drivers/can: Fix close drain, write-only reader lifecycle, and STM32 RX header#18759
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acassis merged 1 commit intoapache:masterfrom Apr 28, 2026
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Apr 23, 2026
…RX header Always allocate per-file can_reader on open so write-only descriptors get msgalign / ioctl state; free that context on close when it was never linked into cd_readers (fixes leak). Cap each drain loop (20×500 ms) so close() cannot block forever when bxCAN retries without ACK or dev_txempty never clears. Fix stm32can_vputreg debug log to print the written value (correct parameter name). Signed-off-by: Alexey Matveev <tippet@yandex.ru>
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xiaoxiang781216
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@acassis What to do also need for MR? |
acassis
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Everything is fine from my side, I was waiting for other to review too, but since nobody show up, I will merge now. |
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Summary
This PR hardens the generic CAN character driver (drivers/can/can.c) and the STM32 bxCAN backend (arch/arm/src/stm32/stm32_can.c) for write-only use, safe shutdown, and consistent RX headers.
Impact
Loopback / full-header compare: Without clearing the RX header, apps that compare the whole header (loopback tests) could see spurious failures; this change makes RX headers deterministic.
close(): Unbounded waits on TX drain could freeze the app on a silent bus or endless retries; timeouts avoid infinite blocking while still calling dev_shutdown afterward.
Write-only open: Previously f_priv could stay NULL, breaking can_write (msgalign) and some ioctls—risk of fault/panic; allocating can_reader_s for every open fixes that.
Testing
Manual testing on stm32f103-minimum with a custom config (CAN loopback / Example CAN / app scenario as applicable).