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feat[can][gd32]: Implement non-blocking send mechanism

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CYFS
2025-10-12 20:31:12 +08:00
committed by R b b666
parent 17a796af24
commit a3cc233969
1 changed files with 62 additions and 0 deletions
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62
bsp/gd32/arm/libraries/gd32_drivers/drv_can.c
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@@ -662,12 +662,74 @@ static rt_ssize_t _can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t
return RT_EOK;
}
rt_ssize_t _can_get_freebox(rt_uint32_t can_x)
{
rt_uint32_t freebox = 0;
if ((CAN_STAT(can_x) & CAN_TSTAT_TME0) != 0U)
{
freebox++;
}
if ((CAN_STAT(can_x) & CAN_TSTAT_TME1) != 0U)
{
freebox++;
}
if ((CAN_STAT(can_x) & CAN_TSTAT_TME2) != 0U)
{
freebox++;
}
return freebox;
}
rt_ssize_t _can_sendmsg_nonblocking(struct rt_can_device *can, const void *buf)
{
RT_ASSERT(can);
can_trasnmit_message_struct transmit_message;
can_struct_para_init(CAN_TX_MESSAGE_STRUCT, &transmit_message);
rt_uint32_t can_x = ((struct gd32_can_device *)can->parent.user_data)->can_x;
struct rt_can_msg *pmsg = (struct rt_can_msg *)buf;
if(_can_get_freebox(can_x) == 0)
{
return -RT_EBUSY;
}
if (RT_CAN_STDID == pmsg->ide)
{
transmit_message.tx_ff = CAN_FF_STANDARD;
transmit_message.tx_sfid = pmsg->id;
}
else
{
transmit_message.tx_ff = CAN_FF_EXTENDED;
transmit_message.tx_efid = pmsg->id;
}
if (RT_CAN_DTR == pmsg->rtr)
{
transmit_message.tx_ft = CAN_FT_DATA;
memcpy(transmit_message.tx_data, pmsg->data, pmsg->len);
}
else
{
transmit_message.tx_ft = CAN_FT_REMOTE;
}
transmit_message.tx_dlen = pmsg->len;
if(can_message_transmit(can_x, &transmit_message) == CAN_NOMAILBOX)
{
return -RT_ERROR;
}
return RT_EOK;
}
static const struct rt_can_ops _can_ops =
{
_can_config,
_can_control,
_can_sendmsg,
_can_recvmsg,
_can_sendmsg_nonblocking,
};
static void _can_rx_isr(struct rt_can_device *can, rt_uint32_t fifo)