Function _can_int_tx

components/drivers/can/dev_can.c:161–241

* @internal * @brief Handles the blocking (synchronous) transmission of CAN messages. * * This function is the core of the blocking send mechanism. It iterates through * a buffer of messages to be sent. For each message, it: * 1. Acquires a hardware mailbox resource using a semaphore. * 2. Submits the message to the low-level driver for transmission. * 3. Blocks the calling thread by waitin

 * @return The number of bytes successfully sent.
 */
rt_inline int _can_int_tx(struct rt_can_device *can, const struct rt_can_msg *data, int msgs)
{
    int size;
    struct rt_can_tx_fifo *tx_fifo;

    RT_ASSERT(can != RT_NULL);

    size = msgs;
    tx_fifo = (struct rt_can_tx_fifo *) can->can_tx;
    RT_ASSERT(tx_fifo != RT_NULL);

    while (msgs)
    {
        rt_base_t level;
        rt_uint32_t no;
        rt_uint32_t result;
        struct rt_can_sndbxinx_list *tx_tosnd = RT_NULL;

        rt_sem_take(&(tx_fifo->sem), RT_WAITING_FOREVER);
        level = rt_hw_local_irq_disable();
        tx_tosnd = rt_list_entry(tx_fifo->freelist.next, struct rt_can_sndbxinx_list, list);
        RT_ASSERT(tx_tosnd != RT_NULL);
        rt_list_remove(&tx_tosnd->list);
        rt_hw_local_irq_enable(level);

        no = ((rt_ubase_t)tx_tosnd - (rt_ubase_t)tx_fifo->buffer) / sizeof(struct rt_can_sndbxinx_list);
        tx_tosnd->result = RT_CAN_SND_RESULT_WAIT;
        rt_completion_init(&tx_tosnd->completion);
        if (can->ops->sendmsg(can, data, no) != RT_EOK)
        {
            /* send failed. */
            level = rt_hw_local_irq_disable();
            rt_list_insert_before(&tx_fifo->freelist, &tx_tosnd->list);
            rt_hw_local_irq_enable(level);
            rt_sem_release(&(tx_fifo->sem));
            goto err_ret;
        }

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

        level = rt_hw_local_irq_disable();
        result = tx_tosnd->result;
        if (!rt_list_isempty(&tx_tosnd->list))
        {
            rt_list_remove(&tx_tosnd->list);
        }
        rt_list_insert_before(&tx_fifo->freelist, &tx_tosnd->list);
        rt_hw_local_irq_enable(level);
        rt_sem_release(&(tx_fifo->sem));