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https://github.com/RT-Thread/rt-thread.git
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11156de0de
- Added support for non-blocking mode CAN message sending, including software ring buffer management and dynamic memory allocation options. - Improved related comments and error handling. - Updated example code to demonstrate the usage of both blocking and non-blocking sending modes, and corrected some structure field naming and macro definitions.
76 lines
2.9 KiB
Plaintext
76 lines
2.9 KiB
Plaintext
config RT_USING_CAN
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bool "Using CAN device drivers"
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default n
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help
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Enable this option to include the CAN device driver framework.
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if RT_USING_CAN
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config RT_CAN_USING_HDR
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bool "Enable CAN hardware filter support"
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default n
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help
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If your CAN controller supports hardware filtering, and you want to
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use the framework to configure these filters, enable this option.
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config RT_CAN_USING_CANFD
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bool "Enable CAN-FD support"
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default n
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help
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Enable this to support CAN with Flexible Data-Rate. This will
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increase the size of the rt_can_msg structure.
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config RT_CANMSG_BOX_SZ
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int "Software RX message box size (in messages)"
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default 16
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help
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This sets the capacity of the software buffer (FIFO) for incoming
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CAN messages. It defines how many messages can be buffered by the
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driver before the application must read them.
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config RT_CANSND_BOX_NUM
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int "Number of mailboxes for blocking send"
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default 1
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help
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This sets the number of concurrent blocking send operations that
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can be in flight. It is typically matched to the number of
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hardware transmission mailboxes on the CAN controller.
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config RT_CANSND_MSG_TIMEOUT
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int "Timeout for blocking send (in OS ticks)"
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default 100
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help
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This sets the default time a thread will wait for a hardware
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mailbox to become available when sending in blocking mode.
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config RT_CAN_NB_TX_FIFO_SIZE
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int "Non-blocking send buffer size (in bytes)"
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default 256
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help
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This defines the size of the software ring buffer used for
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non-blocking and ISR-based transmissions. When the hardware
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mailboxes are full, outgoing messages are temporarily stored
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in this buffer.
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To calculate a suitable size, use:
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(number of messages to buffer) * sizeof(struct rt_can_msg).
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For standard CAN, sizeof(struct rt_can_msg) is typically 16 bytes.
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The default of 256 bytes can buffer 16 standard CAN messages.
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If using CAN-FD, you will need to increase this size significantly.
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config RT_CAN_MALLOC_NB_TX_BUFFER
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bool "Dynamically allocate the non-blocking send buffer"
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depends on RT_USING_HEAP
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default n
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help
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If this option is enabled (y), the non-blocking send buffer will
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be allocated from the system heap at runtime when the CAN device
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is opened (using rt_malloc). This saves static RAM but requires
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a heap to be available.
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If this option is disabled (n), the buffer will be allocated
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as a static array within the rt_can_device structure. This
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consumes static RAM but guarantees the memory is always available
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and avoids heap fragmentation.
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endif |