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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3
modules/can_comm/can_comm.c
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@@ -23,8 +23,7 @@ static void CANCommResetRx(CANCommInstance *ins)
*/
static void CANCommRxCallback(CANInstance *_instance)
{
static CANCommInstance *comm;
comm = (CANCommInstance *)_instance->id; // 注意写法,将can instance的id强制转换为CANCommInstance*类型
CANCommInstance *comm = (CANCommInstance *)_instance->id; // 注意写法,将can instance的id强制转换为CANCommInstance*类型
/* 接收状态判断 */
if (_instance->rx_buff[0] == CAN_COMM_HEADER && comm->recv_state == 0) // 之前尚未开始接收且此次包里第一个位置是帧头