_TSR_TXOK0 << (8 * i)); return HAL_OK;
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}
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return HAL_ERROR;
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}
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'''
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harness += source[state_start:state_end] + '\n'
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harness += function('ServiceCanHealth') + '\n' + function('SendCanFrame')
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harness += r'''
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static void reset(void) {
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memset(regs, 0, sizeof regs);
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memset((void *)can_diagnostics, 0, sizeof can_diagnostics);
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memset(can_tx_tracked, 0, sizeof can_tx_tracked);
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memset(can_tx_abort_requested, 0, sizeof can_tx_abort_requested);
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now = abort_calls = add_result = abort_result = 0; race_completion = false;
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}
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static void send(CAN_HandleTypeDef *h) { uint8_t data[8] = {0}; SendCanFrame(h, 0x6A0, data, 8); }
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int main(void) {
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reset(); send(&hcan1);
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assert(can_diagnostics[0].tx_queued == 1 && can_diagnostics[0].tx_completed == 0);
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regs[0].pending = 0; regs[0].TSR = CAN_TSR_TXOK0;
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ServiceCanHealth(&hcan1); ServiceCanHealth(&hcan1);
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assert(can_diagnostics[0].tx_completed == 1); /* counted only once */
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send(&hcan1); regs[0].pending = 0; ServiceCanHealth(&hcan1);
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assert(can_diagnostics[0].tx_failed == 1); /* HAL_OK is not delivery */
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reset(); send(&hcan2); now = 99; ServiceCanHealth(&hcan2); assert(abort_calls == 0);
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now = 100; ServiceCanHealth(&hcan2); ServiceCanHealth(&hcan2);
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assert(abort_calls == 1 && can_diagnostics[1].abort_requests == 1);
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send(&hcan1); assert(can_diagnostics[0].tx_queued == 1); /* other bus independent */
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regs[1].pending = 0; ServiceCanHealth(&hcan2);
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assert(can_diagnostics[1].tx_failed == 1);
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reset(); now = UINT32_MAX - 49; send(&hcan1); now = 49;
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ServiceCanHealth(&hcan1); assert(abort_calls == 0);
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now = 50; ServiceCanHealth(&hcan1); assert(abort_calls == 1); /* tick wrap */
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reset(); send(&hcan1); regs[0].ESR = CAN_ESR_BOFF | CAN_ESR_EPVF;
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send(&hcan1); ServiceCanHealth(&hcan1);
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assert(can_diagnostics[0].bus_off_events == 1 && can_diagnostics[0].passive_events == 1);
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assert(can_diagnostics[0].tx_dropped == 1 && abort_calls == 1);
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regs[0].pending = 0; regs[0].ESR = 0; send(&hcan1);
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assert(can_diagnostics[0].recovery_events == 1 && can_diagnostics[0].tx_queued == 2);
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reset(); send(&hcan1); send(&hcan1); send(&hcan1); send(&hcan1);
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assert(can_diagnostics[0].tx_queued == 3 && can_diagnostics[0].tx_dropped == 1);
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reset(); add_result = HAL_ERROR; send(&hcan1);
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assert(can_diagnostics[0].tx_dropped == 1 && !can_tx_tracked[0][0]);
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reset(); send(&hcan1); now = 100; abort_result = HAL_ERROR; ServiceCanHealth(&hcan1);
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assert(can_diagnostics[0].abort_failures == 1 && !can_tx_abort_requested[0][0]);
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abort_result = HAL_OK; ServiceCanHealth(&hcan1); assert(can_diagnostics[0].abort_requests == 1);
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reset(); send(&hcan1); race_completion = true; send(&hcan1);
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assert(can_diagnostics[0].tx_unobserved == 1 && can_diagnostics[0].tx_queued == 2);
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/* Validate success bit selection for mailboxes 1 and 2. */
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reset(); send(&hcan1); send(&hcan1); send(&hcan1);
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regs[0].pending = 0; regs[0].TSR = (CAN_TSR_TXOK0 << 8) | (CAN_TSR_TXOK0 << 16);
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ServiceCanHealth(&hcan1);
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assert(can_diagnostics[0].tx_completed == 2 && can_diagnostics[0].tx_failed == 1);
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puts("CAN health tests passed");
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}
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'''
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with tempfile.TemporaryDirectory() as temp:
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root = Path(temp)
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(root / 'test.c').write_text(harness)
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subprocess.run(['cc', '-std=c11', '-Wall', '-Wextra', '-Werror',
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'-fsanitize=undefined', str(root / 'test.c'), '-o', str(root / 'test')], check=True)
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subprocess.run([str(root / 'test')], check=True)
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@@ -74,6 +74,12 @@ ADC=12300mV WheelSpeed=LF:0.289m/s RF:0.577m/s
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CAN1 和 CAN2 使用相同协议，所有主动上报均分别发送到两条总线。使用 11 位标准数据帧、低字节在前（little-endian）。CAN 正常发帧必须存在至少一个其他节点 ACK；单独接 CAN 分析仪且未开启 ACK 时，发送邮箱可能不会完成。
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两路 CAN 均开启硬件自动 Bus-Off 恢复（ABOM）。总线重新满足恢复条件后，无需 MCU RESET 或整车断电即可重新通信；恢复功能不能消除线束、终端、节点或位时序造成的错误。
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主循环分别维护两路发送邮箱：Bus-Off 时停止入队并请求取消未完成帧；正常状态下超过 100 ms 仍未完成的帧也会被异步取消，避免未连接的 CAN2 或缺少 ACK 时积压旧上报和 DAC 应答。邮箱满或入队失败的帧直接丢弃并统计，不阻塞另一条 CAN，也不等待取消完成。周期上报在后续周期重新生成；DAC 应答不保证重发。
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可通过 STLINK/GDB 读取 `can_diagnostics[0]`（CAN1）和 `[1]`（CAN2）：`last_esr` 为最近的硬件错误状态，`bus_off_events` / `recovery_events` / `passive_events` 为主循环观察到的状态转换次数，`tx_queued` 为入队数，`tx_completed` 为硬件 TXOK 完成数，`tx_failed` 为未成功完成数（含取消），`tx_unobserved` 为在邮箱重新分配前未能采到完成结果的帧数，`tx_dropped` 为未入队数，`abort_requests` / `abort_failures` 为取消请求成功/失败次数。计数上电清零，按 uint32 回绕；轮询可能漏掉短暂状态转换。ESR 的 TEC 字段只有发送错误计数的低 8 位，Bus-Off 时不能将它当作完整计数。TXOK 仍需外部抓包验证报文内容和持续通信。
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| ID | 名称 | 周期/触发 | 数据 |
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|---:|---|---|---|
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| `0x6A0` | 心跳 | 每 100 ms | `A1 01 seq_L seq_H uptime_0..3` |
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