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feat:[stm32][can]: enhance control logic and refactor sendmsg #10898

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Merged
merged 1 commit into from
Nov 13, 2025
+29 −18
Merged

feat:[stm32][can]: enhance control logic and refactor sendmsg #10898

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47 changes: 29 additions & 18 deletions bsp/stm32/libraries/HAL_Drivers/drivers/drv_can.c
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Original file line number Diff line number Diff line change
Expand Up @@ -472,11 +472,23 @@ static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
argval = (rt_uint32_t) arg;
if (argval == 0)
{
HAL_CAN_Stop(&drv_can->CanHandle);
if (HAL_CAN_DeInit(&drv_can->CanHandle) != HAL_OK)
{
LOG_E("CAN deinitialization failed");
return -RT_ERROR;
}
}
else
{
HAL_CAN_Start(&drv_can->CanHandle);
rt_err_t result = _can_config(&drv_can->device, &drv_can->device.config);
if (result != RT_EOK)
{
return result;
}
if (HAL_CAN_Start(&drv_can->CanHandle) != HAL_OK)
{
return -RT_ERROR;
}
}

break;
Expand Down Expand Up @@ -515,32 +527,31 @@ static int _can_sendmsg(struct rt_can_device *can, const void *buf, rt_uint32_t
(state == HAL_CAN_STATE_LISTENING))
{
/*check select mailbox is empty */
uint32_t mailbox_mask;
uint32_t tme_flag;

switch (1 << box_num)
{
case CAN_TX_MAILBOX0:
if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME0) != SET)
{
/* Return function status */
return -RT_ERROR;
}
mailbox_mask = CAN_TX_MAILBOX0;
tme_flag = CAN_TSR_TME0;
break;
case CAN_TX_MAILBOX1:
if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME1) != SET)
{
/* Return function status */
return -RT_ERROR;
}
mailbox_mask = CAN_TX_MAILBOX1;
tme_flag = CAN_TSR_TME1;
break;
case CAN_TX_MAILBOX2:
if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME2) != SET)
{
/* Return function status */
return -RT_ERROR;
}
mailbox_mask = CAN_TX_MAILBOX2;
tme_flag = CAN_TSR_TME2;
break;
default:
RT_ASSERT(0);
break;
return -RT_ERROR;
}

if (HAL_IS_BIT_SET(hcan->Instance->TSR, tme_flag) != SET)
{
return -RT_ERROR;
}

if (RT_CAN_STDID == pmsg->ide)
Expand Down