mirror of
https://github.com/apache/nuttx.git
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nuttx/can: support to Send message priority sorting function.
Linked list-based priority sorting function for sending messages. Signed-off-by: gaohedong <gaohedong@xiaomi.com>
This commit is contained in:
gaohedong
GUIDINGLI
@@ -19,7 +19,7 @@
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# ##############################################################################
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if(CONFIG_CAN)
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set(SRCS can.c)
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set(SRCS can.c can_sender.c)
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if(CONFIG_CAN_MCP2515)
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list(APPEND SRCS mcp2515.c)
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@@ -126,6 +126,12 @@ config CAN_TXREADY
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no longer full. can_txready() will then awaken the
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can_write() logic and the hang condition is avoided.
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config CAN_TXPRIORITY
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bool "Prioritize sending based on canid"
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default n
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---help---
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Prioritize sending based on canid.
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choice
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prompt "TX Ready Work Queue"
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default CAN_TXREADY_HIPRI
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@@ -22,7 +22,7 @@
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ifeq ($(CONFIG_CAN),y)
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CSRCS += can.c
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CSRCS += can.c can_sender.c
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ifeq ($(CONFIG_CAN_MCP2515),y)
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CSRCS += mcp2515.c
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+124
-152
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,256 @@
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/****************************************************************************
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* drivers/can/can_sender.c
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <nuttx/can/can_sender.h>
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: can_xmit_init
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*
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* Description:
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* Initial dev sender.
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*
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****************************************************************************/
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void can_sender_init(FAR struct can_txcache_s *cd_sender)
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{
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#if defined(CONFIG_CAN_TXPRIORITY) && CONFIG_CAN_TXFIFOSIZE <= 0
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# error "CONFIG_CAN_TXFIFOSIZE should be positive non-zero value"
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#endif
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#ifdef CONFIG_CAN_TXPRIORITY
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int i;
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list_initialize(&cd_sender->tx_free);
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list_initialize(&cd_sender->tx_pending);
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list_initialize(&cd_sender->tx_sending);
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for (i = 0; i < CONFIG_CAN_TXFIFOSIZE; i++)
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{
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list_add_tail(&cd_sender->tx_free, &cd_sender->tx_buffer[i].list);
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}
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#else
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cd_sender->tx_head = 0;
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cd_sender->tx_queue = 0;
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cd_sender->tx_tail = 0;
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#endif
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}
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/****************************************************************************
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* Name: can_add_sendnode
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*
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* Description:
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* Add message to sender.
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*
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****************************************************************************/
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void can_add_sendnode(FAR struct can_txcache_s *cd_sender,
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FAR struct can_msg_s *msg, int msglen)
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{
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#ifdef CONFIG_CAN_TXPRIORITY
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FAR struct list_node *node;
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FAR struct can_msg_node_s *msg_node;
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FAR struct can_msg_node_s *tmp_node;
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node = list_remove_head(&cd_sender->tx_free);
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msg_node = container_of(node, struct can_msg_node_s, list);
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memcpy(&msg_node->msg, msg, msglen);
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list_for_every_entry(&cd_sender->tx_pending, tmp_node,
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struct can_msg_node_s, list)
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{
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if (tmp_node->msg.cm_hdr.ch_id > msg->cm_hdr.ch_id)
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{
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/* Prioritize tx frame based on canid */
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break;
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}
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}
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if (&tmp_node->list == &cd_sender->tx_pending)
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{
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/* Inserted at the end of the linked list */
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list_add_tail(&cd_sender->tx_pending, &msg_node->list);
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}
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else
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{
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list_add_before(&tmp_node->list, &msg_node->list);
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}
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#else
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memcpy(&cd_sender->tx_buffer[cd_sender->tx_tail], msg, msglen);
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/* Increment the tail of the circular buffer */
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cd_sender->tx_tail++;
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if (cd_sender->tx_tail >= CONFIG_CAN_TXFIFOSIZE)
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{
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cd_sender->tx_tail = 0;
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}
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#endif
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}
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/****************************************************************************
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* Name: can_get_msg
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*
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* Description:
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* Get send message from sender.
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*
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****************************************************************************/
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FAR struct can_msg_s *can_get_msg(FAR struct can_txcache_s *cd_sender)
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{
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FAR struct can_msg_s *msg = NULL;
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#ifdef CONFIG_CAN_TXPRIORITY
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FAR struct can_msg_node_s *msg_node;
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FAR struct can_msg_node_s *tmp_node;
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if (list_is_empty(&cd_sender->tx_pending))
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{
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return NULL;
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}
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msg_node = list_first_entry(&cd_sender->tx_pending,
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struct can_msg_node_s, list);
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msg = &msg_node->msg;
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/* Sort unconfirmed messages in ascending order */
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list_for_every_entry(&cd_sender->tx_sending, tmp_node,
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struct can_msg_node_s, list)
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{
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if (tmp_node->msg.cm_hdr.ch_id == msg->cm_hdr.ch_id)
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{
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/* In order to prevent messages with the same ID from being
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* sent out of order, as long as there is a message with the
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* same ID that has not been sent in H/W, no data will be
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* written to H/W
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*/
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return NULL;
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}
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if (tmp_node->msg.cm_hdr.ch_id > msg->cm_hdr.ch_id)
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{
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break;
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}
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}
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/* Move the node from tx_pending to tx_sending before
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* sending(because dev_send() might call can_txdone()).
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*/
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list_delete(&msg_node->list);
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if (&tmp_node->list == &cd_sender->tx_sending)
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{
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list_add_tail(&cd_sender->tx_sending, &msg_node->list);
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}
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else
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{
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list_add_before(&tmp_node->list, &msg_node->list);
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}
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#else
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msg = &cd_sender->tx_buffer[cd_sender->tx_queue];
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/* Increment the FIFO queue index before sending (because dev_send()
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* might call can_txdone()).
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*/
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cd_sender->tx_queue++;
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if (cd_sender->tx_queue == CONFIG_CAN_TXFIFOSIZE)
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{
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cd_sender->tx_queue = 0;
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}
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#endif
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return msg;
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}
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/****************************************************************************
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* Name: can_revert_msg
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*
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* Description:
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* Rever msg in sender, because sending failed.
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*
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****************************************************************************/
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void can_revert_msg(FAR struct can_txcache_s *cd_sender,
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FAR struct can_msg_s *msg)
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{
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#ifdef CONFIG_CAN_TXPRIORITY
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FAR struct can_msg_node_s *msg_node;
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msg_node = container_of(msg, struct can_msg_node_s, msg);
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list_delete(&msg_node->list);
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list_add_head(&cd_sender->tx_pending, &msg_node->list);
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#else
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UNUSED(msg);
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if (cd_sender->tx_queue == 0)
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{
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cd_sender->tx_queue = CONFIG_CAN_TXFIFOSIZE - 1;
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}
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else
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{
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cd_sender->tx_queue--;
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}
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#endif
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}
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/****************************************************************************
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* Name: can_send_done
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*
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* Description:
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* Release the sender resources, after the tragic message is successfully
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* sent to the bus.
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*
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****************************************************************************/
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void can_send_done(FAR struct can_txcache_s *cd_sender)
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{
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#ifdef CONFIG_CAN_TXPRIORITY
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FAR struct list_node *node;
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node = list_remove_head(&cd_sender->tx_sending);
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list_add_head(&cd_sender->tx_free, node);
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#else
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/* Remove the message at the head of the xmit FIFO */
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cd_sender->tx_head++;
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if (cd_sender->tx_head >= CONFIG_CAN_TXFIFOSIZE)
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{
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cd_sender->tx_head = 0;
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}
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#endif
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}
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+43
-7
@@ -648,14 +648,50 @@ struct can_rxfifo_s
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struct can_msg_s rx_buffer[CONFIG_CAN_RXFIFOSIZE];
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};
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struct can_txfifo_s
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#ifdef CONFIG_CAN_TXPRIORITY
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struct can_msg_node_s
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{
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sem_t tx_sem; /* Counting semaphore */
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uint8_t tx_head; /* Index to the head [IN] in the circular buffer */
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uint8_t tx_queue; /* Index to next message to send */
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uint8_t tx_tail; /* Index to the tail [OUT] in the circular buffer */
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/* Circular buffer of CAN messages */
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struct list_node list;
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struct can_msg_s msg;
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};
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#endif
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struct can_txcache_s
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{
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sem_t tx_sem; /* Counting semaphore */
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#ifdef CONFIG_CAN_TXPRIORITY
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/* tx_buffer - Buffer of CAN message. And this buffer is managed by
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* tx_free/tx_pending/tx_sending
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* tx_free - Link all buffer node in the initial step
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* tx_pending - Get node from tx_free. Message to send, in order of can_id
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* tx_sending - Get node from tx_pending. CAN message write to H/W, but
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* not confirmed. Release node to tx_free when the message
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* confirmed
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*
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* tx_free -> tx_pending -> tx_sending -> tx_free
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*/
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struct list_node tx_free;
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struct list_node tx_pending;
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struct list_node tx_sending;
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struct can_msg_node_s tx_buffer[CONFIG_CAN_TXFIFOSIZE];
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#else
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/* tx_buffer - Circular buffer of CAN messages. And this buffer is managed
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* by tx_head/tx_queue/tx_tail.
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* tx_head - Index to the head [IN] in the circular buffer
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* tx_queue - Index to next message to send
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* tx_tail - Index to the tail [OUT] in the circular buffer
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* tx_buffer | 0 | 1 | 2 | | | ... | | | ... | | ... |TXFIFOSIZE|
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* | | |
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* \|/ \|/ \|/
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* tx_head tx_queue tx_tail
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*/
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uint8_t tx_head;
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uint8_t tx_queue;
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uint8_t tx_tail;
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struct can_msg_s tx_buffer[CONFIG_CAN_TXFIFOSIZE];
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#endif
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};
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/* The following structure define the logic to handle
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@@ -780,7 +816,7 @@ struct can_dev_s
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struct list_node cd_readers; /* List of readers */
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mutex_t cd_closelock; /* Locks out new opens while close is in progress */
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mutex_t cd_polllock; /* Manages exclusive access to cd_fds[] */
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struct can_txfifo_s cd_xmit; /* Describes transmit FIFO */
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struct can_txcache_s cd_sender; /* Describes transmit cache */
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#ifdef CONFIG_CAN_TXREADY
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struct work_s cd_work; /* Use to manage can_txready() work */
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#endif
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@@ -0,0 +1,239 @@
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/****************************************************************************
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* include/nuttx/can/can_sender.h
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
|
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
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* "License"); you may not use this file except in compliance with the
|
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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#ifndef __INCLUDE_NUTTX_CAN_SENDER_H
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#define __INCLUDE_NUTTX_CAN_SENDER_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <nuttx/compiler.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <nuttx/list.h>
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#include <nuttx/fs/fs.h>
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#include <nuttx/fs/ioctl.h>
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#include <nuttx/mutex.h>
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#include <nuttx/can/can.h>
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#ifdef CONFIG_CAN
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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#ifdef CONFIG_CAN_TXPRIORITY
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/* There are three linked lists to manage TX buffer:
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* tx_free - can_write function get a tx_free node, write message, then
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* move this node to tx_pending list.
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* tx_pending - cache message send from application but not send to H/W.
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* Sorted in ascending order based on can_id.
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* tx_sending - Message in H/W is sending to bus, but not confirmation.
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* Sorted in ascending order based on can_id.
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*/
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# define TX_EMPTY(sender) \
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({ \
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FAR struct can_txcache_s *__sender = (sender); \
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(list_length(&__sender->tx_free) == CONFIG_CAN_TXFIFOSIZE); \
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}) \
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# define TX_FULL(sender) \
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({ \
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FAR struct can_txcache_s *__sender = (sender); \
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list_is_empty(&__sender->tx_free); \
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}) \
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# define TX_PENDING(sender) \
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({ \
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FAR struct can_txcache_s *__sender = (sender); \
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!list_is_empty(&__sender->tx_pending); \
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}) \
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# define PENDING_COUNT(sender) \
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({ \
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FAR struct can_txcache_s *__sender = (sender); \
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(list_length(&__sender->tx_pending)); \
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}) \
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# define SENDING_COUNT(sender) \
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({ \
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FAR struct can_txcache_s *__sender = (sender); \
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(list_length(&__sender->tx_sending)); \
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}) \
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# define FREE_COUNT(sender) \
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({ \
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FAR struct can_txcache_s *__sender = (sender); \
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(list_length(&__sender->tx_free)); \
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}) \
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#else
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/* There are three fields used to manage TX FIFO buffer:
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* tx_tail: Incremented in can_write each time a message is queued in the
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* FIFO
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* tx_head: Incremented in can_txdone each time a message completes
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* tx_queue: Incremented each time that a message is sent to the hardware.
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*
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* Logically (ignoring buffer wrap-around): tx_head <= tx_queue <= tx_tail
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* tx_head == tx_queue == tx_tail means that the FIFO is empty
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* tx_head < tx_queue == tx_tail means that all data has been queued, but
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* we are still waiting for transmissions to complete.
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*/
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# define TX_EMPTY(sender) \
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({ \
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FAR struct can_txcache_s *__sender = (sender); \
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(__sender->tx_head == __sender->tx_tail); \
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}) \
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# define TX_FULL(sender) \
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({ \
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FAR struct can_txcache_s *__sender = (sender); \
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(__sender->tx_head == \
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(__sender->tx_tail + 1) % CONFIG_CAN_TXFIFOSIZE); \
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}) \
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# define TX_PENDING(sender) \
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({ \
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FAR struct can_txcache_s *__sender = (sender); \
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(__sender->tx_queue != __sender->tx_tail); \
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}) \
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# define PENDING_COUNT(sender) \
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({ \
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FAR struct can_txcache_s *__sender = (sender); \
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(CONFIG_CAN_TXFIFOSIZE + __sender->tx_tail - __sender->tx_queue) \
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% CONFIG_CAN_TXFIFOSIZE; \
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}) \
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# define SENDING_COUNT(sender) \
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({ \
|
||||
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 */
|
||||
Reference in New Issue
Block a user