nuttx/nuttx-update
1
2
Fork 1
Code Issues 1 Pull requests 1 Projects Releases Packages Wiki Activity Actions

nuttx/can: support to Send message priority sorting function.

Browse source 
Linked list-based priority sorting function for sending messages.

Signed-off-by: gaohedong <gaohedong@xiaomi.com>
This commit is contained in:
gaohedong 2024-10-10 19:45:46 +08:00 committed by GUIDINGLI
parent 8e2f8be671
commit cfc90ad1f3
7 changed files with 670 additions and 161 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

2
drivers/can/CMakeLists.txt
View file

@ -19,7 +19,7 @@
# ##############################################################################
if(CONFIG_CAN)
set(SRCS can.c)
set(SRCS can.c can_sender.c)
if(CONFIG_CAN_MCP2515)
list(APPEND SRCS mcp2515.c)

6
drivers/can/Kconfig
View file

@ -126,6 +126,12 @@ config CAN_TXREADY
no longer full. can_txready() will then awaken the
can_write() logic and the hang condition is avoided.
config CAN_TXPRIORITY
bool "Prioritize sending based on canid"
default n
---help---
Prioritize sending based on canid.
choice
prompt "TX Ready Work Queue"
default CAN_TXREADY_HIPRI

2
drivers/can/Make.defs
View file

@ -22,7 +22,7 @@
ifeq ($(CONFIG_CAN),y)
CSRCS += can.c
CSRCS += can.c can_sender.c
ifeq ($(CONFIG_CAN_MCP2515),y)
CSRCS += mcp2515.c

276
drivers/can/can.c
View file

@ -42,6 +42,7 @@
#include <nuttx/signal.h>
#include <nuttx/fs/fs.h>
#include <nuttx/can/can.h>
#include <nuttx/can/can_sender.h>
#include <nuttx/kmalloc.h>
#include <nuttx/irq.h>
@ -147,35 +148,35 @@ static void can_txready_work(FAR void *arg)
irqstate_t flags;
int ret;
caninfo("xmit head: %d queue: %d tail: %d\n",
dev->cd_xmit.tx_head, dev->cd_xmit.tx_queue,
dev->cd_xmit.tx_tail);
caninfo("xmit pending_count: %d sending_count: %d free_space: %d\n",
PENDING_COUNT(&dev->cd_sender), SENDING_COUNT(&dev->cd_sender),
FREE_COUNT(&dev->cd_sender));
/* Verify that the xmit FIFO is not empty. The following operations must
/* Verify that the sender is not empty. The following operations must
* be performed with interrupt disabled.
*/
flags = enter_critical_section();
if (dev->cd_xmit.tx_head != dev->cd_xmit.tx_tail)
if (!TX_EMPTY(&dev->cd_sender))
{
/* Send the next message in the FIFO. */
/* Send the next message in the sender. */
ret = can_xmit(dev);
/* If the message was successfully queued in the H/W FIFO, then
* can_txdone() should have been called. If the S/W FIFO were
* full before then there should now be free space in the S/W FIFO.
/* If the message was successfully queued in the H/W sender, then
* can_txdone() should have been called. If the S/W sender were
* full before then there should now be free space in the S/W sender.
*/
if (ret >= 0)
{
/* Are there any threads waiting for space in the TX FIFO? */
/* Are there any threads waiting for space in the sender? */
if (dev->cd_ntxwaiters > 0)
{
/* Yes.. Inform them that new xmit space is available */
nxsem_post(&dev->cd_xmit.tx_sem);
nxsem_post(&dev->cd_sender.tx_sem);
}
}
}
@ -240,11 +241,9 @@ static int can_open(FAR struct file *filep)
ret = dev_setup(dev);
if (ret == OK)
{
/* Mark the FIFOs empty */
/* Mark the sender empty */
dev->cd_xmit.tx_head = 0;
dev->cd_xmit.tx_queue = 0;
dev->cd_xmit.tx_tail = 0;
can_sender_init(&dev->cd_sender);
/* Finally, Enable the CAN RX interrupt */
@ -327,14 +326,14 @@ static int can_close(FAR struct file *filep)
dev_rxint(dev, false);
/* Now we wait for the transmit FIFO to clear */
/* Now we wait for the sender to clear */
while (dev->cd_xmit.tx_head != dev->cd_xmit.tx_tail)
while (!TX_EMPTY(&dev->cd_sender))
{
nxsig_usleep(HALF_SECOND_USEC);
}
/* And wait for the TX hardware FIFO to drain */
/* And wait for the hardware sender to drain */
while (!dev_txempty(dev))
{
@ -493,7 +492,7 @@ return_with_irqdisabled:
* Name: can_xmit
*
* Description:
* Send the message at the head of the cd_xmit FIFO
* Send the message at the head of the sender
*
* Assumptions:
* Called with interrupts disabled
@ -502,21 +501,22 @@ return_with_irqdisabled:
static int can_xmit(FAR struct can_dev_s *dev)
{
int tmpndx;
FAR struct can_msg_s *msg;
int ret = -EBUSY;
caninfo("xmit head: %d queue: %d tail: %d\n",
dev->cd_xmit.tx_head, dev->cd_xmit.tx_queue, dev->cd_xmit.tx_tail);
caninfo("xmit pending_count: %d sending_count: %d free_space: %d\n",
PENDING_COUNT(&dev->cd_sender), SENDING_COUNT(&dev->cd_sender),
FREE_COUNT(&dev->cd_sender));
/* If there is nothing to send, then just disable interrupts and return */
if (dev->cd_xmit.tx_head == dev->cd_xmit.tx_tail)
if (TX_EMPTY(&dev->cd_sender))
{
DEBUGASSERT(dev->cd_xmit.tx_queue == dev->cd_xmit.tx_head);
DEBUGASSERT(SENDING_COUNT(&dev->cd_sender) == 0);
#ifndef CONFIG_CAN_TXREADY
/* We can disable CAN TX interrupts -- unless there is a H/W FIFO. In
* that case, TX interrupts must stay enabled until the H/W FIFO is
/* We can disable CAN TX interrupts -- unless there is a H/W sender. In
* that case, TX interrupts must stay enabled until the H/W sender is
* fully emptied.
*/
@ -525,42 +525,39 @@ static int can_xmit(FAR struct can_dev_s *dev)
return -EIO;
}
/* Check if we have already queued all of the data in the TX fifo.
/* Check if we have already queued all of the data in the sender.
*
* tx_tail: Incremented in can_write each time a message is queued in the
* FIFO
* sender
* tx_head: Incremented in can_txdone each time a message completes
* tx_queue: Incremented each time that a message is sent to the hardware.
*
* Logically (ignoring buffer wrap-around): tx_head <= tx_queue <= tx_tail
* tx_head == tx_queue == tx_tail means that the FIFO is empty
* tx_head == tx_queue == tx_tail means that the sender is empty
* tx_head < tx_queue == tx_tail means that all data has been queued, but
* we are still waiting for transmissions to complete.
*/
while (dev->cd_xmit.tx_queue != dev->cd_xmit.tx_tail && dev_txready(dev))
while (TX_PENDING(&dev->cd_sender) && dev_txready(dev))
{
/* No.. The FIFO should not be empty in this case */
/* No.. The sender should not be empty in this case */
DEBUGASSERT(dev->cd_xmit.tx_head != dev->cd_xmit.tx_tail);
DEBUGASSERT(!TX_EMPTY(&dev->cd_sender));
/* Increment the FIFO queue index before sending (because dev_send()
* might call can_txdone()).
*/
msg = can_get_msg(&dev->cd_sender);
tmpndx = dev->cd_xmit.tx_queue;
if (++dev->cd_xmit.tx_queue >= CONFIG_CAN_TXFIFOSIZE)
if (msg == NULL)
{
dev->cd_xmit.tx_queue = 0;
break;
}
/* Send the next message at the FIFO queue index */
/* Send the next message at the sender */
ret = dev_send(dev, &dev->cd_xmit.tx_buffer[tmpndx]);
ret = dev_send(dev, msg);
if (ret < 0)
{
canerr("dev_send failed: %d\n", ret);
dev->cd_xmit.tx_queue = tmpndx;
can_revert_msg(&dev->cd_sender, msg);
break;
}
}
@ -578,17 +575,16 @@ static int can_xmit(FAR struct can_dev_s *dev)
static ssize_t can_write(FAR struct file *filep, FAR const char *buffer,
size_t buflen)
{
FAR struct inode *inode = filep->f_inode;
FAR struct can_dev_s *dev = inode->i_private;
FAR struct can_txfifo_s *fifo = &dev->cd_xmit;
FAR struct can_msg_s *msg;
bool inactive;
ssize_t nsent = 0;
irqstate_t flags;
int nexttail;
int nbytes;
int msglen;
int ret = 0;
FAR struct inode *inode = filep->f_inode;
FAR struct can_dev_s *dev = inode->i_private;
FAR struct can_txcache_s *sender = &dev->cd_sender;
FAR struct can_msg_s *msg;
bool inactive;
ssize_t nsent = 0;
irqstate_t flags;
int nbytes;
int msglen;
int ret = 0;
caninfo("buflen: %zu\n", buflen);
@ -596,37 +592,27 @@ static ssize_t can_write(FAR struct file *filep, FAR const char *buffer,
flags = enter_critical_section();
/* Check if the TX is inactive when we started. In certain race conditions,
* there may be a pending interrupt to kick things back off, but we will
* be sure here that there is not. That the hardware is IDLE and will
* need to be kick-started.
/* Check if the H/W TX is inactive when we started. In certain race
* conditions, there may be a pending interrupt to kick things back off,
* but we will be sure here that there is not. That the hardware is IDLE
* and will need to be kick-started.
*/
inactive = dev_txempty(dev);
/* Add the messages to the FIFO. Ignore any trailing messages that are
/* Add the messages to the sender. Ignore any trailing messages that are
* shorter than the minimum.
*/
while (buflen - nsent >= CAN_MSGLEN(0))
{
/* Check if adding this new message would over-run the drivers ability
* to enqueue xmit data.
*/
nexttail = fifo->tx_tail + 1;
if (nexttail >= CONFIG_CAN_TXFIFOSIZE)
{
nexttail = 0;
}
/* If the XMIT FIFO becomes full, then wait for space to become
/* If the sender becomes full, then wait for space to become
* available.
*/
while (nexttail == fifo->tx_head)
while (TX_FULL(sender))
{
/* The transmit FIFO is full -- was non-blocking mode selected? */
/* The transmit sender is full -- non-blocking mode selected? */
if ((filep->f_oflags & O_NONBLOCK) != 0)
{
@ -644,7 +630,7 @@ static ssize_t can_write(FAR struct file *filep, FAR const char *buffer,
/* If the TX hardware was inactive when we started, then we will
* have start the XMIT sequence generate the TX done interrupts
* needed to clear the FIFO.
* needed to clear the sender.
*/
if (inactive)
@ -656,37 +642,34 @@ static ssize_t can_write(FAR struct file *filep, FAR const char *buffer,
DEBUGASSERT(dev->cd_ntxwaiters < 255);
dev->cd_ntxwaiters++;
ret = nxsem_wait(&fifo->tx_sem);
ret = nxsem_wait(&sender->tx_sem);
dev->cd_ntxwaiters--;
if (ret < 0)
{
goto return_with_irqdisabled;
}
/* Re-check the FIFO state */
/* Re-check the H/W sender state */
inactive = dev_txempty(dev);
}
/* We get here if there is space at the end of the FIFO. Add the new
* CAN message at the tail of the FIFO.
/* We get here if there is space in sender. Add the new
* CAN message at sutibal.
*/
msg = (FAR struct can_msg_s *)&buffer[nsent];
nbytes = can_dlc2bytes(msg->cm_hdr.ch_dlc);
msglen = CAN_MSGLEN(nbytes);
memcpy(&fifo->tx_buffer[fifo->tx_tail], msg, msglen);
/* Increment the tail of the circular buffer */
fifo->tx_tail = nexttail;
can_add_sendnode(sender, msg, msglen);
/* Increment the number of bytes that were sent */
nsent += msglen;
}
/* We get here after all messages have been added to the FIFO. Check if
/* We get here after all messages have been added to the sender. Check if
* we need to kick off the XMIT sequence.
*/
@ -853,9 +836,7 @@ static int can_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
case CANIOC_OFLUSH:
{
dev->cd_xmit.tx_head = 0;
dev->cd_xmit.tx_queue = 0;
dev->cd_xmit.tx_tail = 0;
can_sender_init(&dev->cd_sender);
/* invoke lower half ioctl */
@ -869,9 +850,8 @@ static int can_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
case CANIOC_IOFLUSH:
{
dev->cd_xmit.tx_head = 0;
dev->cd_xmit.tx_queue = 0;
dev->cd_xmit.tx_tail = 0;
can_sender_init(&dev->cd_sender);
reader->fifo.rx_head = 0;
reader->fifo.rx_tail = 0;
@ -885,8 +865,8 @@ static int can_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
case FIONWRITE:
{
*(FAR uint8_t *)arg = CONFIG_CAN_TXFIFOSIZE - 1 -
(dev->cd_xmit.tx_tail - dev->cd_xmit.tx_head);
*(FAR int *)arg = PENDING_COUNT(&dev->cd_sender) -
SENDING_COUNT(&dev->cd_sender);
}
break;
@ -976,7 +956,6 @@ static int can_poll(FAR struct file *filep, FAR struct pollfd *fds,
FAR struct can_reader_s *reader = NULL;
pollevent_t eventset = 0;
irqstate_t flags;
int ndx;
int ret;
int i;
@ -989,7 +968,7 @@ static int can_poll(FAR struct file *filep, FAR struct pollfd *fds,
}
#endif
/* Ensure exclusive access to FIFO indices - don't want can_receive or
/* Ensure exclusive access to sender indices - don't want can_receive or
* can_read changing them in the middle of the comparison
*/
@ -1040,16 +1019,10 @@ static int can_poll(FAR struct file *filep, FAR struct pollfd *fds,
}
/* Should we immediately notify on any of the requested events?
* First, check if the xmit buffer is full.
* First, check if the sender is full.
*/
ndx = dev->cd_xmit.tx_tail + 1;
if (ndx >= CONFIG_CAN_TXFIFOSIZE)
{
ndx = 0;
}
if (ndx != dev->cd_xmit.tx_head)
if (!TX_FULL(&dev->cd_sender))
{
eventset |= POLLOUT;
}
@ -1121,7 +1094,7 @@ int can_register(FAR const char *path, FAR struct can_dev_s *dev)
/* Initialize semaphores */
nxsem_init(&dev->cd_xmit.tx_sem, 0, 0);
nxsem_init(&dev->cd_sender.tx_sem, 0, 0);
nxmutex_init(&dev->cd_closelock);
nxmutex_init(&dev->cd_polllock);
@ -1324,15 +1297,15 @@ int can_receive(FAR struct can_dev_s *dev, FAR struct can_hdr_s *hdr,
* Description:
* Called when the hardware has processed the outgoing TX message. This
* normally means that the CAN messages was sent out on the wire. But
* if the CAN hardware supports a H/W TX FIFO, then this call may mean
* only that the CAN message has been added to the H/W FIFO. In either
* if the CAN hardware supports a H/W TX sender, then this call may mean
* only that the CAN message has been added to the H/W sender. In either
* case, the upper-half CAN driver can remove the outgoing message from
* the S/W FIFO and discard it.
* the S/W sender and discard it.
*
* This function may be called in different contexts, depending upon the
* nature of the underlying CAN hardware.
*
* 1. No H/W TX FIFO (CONFIG_CAN_TXREADY not defined)
* 1. No H/W sender (CONFIG_CAN_TXREADY not defined)
*
* This function is only called from the CAN interrupt handler at the
* completion of a send operation.
@ -1341,37 +1314,37 @@ int can_receive(FAR struct can_dev_s *dev, FAR struct can_hdr_s *hdr,
* CAN interrupt -> can_txdone()
*
* If the CAN hardware is busy, then the call to dev_send() will
* fail, the S/W TX FIFO will accumulate outgoing messages, and the
* fail, the S/W TX sender will accumulate outgoing messages, and the
* thread calling can_write() may eventually block waiting for space in
* the S/W TX FIFO.
* the S/W sender.
*
* When the CAN hardware completes the transfer and processes the
* CAN interrupt, the call to can_txdone() will make space in the S/W
* TX FIFO and will awaken the waiting can_write() thread.
* sender and will awaken the waiting can_write() thread.
*
* 2a. H/W TX FIFO (CONFIG_CAN_TXREADY=y) and S/W TX FIFO not full
* 2a. H/W sender (CONFIG_CAN_TXREADY=y) and S/W sender not full
*
* This function will be called back from dev_send() immediately when a
* new CAN message is added to H/W TX FIFO:
* new CAN message is added to H/W sender:
*
* can_write() -> can_xmit() -> dev_send() -> can_txdone()
*
* When the H/W TX FIFO becomes full, dev_send() will fail and
* can_txdone() will not be called. In this case the S/W TX FIFO will
* When the H/W sender becomes full, dev_send() will fail and
* can_txdone() will not be called. In this case the S/W sender will
* accumulate outgoing messages, and the thread calling can_write() may
* eventually block waiting for space in the S/W TX FIFO.
* eventually block waiting for space in the S/W sender.
*
* 2b. H/W TX FIFO (CONFIG_CAN_TXREADY=y) and S/W TX FIFO full
* 2b. H/W sender (CONFIG_CAN_TXREADY=y) and S/W sender full
*
* In this case, the thread calling can_write() is blocked waiting for
* space in the S/W TX FIFO. can_txdone() will be called, indirectly,
* space in the S/W sender. can_txdone() will be called, indirectly,
* from can_txready_work() running on the thread of the work queue.
*
* CAN interrupt -> can_txready() -> Schedule can_txready_work()
* can_txready_work() -> can_xmit() -> dev_send() -> can_txdone()
*
* The call dev_send() should not fail in this case and the subsequent
* call to can_txdone() will make space in the S/W TX FIFO and will
* call to can_txdone() will make space in the S/W sender and will
* awaken the waiting thread.
*
* Input Parameters:
@ -1393,14 +1366,15 @@ int can_txdone(FAR struct can_dev_s *dev)
int ret = -ENOENT;
irqstate_t flags;
caninfo("xmit head: %d queue: %d tail: %d\n",
dev->cd_xmit.tx_head, dev->cd_xmit.tx_queue, dev->cd_xmit.tx_tail);
caninfo("xmit pending_count: %d sending_count: %d free_space: %d\n",
PENDING_COUNT(&dev->cd_sender), SENDING_COUNT(&dev->cd_sender),
FREE_COUNT(&dev->cd_sender));
flags = enter_critical_section();
/* Verify that the xmit FIFO is not empty */
/* Verify that the sender is not empty */
if (dev->cd_xmit.tx_head != dev->cd_xmit.tx_tail)
if (!TX_EMPTY(&dev->cd_sender))
{
/* The tx_queue index is incremented each time can_xmit() queues
* the transmission. When can_txdone() is called, the tx_queue
@ -1408,32 +1382,29 @@ int can_txdone(FAR struct can_dev_s *dev)
* index.
*/
DEBUGASSERT(dev->cd_xmit.tx_head != dev->cd_xmit.tx_queue);
DEBUGASSERT(SENDING_COUNT(&dev->cd_sender) != 0);
/* Remove the message at the head of the xmit FIFO */
/* Remove the message at the head of the sender */
if (++dev->cd_xmit.tx_head >= CONFIG_CAN_TXFIFOSIZE)
{
dev->cd_xmit.tx_head = 0;
}
can_send_done(&dev->cd_sender);
/* Send the next message in the FIFO */
/* Send the next message in the sender */
can_xmit(dev);
/* Notify all poll/select waiters that they can write to the cd_xmit
/* Notify all poll/select waiters that they can write to the sender
* buffer
*/
poll_notify(dev->cd_fds, CONFIG_CAN_NPOLLWAITERS, POLLOUT);
/* Are there any threads waiting for space in the TX FIFO? */
/* Are there any threads waiting for space in the sender? */
if (dev->cd_ntxwaiters > 0)
{
/* Yes.. Inform them that new xmit space is available */
ret = nxsem_post(&dev->cd_xmit.tx_sem);
ret = nxsem_post(&dev->cd_sender.tx_sem);
}
else
{
@ -1451,43 +1422,43 @@ int can_txdone(FAR struct can_dev_s *dev)
* Description:
* Called from the CAN interrupt handler at the completion of a send
* operation. This interface is needed only for CAN hardware that
* supports queueing of outgoing messages in a H/W FIFO.
* supports queueing of outgoing messages in a H/W sender.
*
* The CAN upper half driver also supports a queue of output messages in a
* S/W FIFO. Messages are added to that queue when when can_write() is
* S/W sender. Messages are added to that queue when when can_write() is
* called and removed from the queue in can_txdone() when each TX message
* is complete.
*
* After each message is added to the S/W FIFO, the CAN upper half driver
* After each message is added to the S/W sender, the CAN upper half driver
* will attempt to send the message by calling into the lower half driver.
* That send will not be performed if the lower half driver is busy, i.e.,
* if dev_txready() returns false. In that case, the number of messages in
* the S/W FIFO can grow. If the S/W FIFO becomes full, then can_write()
* will wait for space in the S/W FIFO.
* the S/W sender can grow. If the S/W sender becomes full, then
* can_write() will wait for space in the S/W sender.
*
* If the CAN hardware does not support a H/W FIFO then busy means that
* If the CAN hardware does not support a H/W sender then busy means that
* the hardware is actively sending the message and is guaranteed to
* become non-busy (i.e, dev_txready()) when the send transfer completes
* and can_txdone() is called. So the call to can_txdone() means that the
* transfer has completed and also that the hardware is ready to accept
* another transfer.
*
* If the CAN hardware supports a H/W FIFO, can_txdone() is not called
* If the CAN hardware supports a H/W sender, can_txdone() is not called
* when the transfer is complete, but rather when the transfer is queued in
* the H/W FIFO. When the H/W FIFO becomes full, then dev_txready() will
* report false and the number of queued messages in the S/W FIFO will
* grow.
* the H/W sender. When the H/W sender becomes full, then dev_txready()
* will report false and the number of queued messages in the S/W sender
* will grow.
*
* There is no mechanism in this case to inform the upper half driver when
* the hardware is again available, when there is again space in the H/W
* FIFO. can_txdone() will not be called again. If the S/W FIFO becomes
* full, then the upper half driver will wait for space to become
* sender. can_txdone() will not be called again. If the S/W sender
* becomes full, then the upper half driver will wait for space to become
* available, but there is no event to awaken it and the driver will hang.
*
* Enabling this feature adds support for the can_txready() interface.
* This function is called from the lower half driver's CAN interrupt
* handler each time a TX transfer completes. This is a sure indication
* that the H/W FIFO is no longer full. can_txready() will then awaken
* that the H/W sender is no longer full. can_txready() will then awaken
* the can_write() logic and the hang condition is avoided.
*
* Input Parameters:
@ -1508,18 +1479,19 @@ int can_txready(FAR struct can_dev_s *dev)
int ret = -ENOENT;
irqstate_t flags;
caninfo("xmit head: %d queue: %d tail: %d waiters: %d\n",
dev->cd_xmit.tx_head, dev->cd_xmit.tx_queue, dev->cd_xmit.tx_tail,
dev->cd_ntxwaiters);
caninfo("xmit pending_count: %d sending_count: %d free_space: %d"
" waiters: %d\n",
PENDING_COUNT(&dev->cd_sender), SENDING_COUNT(&dev->cd_sender),
FREE_COUNT(&dev->cd_sender), dev->cd_ntxwaiters);
flags = enter_critical_section();
/* Verify that the xmit FIFO is not empty. This is safe because interrupts
/* Verify that the sender is not empty. This is safe because interrupts
* are always disabled when calling into can_xmit(); this cannot collide
* with ongoing activity from can_write().
*/
if (dev->cd_xmit.tx_head != dev->cd_xmit.tx_tail)
if (!TX_EMPTY(&dev->cd_sender))
{
/* Is work already scheduled? */
@ -1541,20 +1513,20 @@ int can_txready(FAR struct can_dev_s *dev)
}
else
{
/* There should not be any threads waiting for space in the S/W TX
* FIFO is it is empty. However, an assertion would fire in certain
/* There should not be any threads waiting for space in the S/W sender
* is it is empty. However, an assertion would fire in certain
* race conditions, i.e, when all waiters have been awakened but
* have not yet had a chance to decrement cd_ntxwaiters.
*/
#if 0 /* REVISIT */
/* When the H/W FIFO has been emptied, we can disable further TX
/* When the H/W sender has been emptied, we can disable further TX
* interrupts.
*
* REVISIT: The fact that the S/W FIFO is empty does not mean that
* the H/W FIFO is also empty. If we really want this to work this
* REVISIT: The fact that the S/W sender is empty does not mean that
* the H/W sender is also empty. If we really want this to work this
* way, then we would probably need and additional parameter to tell
* us if the H/W FIFO is empty.
* us if the H/W sender is empty.
*/
dev_txint(dev, false);

256
drivers/can/can_sender.c Normal file
View file

@ -0,0 +1,256 @@
/****************************************************************************
* drivers/can/can_sender.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <nuttx/can/can_sender.h>
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: can_xmit_init
*
* Description:
* Initial dev sender.
*
****************************************************************************/
void can_sender_init(FAR struct can_txcache_s *cd_sender)
{
#if defined(CONFIG_CAN_TXPRIORITY) && CONFIG_CAN_TXFIFOSIZE <= 0
# error "CONFIG_CAN_TXFIFOSIZE should be positive non-zero value"
#endif
#ifdef CONFIG_CAN_TXPRIORITY
int i;
list_initialize(&cd_sender->tx_free);
list_initialize(&cd_sender->tx_pending);
list_initialize(&cd_sender->tx_sending);
for (i = 0; i < CONFIG_CAN_TXFIFOSIZE; i++)
{
list_add_tail(&cd_sender->tx_free, &cd_sender->tx_buffer[i].list);
}
#else
cd_sender->tx_head = 0;
cd_sender->tx_queue = 0;
cd_sender->tx_tail = 0;
#endif
}
/****************************************************************************
* Name: can_add_sendnode
*
* Description:
* Add message to sender.
*
****************************************************************************/
void can_add_sendnode(FAR struct can_txcache_s *cd_sender,
FAR struct can_msg_s *msg, int msglen)
{
#ifdef CONFIG_CAN_TXPRIORITY
FAR struct list_node *node;
FAR struct can_msg_node_s *msg_node;
FAR struct can_msg_node_s *tmp_node;
node = list_remove_head(&cd_sender->tx_free);
msg_node = container_of(node, struct can_msg_node_s, list);
memcpy(&msg_node->msg, msg, msglen);
list_for_every_entry(&cd_sender->tx_pending, tmp_node,
struct can_msg_node_s, list)
{
if (tmp_node->msg.cm_hdr.ch_id > msg->cm_hdr.ch_id)
{
/* Prioritize tx frame based on canid */
break;
}
}
if (&tmp_node->list == &cd_sender->tx_pending)
{
/* Inserted at the end of the linked list */
list_add_tail(&cd_sender->tx_pending, &msg_node->list);
}
else
{
list_add_before(&tmp_node->list, &msg_node->list);
}
#else
memcpy(&cd_sender->tx_buffer[cd_sender->tx_tail], msg, msglen);
/* Increment the tail of the circular buffer */
cd_sender->tx_tail++;
if (cd_sender->tx_tail >= CONFIG_CAN_TXFIFOSIZE)
{
cd_sender->tx_tail = 0;
}
#endif
}
/****************************************************************************
* Name: can_get_msg
*
* Description:
* Get send message from sender.
*
****************************************************************************/
FAR struct can_msg_s *can_get_msg(FAR struct can_txcache_s *cd_sender)
{
FAR struct can_msg_s *msg = NULL;
#ifdef CONFIG_CAN_TXPRIORITY
FAR struct can_msg_node_s *msg_node;
FAR struct can_msg_node_s *tmp_node;
if (list_is_empty(&cd_sender->tx_pending))
{
return NULL;
}
msg_node = list_first_entry(&cd_sender->tx_pending,
struct can_msg_node_s, list);
msg = &msg_node->msg;
/* Sort unconfirmed messages in ascending order */
list_for_every_entry(&cd_sender->tx_sending, tmp_node,
struct can_msg_node_s, list)
{
if (tmp_node->msg.cm_hdr.ch_id == msg->cm_hdr.ch_id)
{
/* In order to prevent messages with the same ID from being
* sent out of order, as long as there is a message with the
* same ID that has not been sent in H/W, no data will be
* written to H/W
*/
return NULL;
}
if (tmp_node->msg.cm_hdr.ch_id > msg->cm_hdr.ch_id)
{
break;
}
}
/* Move the node from tx_pending to tx_sending before
* sending(because dev_send() might call can_txdone()).
*/
list_delete(&msg_node->list);
if (&tmp_node->list == &cd_sender->tx_sending)
{
list_add_tail(&cd_sender->tx_sending, &msg_node->list);
}
else
{
list_add_before(&tmp_node->list, &msg_node->list);
}
#else
msg = &cd_sender->tx_buffer[cd_sender->tx_queue];
/* Increment the FIFO queue index before sending (because dev_send()
* might call can_txdone()).
*/
cd_sender->tx_queue++;
if (cd_sender->tx_queue == CONFIG_CAN_TXFIFOSIZE)
{
cd_sender->tx_queue = 0;
}
#endif
return msg;
}
/****************************************************************************
* Name: can_revert_msg
*
* Description:
* Rever msg in sender, because sending failed.
*
****************************************************************************/
void can_revert_msg(FAR struct can_txcache_s *cd_sender,
FAR struct can_msg_s *msg)
{
#ifdef CONFIG_CAN_TXPRIORITY
FAR struct can_msg_node_s *msg_node;
msg_node = container_of(msg, struct can_msg_node_s, msg);
list_delete(&msg_node->list);
list_add_head(&cd_sender->tx_pending, &msg_node->list);
#else
UNUSED(msg);
if (cd_sender->tx_queue == 0)
{
cd_sender->tx_queue = CONFIG_CAN_TXFIFOSIZE - 1;
}
else
{
cd_sender->tx_queue--;
}
#endif
}
/****************************************************************************
* Name: can_send_done
*
* Description:
* Release the sender resources, after the tragic message is successfully
* sent to the bus.
*
****************************************************************************/
void can_send_done(FAR struct can_txcache_s *cd_sender)
{
#ifdef CONFIG_CAN_TXPRIORITY
FAR struct list_node *node;
node = list_remove_head(&cd_sender->tx_sending);
list_add_head(&cd_sender->tx_free, node);
#else
/* Remove the message at the head of the xmit FIFO */
cd_sender->tx_head++;
if (cd_sender->tx_head >= CONFIG_CAN_TXFIFOSIZE)
{
cd_sender->tx_head = 0;
}
#endif
}

50
include/nuttx/can/can.h
View file

@ -648,14 +648,50 @@ struct can_rxfifo_s
struct can_msg_s rx_buffer[CONFIG_CAN_RXFIFOSIZE];
};
struct can_txfifo_s
#ifdef CONFIG_CAN_TXPRIORITY
struct can_msg_node_s
{
sem_t tx_sem; /* Counting semaphore */
uint8_t tx_head; /* Index to the head [IN] in the circular buffer */
uint8_t tx_queue; /* Index to next message to send */
uint8_t tx_tail; /* Index to the tail [OUT] in the circular buffer */
/* Circular buffer of CAN messages */
struct list_node list;
struct can_msg_s msg;
};
#endif
struct can_txcache_s
{
sem_t tx_sem; /* Counting semaphore */
#ifdef CONFIG_CAN_TXPRIORITY
/* tx_buffer - Buffer of CAN message. And this buffer is managed by
* tx_free/tx_pending/tx_sending
* tx_free - Link all buffer node in the initial step
* tx_pending - Get node from tx_free. Message to send, in order of can_id
* tx_sending - Get node from tx_pending. CAN message write to H/W, but
* not confirmed. Release node to tx_free when the message
* confirmed
*
* tx_free -> tx_pending -> tx_sending -> tx_free
*/
struct list_node tx_free;
struct list_node tx_pending;
struct list_node tx_sending;
struct can_msg_node_s tx_buffer[CONFIG_CAN_TXFIFOSIZE];
#else
/* tx_buffer - Circular buffer of CAN messages. And this buffer is managed
* by tx_head/tx_queue/tx_tail.
* tx_head - Index to the head [IN] in the circular buffer
* tx_queue - Index to next message to send
* tx_tail - Index to the tail [OUT] in the circular buffer
* tx_buffer | 0 | 1 | 2 | | | ... | | | ... | | ... |TXFIFOSIZE|
* | | |
* \|/ \|/ \|/
* tx_head tx_queue tx_tail
*/
uint8_t tx_head;
uint8_t tx_queue;
uint8_t tx_tail;
struct can_msg_s tx_buffer[CONFIG_CAN_TXFIFOSIZE];
#endif
};
/* The following structure define the logic to handle
@ -780,7 +816,7 @@ struct can_dev_s
struct list_node cd_readers; /* List of readers */
mutex_t cd_closelock; /* Locks out new opens while close is in progress */
mutex_t cd_polllock; /* Manages exclusive access to cd_fds[] */
struct can_txfifo_s cd_xmit; /* Describes transmit FIFO */
struct can_txcache_s cd_sender; /* Describes transmit cache */
#ifdef CONFIG_CAN_TXREADY
struct work_s cd_work; /* Use to manage can_txready() work */
#endif

239
include/nuttx/can/can_sender.h Normal file
View file

@ -0,0 +1,239 @@
/****************************************************************************
* include/nuttx/can/can_sender.h
*
* SPDX-License-Identifier: Apache-2.0
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
#ifndef __INCLUDE_NUTTX_CAN_SENDER_H
#define __INCLUDE_NUTTX_CAN_SENDER_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <nuttx/compiler.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <nuttx/list.h>
#include <nuttx/fs/fs.h>
#include <nuttx/fs/ioctl.h>
#include <nuttx/mutex.h>
#include <nuttx/can/can.h>
#ifdef CONFIG_CAN
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#ifdef CONFIG_CAN_TXPRIORITY
/* There are three linked lists to manage TX buffer:
* tx_free - can_write function get a tx_free node, write message, then
* move this node to tx_pending list.
* tx_pending - cache message send from application but not send to H/W.
* Sorted in ascending order based on can_id.
* tx_sending - Message in H/W is sending to bus, but not confirmation.
* Sorted in ascending order based on can_id.
*/
# define TX_EMPTY(sender) \
({ \
FAR struct can_txcache_s *__sender = (sender); \
(list_length(&__sender->tx_free) == CONFIG_CAN_TXFIFOSIZE); \
}) \
# define TX_FULL(sender) \
({ \
FAR struct can_txcache_s *__sender = (sender); \
list_is_empty(&__sender->tx_free); \
}) \
# define TX_PENDING(sender) \
({ \
FAR struct can_txcache_s *__sender = (sender); \
!list_is_empty(&__sender->tx_pending); \
}) \
# define PENDING_COUNT(sender) \
({ \
FAR struct can_txcache_s *__sender = (sender); \
(list_length(&__sender->tx_pending)); \
}) \
# define SENDING_COUNT(sender) \
({ \
FAR struct can_txcache_s *__sender = (sender); \
(list_length(&__sender->tx_sending)); \
}) \
# define FREE_COUNT(sender) \
({ \
FAR struct can_txcache_s *__sender = (sender); \
(list_length(&__sender->tx_free)); \
}) \
#else
/* There are three fields used to manage TX FIFO buffer:
* tx_tail: Incremented in can_write each time a message is queued in the
* FIFO
* tx_head: Incremented in can_txdone each time a message completes
* tx_queue: Incremented each time that a message is sent to the hardware.
*
* Logically (ignoring buffer wrap-around): tx_head <= tx_queue <= tx_tail
* tx_head == tx_queue == tx_tail means that the FIFO is empty
* tx_head < tx_queue == tx_tail means that all data has been queued, but
* we are still waiting for transmissions to complete.
*/
# define TX_EMPTY(sender) \
({ \
FAR struct can_txcache_s *__sender = (sender); \
(__sender->tx_head == __sender->tx_tail); \
}) \
# define TX_FULL(sender) \
({ \
FAR struct can_txcache_s *__sender = (sender); \
(__sender->tx_head == \
(__sender->tx_tail + 1) % CONFIG_CAN_TXFIFOSIZE); \
}) \
# define TX_PENDING(sender) \
({ \
FAR struct can_txcache_s *__sender = (sender); \
(__sender->tx_queue != __sender->tx_tail); \
}) \
# define PENDING_COUNT(sender) \
({ \
FAR struct can_txcache_s *__sender = (sender); \
(CONFIG_CAN_TXFIFOSIZE + __sender->tx_tail - __sender->tx_queue) \
% CONFIG_CAN_TXFIFOSIZE; \
}) \
# define SENDING_COUNT(sender) \
({ \
FAR struct can_txcache_s *__sender = (sender); \
(CONFIG_CAN_TXFIFOSIZE + __sender->tx_queue - __sender->tx_head) \
% CONFIG_CAN_TXFIFOSIZE; \
}) \
# define FREE_COUNT(sender) \
({ \
FAR struct can_txcache_s *__sender = (sender); \
(CONFIG_CAN_TXFIFOSIZE - 1 - __sender->tx_tail + __sender->tx_head) \
% CONFIG_CAN_TXFIFOSIZE; \
}) \
#endif /* CONFIG_CAN_TXPRIORITY */
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
/****************************************************************************
* Name: can_sender_init
*
* Description:
* Initial dev sender.
*
* Input Parameters:
* cd_sender - The CAN device sender.
*
* Returned Value:
* None.
*
****************************************************************************/
void can_sender_init(FAR struct can_txcache_s *cd_sender);
/****************************************************************************
* Name: can_add_sendnode
*
* Description:
* Add message to sender..
*
* Input Parameters:
* cd_sender - The CAN device sender.
*
* Returned Value:
* CAN message which to be send.
*
****************************************************************************/
void can_add_sendnode(FAR struct can_txcache_s *cd_sender,
FAR struct can_msg_s *msg, int msglen);
/****************************************************************************
* Name: can_get_msg
*
* Description:
* Get message from sender, and change sender recoder.
*
* Input Parameters:
* cd_sender - The CAN device sender.
*
* Returned Value:
* CAN message which to be send.
*
****************************************************************************/
struct can_msg_s *can_get_msg(FAR struct can_txcache_s *cd_sender);
/****************************************************************************
* Name: can_revert_msg
*
* Description:
* Revert sender recoder when send failed.
*
* Input Parameters:
* cd_sender - The CAN device sender.
* msg - message which to be revert.
*
* Returned Value:
* None.
*
****************************************************************************/
void can_revert_msg(FAR struct can_txcache_s *cd_sender,
FAR struct can_msg_s *msg);
/****************************************************************************
* Name: can_send_done
*
* Description:
* Release the sender resources, after the tragic message is successfully
* sent to the bus.
*
* Input Parameters:
* cd_sender - The CAN device sender.
*
* Returned Value:
* None.
*
****************************************************************************/
void can_send_done(FAR struct can_txcache_s *cd_sender);
#endif /* CONFIG_CAN */
#endif /* __INCLUDE_NUTTX_CAN_SENDER_H */