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canbus: isotp: ensure consecutive frames are sent in FIFO order

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Ensure that ISO-TP Consecutive Frames (CF) are sent in
FIFO/chronological order.

In order to ensure this, we can only have one CF queued in the CAN
controller TX mailboxes at a time, since transmit order for mailboxes
with the same CAN-ID (priority) is hardware specific.

Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
This commit is contained in:
Henrik Brix Andersen 2022-02-04 14:40:43 +01:00 • committed by Anas Nashif
commit 1f57e73730
2 changed files with 7 additions and 0 deletions
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1
include/canbus/isotp.h
View file

@ -391,6 +391,7 @@ struct isotp_send_ctx {
struct isotp_fc_opts opts;
uint8_t state;
uint8_t tx_backlog;
struct k_sem tx_sem;
struct isotp_msg_id rx_addr;
struct isotp_msg_id tx_addr;
uint8_t wft;

6
subsys/canbus/isotp/isotp.c
View file

@ -728,6 +728,7 @@ static void send_can_tx_cb(int error, void *arg)
struct isotp_send_ctx *ctx = (struct isotp_send_ctx *)arg;
ctx->tx_backlog--;
k_sem_give(&ctx->tx_sem);
if (ctx->state == ISOTP_TX_WAIT_BACKLOG) {
if (ctx->tx_backlog > 0) {
@ -784,6 +785,7 @@ static void send_process_fc(struct isotp_send_ctx *ctx,
ctx->state = ISOTP_TX_SEND_CF;
ctx->wft = 0;
ctx->tx_backlog = 0;
k_sem_reset(&ctx->tx_sem);
ctx->opts.bs = *data++;
ctx->opts.stmin = *data++;
ctx->bs = ctx->opts.bs;
@ -1068,6 +1070,9 @@ static void send_state_machine(struct isotp_send_ctx *ctx)
ctx->state = ISOTP_TX_WAIT_ST;
break;
}
/* Ensure FIFO style transmission of CF */
k_sem_take(&ctx->tx_sem, K_FOREVER);
} while (ret > 0);
break;
@ -1154,6 +1159,7 @@ static int send(struct isotp_send_ctx *ctx, const struct device *can_dev,
ctx->has_callback = 0;
}
k_sem_init(&ctx->tx_sem, 0, 1);
ctx->can_dev = can_dev;
ctx->tx_addr = *tx_addr;
ctx->rx_addr = *rx_addr;