TuxMonkey/bf_original_balance_chassis
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修复CAN中断优先级导致函数重入访问static变量的问题，提升了bsp和部分module的性能。

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This commit is contained in:
NeoZng
2023-03-23 18:22:24 +08:00
parent eefc0883ed
commit 41d033e3f8
16 changed files with 76 additions and 65 deletions
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4
bsp/can/bsp_can.c
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@@ -131,9 +131,9 @@ void CANSetDLC(CANInstance *_instance, uint8_t length)
*/
static void CANFIFOxCallback(CAN_HandleTypeDef *_hcan, uint32_t fifox)
{
static uint8_t can_rx_buff[8]; // 用于保存接收到的数据,static是为了减少栈空间占用,避免重复分配
static CAN_RxHeaderTypeDef rxconf; // 同上
uint8_t can_rx_buff[8];
HAL_CAN_GetRxMessage(_hcan, fifox, &rxconf, can_rx_buff); // 从FIFO中获取数据
for (size_t i = 0; i < idx; ++i)
{ // 两者相等说明这是要找的实例

2
bsp/gpio/bsp_gpio.c
View File

@@ -15,7 +15,7 @@ static GPIOInstance *gpio_instance[GPIO_MX_DEVICE_NUM] = {NULL};
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
// 如有必要,可以根据pinstate和HAL_GPIO_ReadPin来判断是上升沿还是下降沿/rise&fall等
static GPIOInstance *gpio;
GPIOInstance *gpio;
for (size_t i = 0; i < idx; i++)
{
gpio = gpio_instance[i];