Use a critical section mutex in CAN Fdcan driver. #4271
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added 3 commits
May 31, 2025 08:20
…e unsound code that was giving out mut&. to State
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bender run |
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The FDCAN driver was using a static function to hand out &mut State internally. Generally, care was taken to only access this from within a critical section or Interrupt. The interrupt case is an issue, if some code decided to [de]configure the buffering mode from a higher priority interrupt level than the CAN interrupt. This seems unlikely, anyway...
This change was proposed by @DrTobe in: #4223
This required: #4265 as a dependency. Which also points us to the fact that buffered mode was unsound if the Channel was constructed with a Raw mutex. The first commit in this series blocks that.
This patch has been tested on STM32G431 boards, mainly with the buffered mode.