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[Fix] <components>:drivers/can/dev_can.c 修复CAN底层无法工作时导致调用_can_int_tx的线程一直挂起的问题 #10559

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[Fix] <components>:drivers/can/dev_can.c 修复CAN底层无法工作时导致调用_can_int_tx的线程一直挂起的问题 #10559

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42 changes: 29 additions & 13 deletions components/drivers/can/dev_can.c
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
/*
* Copyright (c) 2006-2024 RT-Thread Development Team
* Copyright (c) 2006-2025, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
Expand Down Expand Up @@ -165,8 +165,17 @@ rt_inline int _can_int_tx(struct rt_can_device *can, const struct rt_can_msg *da
goto err_ret;
}

can->status.sndchange = 1;
rt_completion_wait(&(tx_tosnd->completion), RT_WAITING_FOREVER);
can->status.sndchange |= 1<<no;

if( rt_completion_wait(&(tx_tosnd->completion), RT_CANSND_MSG_TIMEOUT)!=RT_EOK)
{
level = rt_hw_interrupt_disable();
rt_list_insert_before(&tx_fifo->freelist, &tx_tosnd->list);
can->status.sndchange &= ~ (1<<no);
rt_hw_interrupt_enable(level);
rt_sem_release(&(tx_fifo->sem));
goto err_ret;
}

level = rt_hw_interrupt_disable();
result = tx_tosnd->result;
Expand Down Expand Up @@ -237,8 +246,12 @@ rt_inline int _can_int_tx_priv(struct rt_can_device *can, const struct rt_can_ms
{
continue;
}
can->status.sndchange = 1;
rt_completion_wait(&(tx_fifo->buffer[no].completion), RT_WAITING_FOREVER);
can->status.sndchange |= 1<<no;
if(rt_completion_wait(&(tx_fifo->buffer[no].completion), RT_CANSND_MSG_TIMEOUT)!= RT_EOK)
{
can->status.sndchange &= ~ (1<<no);
continue;
}

result = tx_fifo->buffer[no].result;
if (result == RT_CAN_SND_RESULT_OK)
Expand Down Expand Up @@ -892,16 +905,18 @@ void rt_hw_can_isr(struct rt_can_device *can, int event)
no = event >> 8;
tx_fifo = (struct rt_can_tx_fifo *) can->can_tx;
RT_ASSERT(tx_fifo != RT_NULL);

if ((event & 0xff) == RT_CAN_EVENT_TX_DONE)
if (can->status.sndchange&(1<<no))
{
tx_fifo->buffer[no].result = RT_CAN_SND_RESULT_OK;
}
else
{
tx_fifo->buffer[no].result = RT_CAN_SND_RESULT_ERR;
if ((event & 0xff) == RT_CAN_EVENT_TX_DONE)
{
tx_fifo->buffer[no].result = RT_CAN_SND_RESULT_OK;
}
else
{
tx_fifo->buffer[no].result = RT_CAN_SND_RESULT_ERR;
}
rt_completion_done(&(tx_fifo->buffer[no].completion));
}
rt_completion_done(&(tx_fifo->buffer[no].completion));
break;
}
}
Expand Down Expand Up @@ -972,3 +987,4 @@ int cmd_canstat(int argc, void **argv)
}
MSH_CMD_EXPORT_ALIAS(cmd_canstat, canstat, stat can device status);
#endif

6 changes: 5 additions & 1 deletion components/drivers/include/drivers/dev_can.h
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
/*
* Copyright (c) 2006-2024 RT-Thread Development Team
* Copyright (c) 2006-2025, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
Expand All @@ -21,6 +21,9 @@
#ifndef RT_CANSND_BOX_NUM
#define RT_CANSND_BOX_NUM 1
#endif
#ifndef RT_CANSND_MSG_TIMEOUT
#define RT_CANSND_MSG_TIMEOUT 100
#endif

enum CAN_DLC
{
Expand Down Expand Up @@ -541,3 +544,4 @@ void rt_hw_can_isr(struct rt_can_device *can, int event);
/*! @}*/

#endif /*__DEV_CAN_H*/

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