feat[can][gd32]: Implement non-blocking send mechanism #10796

CYFS3 · 2025-10-12T12:38:01Z

拉取/合并请求描述：(PR description)

[

为什么提交这份PR (why to submit this PR)

为GD32F5适配can 不阻塞发送

你的解决方案是什么 (what is your solution)

请提供验证的bsp和config (provide the config and bsp)

BSP:

.config:

action:

]

当前拉取/合并请求的状态 Intent for your PR

必须选择一项 Choose one (Mandatory):

本拉取/合并请求是一个草稿版本 This PR is for a code-review and is intended to get feedback
本拉取/合并请求是一个成熟版本 This PR is mature, and ready to be integrated into the repo

代码质量 Code Quality：

我在这个拉取/合并请求中已经考虑了 As part of this pull request, I've considered the following:

已经仔细查看过代码改动的对比 Already check the difference between PR and old code
代码风格正确，包括缩进空格，命名及其他风格 Style guide is adhered to, including spacing, naming and other styles
没有垃圾代码，代码尽量精简，不包含#if 0代码，不包含已经被注释了的代码 All redundant code is removed and cleaned up
所有变更均有原因及合理的，并且不会影响到其他软件组件代码或BSP All modifications are justified and not affect other components or BSP
对难懂代码均提供对应的注释 I've commented appropriately where code is tricky
代码是高质量的 Code in this PR is of high quality
已经使用formatting 等源码格式化工具确保格式符合RT-Thread代码规范 This PR complies with RT-Thread code specification
如果是新增bsp, 已经添加ci检查到.github/ALL_BSP_COMPILE.json 详细请参考链接BSP自查

github-actions · 2025-10-12T12:38:08Z

👋 感谢您对 RT-Thread 的贡献！Thank you for your contribution to RT-Thread!

为确保代码符合 RT-Thread 的编码规范，请在你的仓库中执行以下步骤运行代码格式化工作流（如果格式化CI运行失败）。
To ensure your code complies with RT-Thread's coding style, please run the code formatting workflow by following the steps below (If the formatting of CI fails to run).

🛠 操作步骤 | Steps

前往 Actions 页面 | Go to the Actions page
点击进入工作流 → | Click to open workflow →
点击 Run workflow | Click Run workflow

设置需排除的文件/目录（目录请以"/"结尾）
Set files/directories to exclude (directories should end with "/")
将目标分支设置为 \ Set the target branch to：gd32_can
设置PR number为 \ Set the PR number to：10796

等待工作流完成 | Wait for the workflow to complete
格式化后的代码将自动推送至你的分支。
The formatted code will be automatically pushed to your branch.

完成后，提交将自动更新至 gd32_can 分支，关联的 Pull Request 也会同步更新。
Once completed, commits will be pushed to the gd32_can branch automatically, and the related Pull Request will be updated.

如有问题欢迎联系我们，再次感谢您的贡献！💐
If you have any questions, feel free to reach out. Thanks again for your contribution!

Rbb666 · 2025-10-13T02:45:19Z

bsp/gd32/arm/libraries/gd32_drivers/drv_can.c

+    }
+    return freebox;
+}
+rt_ssize_t _can_sendmsg_nonblocking(struct rt_can_device *can, const void *buf)


不同函数后需要加一个换行

不同函数后需要加一个换行

已修改

Rbb666 · 2025-10-13T02:45:33Z

bsp/gd32/arm/libraries/gd32_drivers/drv_can.c

+    return RT_EOK;
+}
+
+


删除一个换行

删除一个换行

已经修改

Copilot

Pull Request Overview

This PR implements a non-blocking send mechanism for CAN devices on GD32F5 platforms. The implementation allows CAN message transmission without blocking when transmit mailboxes are full.

Adds a helper function to check available transmit mailboxes
Implements non-blocking message transmission with immediate failure when no mailboxes are available
Integrates the new functionality into the CAN operations structure

Copilot · 2025-10-13T02:46:38Z

bsp/gd32/arm/libraries/gd32_drivers/drv_can.c

+    if (CAN_STAT(can_x) & CAN_TSTAT_TME0 != 0U)
+    {
+        freebox++;
+    }
+    if (CAN_STAT(can_x) & CAN_TSTAT_TME1 != 0U)
+    {
+        freebox++;
+    }
+    if (CAN_STAT(can_x) & CAN_TSTAT_TME2 != 0U)


Operator precedence issue / 运算符优先级问题: The bitwise AND operation has lower precedence than the inequality comparison. This will evaluate as CAN_STAT(can_x) & (CAN_TSTAT_TME0 != 0U) which is incorrect. Add parentheses around the bitwise operation. / 按位与运算符的优先级低于不等比较运算符。这会被计算为 CAN_STAT(can_x) & (CAN_TSTAT_TME0 != 0U)，这是错误的。需要在按位运算周围添加括号。

Suggested change

if (CAN_STAT(can_x) & CAN_TSTAT_TME0 != 0U)

{

freebox++;

}

if (CAN_STAT(can_x) & CAN_TSTAT_TME1 != 0U)

{

freebox++;

}

if (CAN_STAT(can_x) & CAN_TSTAT_TME2 != 0U)

if ((CAN_STAT(can_x) & CAN_TSTAT_TME0) != 0U)

{

freebox++;

}

if ((CAN_STAT(can_x) & CAN_TSTAT_TME1) != 0U)

{

freebox++;

}

if ((CAN_STAT(can_x) & CAN_TSTAT_TME2) != 0U)

Copilot · 2025-10-13T02:46:39Z

bsp/gd32/arm/libraries/gd32_drivers/drv_can.c

+    if (CAN_STAT(can_x) & CAN_TSTAT_TME0 != 0U)
+    {
+        freebox++;
+    }
+    if (CAN_STAT(can_x) & CAN_TSTAT_TME1 != 0U)
+    {
+        freebox++;
+    }
+    if (CAN_STAT(can_x) & CAN_TSTAT_TME2 != 0U)


Operator precedence issue / 运算符优先级问题: Same operator precedence issue as above. Add parentheses around the bitwise operation: (CAN_STAT(can_x) & CAN_TSTAT_TME1) != 0U. / 与上面相同的运算符优先级问题。需要在按位运算周围添加括号：(CAN_STAT(can_x) & CAN_TSTAT_TME1) != 0U。

Suggested change

if (CAN_STAT(can_x) & CAN_TSTAT_TME0 != 0U)

{

freebox++;

}

if (CAN_STAT(can_x) & CAN_TSTAT_TME1 != 0U)

{

freebox++;

}

if (CAN_STAT(can_x) & CAN_TSTAT_TME2 != 0U)

if ((CAN_STAT(can_x) & CAN_TSTAT_TME0) != 0U)

{

freebox++;

}

if ((CAN_STAT(can_x) & CAN_TSTAT_TME1) != 0U)

{

freebox++;

}

if ((CAN_STAT(can_x) & CAN_TSTAT_TME2) != 0U)

Copilot · 2025-10-13T02:46:39Z

bsp/gd32/arm/libraries/gd32_drivers/drv_can.c

+    {
+        freebox++;
+    }
+    if (CAN_STAT(can_x) & CAN_TSTAT_TME2 != 0U)


Operator precedence issue / 运算符优先级问题: Same operator precedence issue as above. Add parentheses around the bitwise operation: (CAN_STAT(can_x) & CAN_TSTAT_TME2) != 0U. / 与上面相同的运算符优先级问题。需要在按位运算周围添加括号：(CAN_STAT(can_x) & CAN_TSTAT_TME2) != 0U。

Suggested change

if (CAN_STAT(can_x) & CAN_TSTAT_TME2 != 0U)

if ((CAN_STAT(can_x) & CAN_TSTAT_TME2) != 0U)

Copilot · 2025-10-13T02:46:39Z

bsp/gd32/arm/libraries/gd32_drivers/drv_can.c

+{
+    RT_ASSERT(can);
+
+    can_trasnmit_message_struct transmit_message;


Typo in variable type / 变量类型拼写错误: The type name contains a typo. It should be can_transmit_message_struct instead of can_trasnmit_message_struct. / 类型名称包含拼写错误，应该是 can_transmit_message_struct 而不是 can_trasnmit_message_struct。

Suggested change

can_trasnmit_message_struct transmit_message;

can_transmit_message_struct transmit_message;

这个也修改下吧，很有用

这个也修改下吧，很有用

这个copilot好像review还是旧的代码，然后你指的修改是

zhegm这个吗，这个gd32的库名字就是这个了，如果修改的话就跟库不匹配了

官方的编码规范问题，出现过很多次了，需要注意下其他系列是不是也有这个问题，然后从rtt的软件包中统一一下命名

CYFS3 requested a review from kurisaW as a code owner October 12, 2025 12:38

github-actions bot added BSP BSP: GD32 BSP related with GD32 labels Oct 12, 2025

kurisaW approved these changes Oct 13, 2025

View reviewed changes

Rbb666 requested changes Oct 13, 2025

View reviewed changes

Rbb666 requested a review from Copilot October 13, 2025 02:45

Copilot AI reviewed Oct 13, 2025

View reviewed changes

feat[can][gd32]: Implement non-blocking send mechanism

44b017f

CYFS3 force-pushed the gd32_can branch from baa8ae5 to 44b017f Compare October 13, 2025 02:54

Rbb666 added this to the v5.2.2 milestone Oct 13, 2025

CYFS3 requested a review from Rbb666 October 13, 2025 03:51

Rbb666 approved these changes Oct 13, 2025

View reviewed changes

Rbb666 merged commit a3cc233 into RT-Thread:master Oct 13, 2025
28 checks passed

CYFS3 deleted the gd32_can branch October 14, 2025 07:57

	if (CAN_STAT(can_x) & CAN_TSTAT_TME2 != 0U)
	if ((CAN_STAT(can_x) & CAN_TSTAT_TME2) != 0U)

	can_trasnmit_message_struct transmit_message;
	can_transmit_message_struct transmit_message;

feat[can][gd32]: Implement non-blocking send mechanism #10796

feat[can][gd32]: Implement non-blocking send mechanism #10796

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CYFS3 commented Oct 12, 2025

拉取/合并请求描述：(PR description)

为什么提交这份PR (why to submit this PR)

你的解决方案是什么 (what is your solution)

请提供验证的bsp和config (provide the config and bsp)

当前拉取/合并请求的状态 Intent for your PR

代码质量 Code Quality：

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github-actions bot commented Oct 12, 2025

🛠 操作步骤 | Steps

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Rbb666 Oct 13, 2025

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Rbb666 Oct 13, 2025

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CYFS3 Oct 13, 2025

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Pull Request Overview

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Copilot AI Oct 13, 2025

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Copilot AI Oct 13, 2025

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