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fix(can): 连续多包发送，是传输顺序与应用层调用一致 #11270

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fix(can): 连续多包发送，是传输顺序与应用层调用一致 #11270

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61 changes: 33 additions & 28 deletions components/drivers/can/dev_can.c
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Original file line number Diff line number Diff line change
Expand Up @@ -229,7 +229,7 @@ rt_inline int _can_int_tx(struct rt_can_device *can, const struct rt_can_msg *da
}
else
{
err_ret:
err_ret:
level = rt_hw_local_irq_disable();
can->status.dropedsndpkg++;
rt_hw_local_irq_enable(level);
Expand Down Expand Up @@ -345,34 +345,41 @@ static rt_ssize_t _can_nonblocking_tx(struct rt_can_device *can, const struct rt
{
return -RT_EINVAL;
}

level = rt_hw_local_irq_disable();
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@wdfk-prog wdfk-prog Mar 20, 2026

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  • 这个中断关的太多了吧,这样子TX_DONE中断触发不了
  • 然后一直入队,不给出队的机会更容易写满

while (sent_size < size)
{
if (can->ops->sendmsg_nonblocking(can, pmsg) == RT_EOK)
if (rt_ringbuffer_data_len(&can->nb_tx_rb) >= sizeof(struct rt_can_msg))
{
pmsg++;
sent_size += sizeof(struct rt_can_msg);
continue;
if (rt_ringbuffer_space_len(&can->nb_tx_rb) >= sizeof(struct rt_can_msg))
{
rt_ringbuffer_put(&can->nb_tx_rb, (rt_uint8_t *)pmsg, sizeof(struct rt_can_msg));
pmsg++;
sent_size += sizeof(struct rt_can_msg);
continue;
}
else
{
/* Buffer is full, cannot process this message or subsequent ones. */
can->status.dropedsndpkg += (size - sent_size) / sizeof(struct rt_can_msg);
break;
}
}

level = rt_hw_local_irq_disable();
if (rt_ringbuffer_space_len(&can->nb_tx_rb) >= sizeof(struct rt_can_msg))
else
{
rt_ringbuffer_put(&can->nb_tx_rb, (rt_uint8_t *)pmsg, sizeof(struct rt_can_msg));
rt_hw_local_irq_enable(level);
if (can->ops->sendmsg_nonblocking(can, pmsg) != RT_EOK)
{
level = rt_hw_local_irq_disable();
rt_ringbuffer_put_force(&can->nb_tx_rb, (rt_uint8_t *)pmsg, sizeof(struct rt_can_msg));
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@wdfk-prog wdfk-prog Mar 20, 2026

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  • rt_ringbuffer_put_force 强制入队不合适吧?, 应该重新检查是否能够有空间;不然强制丢掉了旧数据

rt_hw_local_irq_enable(level);
}

pmsg++;
sent_size += sizeof(struct rt_can_msg);
}
else
{
/* Buffer is full, cannot process this message or subsequent ones. */
can->status.dropedsndpkg += (size - sent_size) / sizeof(struct rt_can_msg);
rt_hw_local_irq_enable(level);
break;
level = rt_hw_local_irq_disable();
}
}

rt_hw_local_irq_enable(level);
return sent_size;
}

Expand Down Expand Up @@ -409,7 +416,7 @@ static rt_err_t rt_can_open(struct rt_device *dev, rt_uint16_t oflag)
struct rt_can_rx_fifo *rx_fifo;

rx_fifo = (struct rt_can_rx_fifo *) rt_malloc(sizeof(struct rt_can_rx_fifo) +
can->config.msgboxsz * sizeof(struct rt_can_msg_list));
can->config.msgboxsz * sizeof(struct rt_can_msg_list));
RT_ASSERT(rx_fifo != RT_NULL);

rx_fifo->buffer = (struct rt_can_msg_list *)(rx_fifo + 1);
Expand Down Expand Up @@ -441,12 +448,12 @@ static rt_err_t rt_can_open(struct rt_device *dev, rt_uint16_t oflag)
struct rt_can_tx_fifo *tx_fifo;

tx_fifo = (struct rt_can_tx_fifo *) rt_malloc(sizeof(struct rt_can_tx_fifo) +
can->config.sndboxnumber * sizeof(struct rt_can_sndbxinx_list));
can->config.sndboxnumber * sizeof(struct rt_can_sndbxinx_list));
RT_ASSERT(tx_fifo != RT_NULL);

tx_fifo->buffer = (struct rt_can_sndbxinx_list *)(tx_fifo + 1);
rt_memset(tx_fifo->buffer, 0,
can->config.sndboxnumber * sizeof(struct rt_can_sndbxinx_list));
can->config.sndboxnumber * sizeof(struct rt_can_sndbxinx_list));
rt_list_init(&tx_fifo->freelist);
for (i = 0; i < can->config.sndboxnumber; i++)
{
Expand Down Expand Up @@ -725,7 +732,6 @@ static rt_err_t rt_can_control(struct rt_device *dev,
}
rt_hw_local_irq_enable(level);
}

}
else
{
Expand Down Expand Up @@ -1057,7 +1063,6 @@ void rt_hw_can_isr(struct rt_can_device *can, int event)
listmsg->owner = &can->hdr[hdr];
can->hdr[hdr].msgs++;
}

}
#endif
rt_hw_local_irq_enable(level);
Expand Down Expand Up @@ -1132,7 +1137,8 @@ void rt_hw_can_isr(struct rt_can_device *can, int event)
level = rt_hw_local_irq_disable();
if (rt_ringbuffer_data_len(&can->nb_tx_rb) >= sizeof(struct rt_can_msg))
{
rt_ringbuffer_get(&can->nb_tx_rb, (rt_uint8_t *)&msg_to_send, sizeof(struct rt_can_msg));
struct rt_ringbuffer rb_shadow = can->nb_tx_rb;
rt_ringbuffer_get(&rb_shadow, (rt_uint8_t *)&msg_to_send, sizeof(struct rt_can_msg));
msg_was_present = RT_TRUE;
}
rt_hw_local_irq_enable(level);
Expand All @@ -1141,14 +1147,13 @@ void rt_hw_can_isr(struct rt_can_device *can, int event)
{
break;
}

if (can->ops->sendmsg_nonblocking(can, &msg_to_send) != RT_EOK)
{
level = rt_hw_local_irq_disable();
rt_ringbuffer_put_force(&can->nb_tx_rb, (rt_uint8_t *)&msg_to_send, sizeof(struct rt_can_msg));
rt_hw_local_irq_enable(level);
break;
}
level = rt_hw_local_irq_disable();
rt_ringbuffer_get(&can->nb_tx_rb, (rt_uint8_t *)&msg_to_send, sizeof(struct rt_can_msg));
rt_hw_local_irq_enable(level);
}
}
break;
Expand Down
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