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fix(can): Resolve potential race condition in message transmission #10896

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Merged
merged 1 commit into from
Nov 8, 2025
+6 −2
Merged

fix(can): Resolve potential race condition in message transmission #10896

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5 changes: 3 additions & 2 deletions components/drivers/can/dev_can.c
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Original file line number Diff line number Diff line change
Expand Up @@ -186,6 +186,7 @@ rt_inline int _can_int_tx(struct rt_can_device *can, const struct rt_can_msg *da
no = ((rt_ubase_t)tx_tosnd - (rt_ubase_t)tx_fifo->buffer) / sizeof(struct rt_can_sndbxinx_list);
tx_tosnd->result = RT_CAN_SND_RESULT_WAIT;
rt_completion_init(&tx_tosnd->completion);
can->status.sndchange |= 1<<no;
if (can->ops->sendmsg(can, data, no) != RT_EOK)
{
/* send failed. */
Expand All @@ -196,7 +197,6 @@ rt_inline int _can_int_tx(struct rt_can_device *can, const struct rt_can_msg *da
goto err_ret;
}

can->status.sndchange |= 1<<no;
if (rt_completion_wait(&(tx_tosnd->completion), RT_CANSND_MSG_TIMEOUT) != RT_EOK)
{
level = rt_hw_local_irq_disable();
Expand Down Expand Up @@ -286,11 +286,12 @@ rt_inline int _can_int_tx_priv(struct rt_can_device *can, const struct rt_can_ms
tx_fifo->buffer[no].result = RT_CAN_SND_RESULT_WAIT;
rt_hw_local_irq_enable(level);

can->status.sndchange |= 1<<no;
if (can->ops->sendmsg(can, data, no) != RT_EOK)
{
continue;
}
can->status.sndchange |= 1<<no;

if (rt_completion_wait(&(tx_fifo->buffer[no].completion), RT_CANSND_MSG_TIMEOUT) != RT_EOK)
{
can->status.sndchange &= ~ (1<<no);
Expand Down
3 changes: 3 additions & 0 deletions components/drivers/include/drivers/dev_can.h
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Original file line number Diff line number Diff line change
Expand Up @@ -68,6 +68,9 @@ enum CANBAUD
#define RT_CAN_MODE_PRIV 0x01
#define RT_CAN_MODE_NOPRIV 0x00

#define RT_CAN_MODE_MASK 0x00
#define RT_CAN_MODE_LIST 0x01

/**
* @defgroup group_drivers_can CAN Driver
* @brief CAN driver api
Expand Down