feat(can): 实现非阻塞发送机制并增强CAN驱动功能 #10712
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- 新增支持非阻塞模式下的CAN消息发送，包括软件环形缓冲区管理和动态内存分配选项。 - 完善相关注释和错误处理。 - 更新示例代码以展示阻塞与非阻塞发送的使用方式，并修正部分结构体字段命名与宏定义
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BSP: STM32
📌 Code Review Assignment🏷️ Tag: bsp_stm32Reviewers: @Liang1795 @hamburger-os @wdfk-prog Changed Files (Click to expand)
🏷️ Tag: componentsReviewers: @Maihuanyi Changed Files (Click to expand)
🏷️ Tag: components_driver_canReviewers: @wdfk-prog Changed Files (Click to expand)
📊 Current Review Status (Last Updated: 2025-09-20 15:03 CST)
📝 Review Instructions
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Pull Request Overview
This PR implements a non-blocking send mechanism for the RT-Thread CAN driver framework, enhancing the existing blocking-only transmission capabilities. The implementation adds support for ISR-safe message transmission through software ring buffers and dynamic memory allocation options.
- Added non-blocking CAN message transmission with software ring buffer management
- Enhanced API documentation and example code with bilingual (English/Chinese) comments
- Introduced new configuration options for buffer sizing and memory allocation strategies
Reviewed Changes
Copilot reviewed 4 out of 4 changed files in this pull request and generated 10 comments.
| File | Description |
|---|---|
| components/drivers/include/drivers/dev_can.h | Added non-blocking flag to rt_can_msg struct, new ring buffer fields to device struct, and comprehensive API documentation |
| components/drivers/can/dev_can.c | Implemented core non-blocking transmission logic, enhanced error handling, and added ISR-safe buffer management |
| components/drivers/can/Kconfig | Added configuration options for non-blocking buffer size and dynamic allocation |
| bsp/stm32/libraries/HAL_Drivers/drivers/drv_can.c | Implemented STM32-specific non-blocking send function and updated ops structure |
| @@ -1,5 +1,5 @@ | |||
| /* | |||
| * Copyright (c) 2006-2025, RT-Thread Development Team | |||
| * Copyright (c) 2006-2025 RT-Thread Development Team | |||
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English: Missing comma after year range in copyright header.
中文: 版权头中年份范围后缺少逗号。
Should be: * Copyright (c) 2006-2025, RT-Thread Development Team
| * Copyright (c) 2006-2025 RT-Thread Development Team | |
| * Copyright (c) 2006-2025, RT-Thread Development Team |
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| rt_uint32_t rsv : 1; /* Reserved bit */ | ||
| rt_uint32_t len : 8; /* Data length code (DLC) */ | ||
| rt_uint32_t priv : 8; /* Private data, used for specific driver implementations */ | ||
| rt_int32_t hdr_index : 8; /* Should be defined as:rx.FilterMatchIndex,which should be changed to rt_int32_t hdr_index : 8*/ |
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English: The comment has formatting issues and unclear wording. The comment should be rewritten for clarity.
中文: 注释格式有问题且表达不清楚。应该重新编写注释以提高清晰度。
Suggested improvement:
rt_int32_t hdr_index : 8; /* Hardware filter index that matched this message (-1 for default queue) */| rt_int32_t hdr_index : 8; /* Should be defined as:rx.FilterMatchIndex,which should be changed to rt_int32_t hdr_index : 8*/ | |
| rt_int32_t hdr_index : 8; /* Hardware filter index that matched this message (-1 for default queue) */ |
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| rt_uint32_t reserved : 3; | ||
| #else | ||
| rt_uint32_t rxfifo : 2; /* Redefined to return :CAN RX FIFO0/CAN RX FIFO1*/ | ||
| rt_uint32_t reserved : 5; |
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English: The reserved bit fields have different sizes (3 vs 5) between CAN-FD and non-CAN-FD configurations. This inconsistency could lead to confusion and potential alignment issues.
中文: 在CAN-FD和非CAN-FD配置之间，保留位字段的大小不同（3位对5位）。这种不一致可能导致混淆和潜在的对齐问题。
Consider using consistent naming or documenting why different sizes are needed.
| rt_uint32_t reserved : 3; | |
| #else | |
| rt_uint32_t rxfifo : 2; /* Redefined to return :CAN RX FIFO0/CAN RX FIFO1*/ | |
| rt_uint32_t reserved : 5; | |
| rt_uint32_t reserved : 5; /* Consistent reserved bits for alignment */ | |
| #else | |
| rt_uint32_t rxfifo : 2; /* Redefined to return :CAN RX FIFO0/CAN RX FIFO1*/ | |
| rt_uint32_t reserved : 5; /* Consistent reserved bits for alignment */ |
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| rt_uint32_t fd_frame : 1; /* CAN-FD frame indicator */ | ||
| rt_uint32_t brs : 1; /* Bit-rate switching indicator for CAN-FD */ | ||
| rt_uint32_t rxfifo : 2; /* Redefined to return :CAN RX FIFO0/CAN RX FIFO1*/ | ||
| rt_uint32_t reserved : 3; |
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English: The reserved bit fields have different sizes (3 vs 5) between CAN-FD and non-CAN-FD configurations. This inconsistency could lead to confusion and potential alignment issues.
中文: 在CAN-FD和非CAN-FD配置之间，保留位字段的大小不同（3位对5位）。这种不一致可能导致混淆和潜在的对齐问题。
Consider using consistent naming or documenting why different sizes are needed.
| rt_uint32_t reserved : 3; | |
| rt_uint32_t reserved : 5; |
Copilot uses AI. Check for mistakes.
| @@ -1,12 +1,13 @@ | |||
| /* | |||
| * Copyright (c) 2006-2025, RT-Thread Development Team | |||
| * Copyright (c) 2006-2025 RT-Thread Development Team | |||
There was a problem hiding this comment.
English: Missing comma after year range in copyright header.
中文: 版权头中年份范围后缺少逗号。
Should be: * Copyright (c) 2006-2025, RT-Thread Development Team
| * Copyright (c) 2006-2025 RT-Thread Development Team | |
| * Copyright (c) 2006-2025, RT-Thread Development Team |
Copilot uses AI. Check for mistakes.
| @@ -461,7 +590,7 @@ static rt_ssize_t rt_can_read(struct rt_device *dev, | |||
| struct rt_can_device *can; | |||
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| RT_ASSERT(dev != RT_NULL); | |||
| if (size == 0) return 0; | |||
| if (size == 0) return -RT_EEMPTY; | |||
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English: The error code -RT_EEMPTY is inappropriate for zero-size buffer inputs. This error code typically indicates an empty container, not an invalid parameter.
中文: 错误码-RT_EEMPTY不适合用于零大小缓冲区输入。这个错误码通常表示容器为空，而不是无效参数。
Should use -RT_EINVAL for invalid size parameter instead.
| if (size == 0) return -RT_EEMPTY; | |
| if (size == 0) return -RT_EINVAL; |
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| if (size == 0) return 0; | ||
| RT_ASSERT(buffer != RT_NULL); | ||
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| if (size == 0) return -RT_EEMPTY; |
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English: The error code -RT_EEMPTY is inappropriate for zero-size buffer inputs. This error code typically indicates an empty container, not an invalid parameter.
中文: 错误码-RT_EEMPTY不适合用于零大小缓冲区输入。这个错误码通常表示容器为空，而不是无效参数。
Should use -RT_EINVAL for invalid size parameter instead.
| if (size == 0) return -RT_EEMPTY; | |
| if (size == 0) return -RT_EINVAL; |
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| @@ -470,22 +599,64 @@ static rt_ssize_t rt_can_read(struct rt_device *dev, | |||
| return _can_int_rx(can, buffer, size); | |||
| } | |||
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| return 0; | |||
| return -RT_ENOSYS; | |||
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English: Using -RT_ENOSYS (function not implemented) as a fallback return value may be misleading when the device is configured but the specific mode is not supported.
中文: 使用-RT_ENOSYS（功能未实现）作为后备返回值，当设备已配置但不支持特定模式时可能会产生误导。
Consider using -RT_ENOTSUP (operation not supported) for better semantic accuracy.
| return -RT_ENOSYS; | |
| return -RT_ENOTSUP; |
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| @@ -496,7 +667,7 @@ static rt_ssize_t rt_can_write(struct rt_device *dev, | |||
| return _can_int_tx(can, buffer, size); | |||
| } | |||
| } | |||
| return 0; | |||
| return -RT_ENOSYS; | |||
There was a problem hiding this comment.
English: Using -RT_ENOSYS (function not implemented) as a fallback return value may be misleading when the device is configured but the specific mode is not supported.
中文: 使用-RT_ENOSYS（功能未实现）作为后备返回值，当设备已配置但不支持特定模式时可能会产生误导。
Consider using -RT_ENOTSUP (operation not supported) for better semantic accuracy.
| return -RT_ENOSYS; | |
| return -RT_ENOTSUP; |
Copilot uses AI. Check for mistakes.
| @@ -1,5 +1,5 @@ | |||
| /* | |||
| * Copyright (c) 2006-2024 RT-Thread Development Team | |||
| * Copyright (c) 2006-2025 RT-Thread Development Team | |||
There was a problem hiding this comment.
English: Missing comma after year range in copyright header.
中文: 版权头中年份范围后缺少逗号。
Should be: * Copyright (c) 2006-2025, RT-Thread Development Team
| * Copyright (c) 2006-2025 RT-Thread Development Team | |
| * Copyright (c) 2006-2025, RT-Thread Development Team |
Copilot uses AI. Check for mistakes.
拉取/合并请求描述：(PR description)
[
为什么提交这份PR (why to submit this PR)
你的解决方案是什么 (what is your solution)
请提供验证的bsp和config (provide the config and bsp)
]
当前拉取/合并请求的状态 Intent for your PR
必须选择一项 Choose one (Mandatory):
代码质量 Code Quality：
我在这个拉取/合并请求中已经考虑了 As part of this pull request, I've considered the following:
#if 0代码，不包含已经被注释了的代码 All redundant code is removed and cleaned up