python-can: GsUsbBus was not properly shut down #144
Description
Describe the bug
After programming a custom STM32405RG board and trying to run a test Python script get an error: "GsUsbBus was not properly shut down".
Test script is following:
import can
import usb
import usb.core
dev = usb.core.find(idVendor=0x1209, idProduct=0xCA01)
with can.Bus(interface="gs_usb", channel=0, bitrate=1000000) as bus:
passLogs of cannectivity firmware are:
*** Booting Zephyr OS build 9c1fbc8a86ad ***
17:49:20.460: *** CANnectivity firmware v1.2.0-35-ge075c51a7e48 ***
17:49:20.460: [00:00:00.000,000] <dbg> gs_usb: gs_usb_register_channel: channel 0 features = 0x0000203b
17:49:20.460: [00:00:00.000,000] <dbg> gs_usb: gs_usb_register_channel: channel 1 features = 0x0000203b
17:49:20.460: [00:00:00.010,000] <dbg> gs_usb: gs_usb_init: initialized class instance 0x2000082c, interface number 0
17:49:20.460: [00:00:00.010,000] <inf> main: CANnectivity firmware initialized with 2 channels
First I think it is macOS acting up, but same error on Ubuntu VM. I've tried main branch and 1.2-branch with the same result. I've built with next_usb stack with the same result.
The hardware is working, I've built Blinky and cdc_acm samples to check my board config and USB are okay. Also another firmware working well on same Ubuntu VM.
libusb is installed.
To Reproduce
- Build firmware on main branch/1.2-branch
- Flash firmware regularly
- Try to run python script mentioned above
Expected behavior
Script passes without error
Board device tree
/dts-v1/;
#include <st/f4/stm32f405Xg.dtsi>
#include <st/f4/stm32f405rgtx-pinctrl.dtsi>
#include <zephyr/dt-bindings/input/input-event-codes.h>
/ {
model = "Robotics Hardware Solutions FPCAN Board";
compatible = "rhs,fpcan", "st,stm32f405";
chosen {
zephyr,console = &zephyr_udc0;
zephyr,shell = &zephyr_udc0;
zephyr,sram = &sram0;
zephyr,flash = &flash0;
zephyr,ccm = &ccm0;
zephyr,canbus = &can1;
};
leds {
compatible = "gpio-leds";
state_led: state_led {
gpios = <&gpioa 0 GPIO_ACTIVE_HIGH>;
label = "State LED";
};
rx1_led: rx1_led {
gpios = <&gpioa 1 GPIO_ACTIVE_HIGH>;
label = "CAN1 RX LED";
};
tx1_led: tx1_led {
gpios = <&gpioa 2 GPIO_ACTIVE_HIGH>;
label = "CAN1 TX LED";
};
rx2_led: rx2_led {
gpios = <&gpioa 3 GPIO_ACTIVE_HIGH>;
label = "CAN2 RX LED";
};
tx2_led: tx2_led {
gpios = <&gpioa 4 GPIO_ACTIVE_HIGH>;
label = "CAN2 TX LED";
};
};
aliases {
led0 = &state_led;
led1 = &rx1_led;
led2 = &tx1_led;
led4 = &rx2_led;
watchdog0 = &iwdg;
sdhc0 = &sdmmc1;
};
};
&clk_lsi {
status = "okay";
};
&clk_hse {
clock-frequency = <DT_FREQ_M(8)>;
status = "okay";
};
&pll {
div-m = <4>;
mul-n = <168>;
div-p = <2>;
div-q = <7>;
clocks = <&clk_hse>;
status = "okay";
};
&rcc {
clocks = <&pll>;
clock-frequency = <DT_FREQ_M(168)>;
ahb-prescaler = <1>;
apb1-prescaler = <4>;
apb2-prescaler = <2>;
};
&can1 {
pinctrl-0 = <&can1_rx_pb8 &can1_tx_pb9>;
pinctrl-names = "default";
status = "okay";
};
&can2 {
pinctrl-0 = <&can2_rx_pb5 &can2_tx_pb6>;
pinctrl-names = "default";
status = "okay";
};
zephyr_udc0: &usbotg_fs {
pinctrl-0 = <&usb_otg_fs_dm_pa11 &usb_otg_fs_dp_pa12>;
pinctrl-names = "default";
status = "okay";
};
&iwdg {
status = "okay";
};
&backup_sram {
status = "okay";
};
Environment
- Target board: custom stm32f405rg board with CAN transceiver
- OS: macOS 26.1/Ubuntu 24.04
- Toolchain: Zephyr SDK version 17.0
- CANnectivity Git commit SHA: e075c51
- Zephyr RTOS Git commit SHA: 9c1fbc8a86ad0f57190b6b84dd19bd88a189dc49