简化CAN发送回调逻辑，移除错误检查并优化消息队列处理，确保在发送失败时不会中断循环。 (afd1977f) · Commits · Wenxi XU / Mambo

drivers/motor/common/common.c

+5 −10

Original line number	Diff line number	Diff line
		@@ -59,10 +59,8 @@ int8_t get_can_id(const struct device *dev)
		static void can_tx_callback(const struct device can_dev, int error, void user_data)
		{
		struct k_sem *queue_sem = user_data;
		if (!error) {
		k_sem_give(queue_sem);
		}
		}

		int can_send_queued(const struct device can_dev, struct can_frame frame)
		{
		@@ -87,8 +85,6 @@ int can_send_queued(const struct device can_dev, struct can_frame frame)
		};
		err = k_msgq_put(&can_tx_msgq, &q_frame, K_NO_WAIT);
		}
		// int err = can_send(can_dev, frame, K_NO_WAIT, can_tx_callback,
		// &tx_queue_sem[get_can_id(can_dev)]);
		// if (err) {
		// LOG_ERR("Failed to send CAN frame: %d", err);
		// }
		@@ -101,9 +97,9 @@ void can_tx_entry(void arg1, void arg2, void *arg3)
		int err = 0;
		uint32_t last_time = 0;
		uint16_t failed_times = 0;
		while (!k_msgq_get(&can_tx_msgq, &frame, K_FOREVER)) {
		// LOG_ERR("Get CAN frame from msgq");
		err = k_sem_take(frame.sem, K_NO_WAIT);
		while (1) {
		k_msgq_get(&can_tx_msgq, &frame, K_FOREVER);
		err = k_sem_take(frame.sem, K_MSEC(2));
		if (err == 0) {
		err = can_send(frame.can_dev, &(frame.frame), K_USEC(100), can_tx_callback,
		frame.sem);
		@@ -111,14 +107,13 @@ void can_tx_entry(void arg1, void arg2, void *arg3)
		LOG_ERR("Failed to send CAN frame: %d", err);
		last_time = k_uptime_get();
		}
		k_msgq_purge(&can_tx_msgq);
		} else {
		if (failed_times > 127) {
		k_msgq_purge(&can_tx_msgq);
		LOG_ERR("Failed too many times, purge msgq");
		k_sem_give(frame.sem);
		failed_times = 0;
		break;
		continue;
		}
		k_sleep(K_USEC(50));
		failed_times++;