This is an automated email from the ASF dual-hosted git repository.
ligd pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/nuttx.git
The following commit(s) were added to refs/heads/master by this push:
new cfc90ad1f3 nuttx/can: support to Send message priority sorting
function.
cfc90ad1f3 is described below
commit cfc90ad1f3763a65e4baae6b3d557c37f2d192f5
Author: gaohedong <gaohed...@xiaomi.com>
AuthorDate: Thu Oct 10 19:45:46 2024 +0800
nuttx/can: support to Send message priority sorting function.
Linked list-based priority sorting function for sending messages.
Signed-off-by: gaohedong <gaohed...@xiaomi.com>
---
drivers/can/CMakeLists.txt | 2 +-
drivers/can/Kconfig | 6 +
drivers/can/Make.defs | 2 +-
drivers/can/can.c | 276 ++++++++++++++++++-----------------------
drivers/can/can_sender.c | 256 ++++++++++++++++++++++++++++++++++++++
include/nuttx/can/can.h | 50 ++++++--
include/nuttx/can/can_sender.h | 239 +++++++++++++++++++++++++++++++++++
7 files changed, 670 insertions(+), 161 deletions(-)
diff --git a/drivers/can/CMakeLists.txt b/drivers/can/CMakeLists.txt
index 0402b41b4a..d73f924da7 100644
--- a/drivers/can/CMakeLists.txt
+++ b/drivers/can/CMakeLists.txt
@@ -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)
diff --git a/drivers/can/Kconfig b/drivers/can/Kconfig
index 3bc18943f7..fd13f1ef49 100644
--- a/drivers/can/Kconfig
+++ b/drivers/can/Kconfig
@@ -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
diff --git a/drivers/can/Make.defs b/drivers/can/Make.defs
index 49a4e7ca0e..cefe78cac4 100644
--- a/drivers/can/Make.defs
+++ b/drivers/can/Make.defs
@@ -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
diff --git a/drivers/can/can.c b/drivers/can/can.c
index 111ee38cca..2eed29fce7 100644
--- a/drivers/can/can.c
+++ b/drivers/can/can.c
@@ -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);
diff --git a/drivers/can/can_sender.c b/drivers/can/can_sender.c
new file mode 100644
index 0000000000..03976260b6
--- /dev/null
+++ b/drivers/can/can_sender.c
@@ -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
+}
diff --git a/include/nuttx/can/can.h b/include/nuttx/can/can.h
index 841aca0001..dc544c3299 100644
--- a/include/nuttx/can/can.h
+++ b/include/nuttx/can/can.h
@@ -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
diff --git a/include/nuttx/can/can_sender.h b/include/nuttx/can/can_sender.h
new file mode 100644
index 0000000000..706aa666ed
--- /dev/null
+++ b/include/nuttx/can/can_sender.h
@@ -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 */
