修复某些情况下可能导致crash (47fa43e2) · Commits · Wenxi XU / Mambo

include/ares/plotter/aresplot_protocol.c

+1 −1

Original line number	Diff line number	Diff line
		@@ -230,7 +230,7 @@ static void handle_cmd_set_variable(void)
		memcpy(&float_val, temp_float_bytes, sizeof(float));

		LOG_DBG("Setting variable: addr=0x%08x, type=%d, value=%f", temp_addr, original_type,
		float_val);
		(double)float_val);

		aresplot_user_critical_enter();
		switch (original_type) {

include/ares/plotter/aresplot_uart.c

+18 −11

Original line number	Diff line number	Diff line
		@@ -21,6 +21,9 @@ static struct k_timer aresplot_uart_timer;
		#define ARESPLOT_UART_STACK_SIZE 1536
		#define ARESPLOT_UART_PRIORITY 7

		uint8_t aresplot_parse_buf[BUF_SIZE];
		bool new_packet = false;

		static K_THREAD_STACK_DEFINE(aresplot_stack_area, ARESPLOT_UART_STACK_SIZE);
		// --- 用户需要实现的硬件/系统相关回调函数 ---
		// --- User-implemented hardware/system-specific callback functions ---
		@@ -42,7 +45,7 @@ void aresplot_user_send_packet(const uint8_t *data, uint16_t length)
		{
		struct device *uart_dev = aresplot_instance.uart_dev;
		int err = uart_tx(uart_dev, data, length, SYS_FOREVER_US);
		// LOG_HEXDUMP_INF(data, length, "Packet");
		LOG_HEXDUMP_DBG(data, length, "Packet");
		if (err && !freq_too_high) {
		LOG_ERR("Failed to send packet: %d, is the frequency too high?", err);
		freq_too_high = true;
		@@ -75,10 +78,9 @@ static void aresplot_uart_callback(const struct device dev, struct uart_event
		case UART_RX_RDY: {
		uint8_t *p = &(evt->data.rx.buf[evt->data.rx.offset]);
		uint16_t len = evt->data.rx.len;

		memcpy(aresplot_parse_buf, p, len);
		LOG_DBG("Received %d bytes", len);
		aresplot_rx_feed_packet(p, len);

		new_packet = true;
		break;
		}

		@@ -143,11 +145,15 @@ static void aresplot_uart_callback(const struct device dev, struct uart_event
		static void aresplot_tick(void arg1, void arg2, void *arg3)
		{
		while (!k_sem_take(&aresplot_sem, K_FOREVER)) {
		if (new_packet) {
		aresplot_rx_feed_packet(aresplot_parse_buf, BUF_SIZE);
		new_packet = false;
		}
		aresplot_service_tick();
		}
		}

		static void aresplot_uart_init(void)
		static int aresplot_uart_init(void)
		{
		const struct device *uart_dev = DEVICE_DT_GET(DT_ALIAS(plot));
		uint16_t freq = CONFIG_PLOTTER_FREQ;
		@@ -156,7 +162,7 @@ static void aresplot_uart_init(void)

		if (!device_is_ready(uart_dev)) {
		LOG_ERR("UART device not ready");
		return;
		return -ENODEV;
		}

		aresplot_instance.uart_dev = (struct device *)uart_dev;
		@@ -172,21 +178,21 @@ static void aresplot_uart_init(void)
		err = uart_configure(uart_dev, &config);
		if (err) {
		LOG_ERR("Failed to configure UART: %d", err);
		return;
		return err;
		}

		// 设置回调
		err = uart_callback_set(uart_dev, aresplot_uart_callback, &aresplot_instance);
		if (err) {
		LOG_ERR("Failed to set callback: %d", err);
		return;
		return err;
		}

		// 分配并启用接收缓冲区
		err = k_mem_slab_alloc(&aresplot_uart_slab, (void **)&buf, K_NO_WAIT);
		if (err) {
		LOG_ERR("Failed to allocate RX buffer: %d", err);
		return;
		return err;
		}

		uart_rx_disable(uart_dev);
		@@ -195,7 +201,7 @@ static void aresplot_uart_init(void)
		if (err) {
		LOG_ERR("Failed to enable RX: %d", err);
		k_mem_slab_free(&aresplot_uart_slab, (void **)&buf);
		return;
		return err;
		}

		// 初始化协议
		@@ -211,6 +217,7 @@ static void aresplot_uart_init(void)
		k_timer_start(&aresplot_uart_timer, K_NO_WAIT, K_USEC(1e6 / aresplot_instance.freq));

		LOG_INF("Aresplot UART initialized");
		return 0;
		}

		void aresplot_user_critical_enter(void)
		@@ -223,4 +230,4 @@ void aresplot_user_critical_exit(void)
		return;
		}

		SYS_INIT(aresplot_uart_init, POST_KERNEL, CONFIG_APPLICATION_INIT_PRIORITY);
		No newline at end of file
		SYS_INIT(aresplot_uart_init, APPLICATION, CONFIG_APPLICATION_INIT_PRIORITY);
		No newline at end of file

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