CanopenNode STM32 with FreeRtOS and CRC-Unit about canopenstm32

[MaJerle]

Your unlock does not work correctly. If interrupts were locked before you locked them again, your unlock method will unlock them.

Actually __set_PRIMASK((CAN_MODULE)->primask_od) will unlock them only if they were previously unlocked.

Process is:

uint32_t primask = __get_PRIMASK(); // Get interrupt status
__disable_irq();    // Force interrupt disabled

// do the job

__set_PRIMASK(primask); //Re-enable interrupts only if these have been enabled before the disable call

Anything else is wrong and can sooner or later lead to issues.

[MaJerle]

Driver is done like explained above. Issue you are facing lays somewhere else, not in the interrupt management.

/* (un)lock critical section in CO_CANsend() */
// Why disabling the whole Interrupt
#define CO_LOCK_CAN_SEND(CAN_MODULE)                                                                                   \
    do {                                                                                                               \
        (CAN_MODULE)->primask_send = __get_PRIMASK();                                                                  \
        __disable_irq();                                                                                               \
    } while (0)
#define CO_UNLOCK_CAN_SEND(CAN_MODULE) __set_PRIMASK((CAN_MODULE)->primask_send)

/* (un)lock critical section in CO_errorReport() or CO_errorReset() */
#define CO_LOCK_EMCY(CAN_MODULE)                                                                                       \
    do {                                                                                                               \
        (CAN_MODULE)->primask_emcy = __get_PRIMASK();                                                                  \
        __disable_irq();                                                                                               \
    } while (0)
#define CO_UNLOCK_EMCY(CAN_MODULE) __set_PRIMASK((CAN_MODULE)->primask_emcy)

/* (un)lock critical section when accessing Object Dictionary */
#define CO_LOCK_OD(CAN_MODULE)                                                                                         \
    do {                                                                                                               \
        (CAN_MODULE)->primask_od = __get_PRIMASK();                                                                    \
        __disable_irq();                                                                                               \
    } while (0)
#define CO_UNLOCK_OD(CAN_MODULE) __set_PRIMASK((CAN_MODULE)->primask_od)

[Pascal8749]

Okay thanks for the feedback. I don't understand exactly what the two macros do, but I believe you. I could not solve the problem, and so I ran the function canopen_app_interrupt() in a timer interrupt again, despite freertos. Just like it is solved in the example to freertos.
This is a bit unsatisfying, but at least now everything runs as expected.