10 ulog输出异常-中断与线程打印冲突

发布于 2024-04-10 09:35:16 浏览：535 订阅该版

[tocm]

逻辑：can收到数据后，can中断打印test，并把数据放到消息队列，main函数的消息队列打印消息内容
问题：只要can中断中有test打印的代码，整个串口就会卡死；
中断中无test打印的代码，main函数的打印正常；
main函数的打印代码注释掉的话，中断中的test打印正常；

.config相关的配置

```c
#
# Utilities
#
# CONFIG_RT_USING_RYM is not set
CONFIG_RT_USING_ULOG=y
# CONFIG_ULOG_OUTPUT_LVL_A is not set
# CONFIG_ULOG_OUTPUT_LVL_E is not set
# CONFIG_ULOG_OUTPUT_LVL_W is not set
# CONFIG_ULOG_OUTPUT_LVL_I is not set
CONFIG_ULOG_OUTPUT_LVL_D=y
CONFIG_ULOG_OUTPUT_LVL=7
CONFIG_ULOG_USING_ISR_LOG=y
CONFIG_ULOG_ASSERT_ENABLE=y
CONFIG_ULOG_LINE_BUF_SIZE=128
CONFIG_ULOG_USING_ASYNC_OUTPUT=y
CONFIG_ULOG_ASYNC_OUTPUT_BUF_SIZE=2048
CONFIG_ULOG_ASYNC_OUTPUT_BY_THREAD=y
CONFIG_ULOG_ASYNC_OUTPUT_THREAD_STACK=2048
CONFIG_ULOG_ASYNC_OUTPUT_THREAD_PRIORITY=30

#
# log format
#
CONFIG_ULOG_OUTPUT_FLOAT=y
CONFIG_ULOG_USING_COLOR=y
CONFIG_ULOG_OUTPUT_TIME=y
# CONFIG_ULOG_TIME_USING_TIMESTAMP is not set
CONFIG_ULOG_OUTPUT_LEVEL=y
CONFIG_ULOG_OUTPUT_TAG=y
# CONFIG_ULOG_OUTPUT_THREAD_NAME is not set
CONFIG_ULOG_BACKEND_USING_CONSOLE=y
# CONFIG_ULOG_BACKEND_USING_FILE is not set
# CONFIG_ULOG_USING_FILTER is not set
# CONFIG_ULOG_USING_SYSLOG is not set
# CONFIG_RT_USING_UTEST is not set
# CONFIG_RT_USING_VAR_EXPORT is not set
# CONFIG_RT_USING_RESOURCE_ID is not set
# CONFIG_RT_USING_ADT is not set
# CONFIG_RT_USING_RT_LINK is not set
# CONFIG_RT_USING_VBUS is not set
```

can中断中打印的代码

```c
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) {
    struct can_rx_msg msg;

if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &msg.RxHeader, msg.data) != HAL_OK) {
        LOG_E("get can rx error\n");
    }

if(msg.RxHeader.StdId != 0x601){ // A板TSDO 0x601
        return;
    }
LOG_E("test"); 
    if(RT_EOK != rt_mq_send(&can1_obj.rx_msg_mq, &msg, sizeof(msg))){
        LOG_E("send my_canopen_sdo_mq failed");
    }
}
```
main线程打印消息队列的数据

```c
int main(void)
{

while (1)
    {
        struct can_rx_msg rx_msg;
        if(1 == can_receive_data(&can1_obj, &rx_msg, RT_WAITING_FOREVER))
        {
            LOG_D("stdid:%x dlc:%d data:%x %x %x %x %x %x %x %x", 
            rx_msg.RxHeader.StdId, rx_msg.RxHeader.DLC, 
            rx_msg.data[0], rx_msg.data[1], rx_msg.data[2], rx_msg.data[3],
            rx_msg.data[4], rx_msg.data[5], rx_msg.data[6], rx_msg.data[7]);
        }
    }
}
```