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eb40eed248
TX-complete and the deadline watchdog each queued their own callback on the same work_s, and work_queue() cancels whatever is pending when a work_s is reused, so whichever ran second was dropped: deadlines were left set, the TX interrupt mask stayed off, or expired frames were never aborted. Both now queue imxrt_tx_work(), which retires completions before it aborts expired mailboxes. Add SIOCGCANERRORS so a socket can read fault confinement, TEC/REC, a monotonic bus error count and the RX mailbox overrun count. SIOCGCANSTATE reports sleep/operational, not fault confinement, hence a new command. The error count is sampled from the clear-on-read ESR1 error flags at every driver entry rather than from ERRINT, which fires per error frame and storms at bus rate once the bus is dead. Frames the CAN socket layer drops for want of an IOB now count as rx_dropped in the netdev statistics as well as in the global CAN statistics. Tested on an i.MX RT1176 (ARK FMU-v6XRT) running PX4 with two DroneCAN nodes: unplugging one node the ioctl reports error-passive, TEC 128, REC 0 and a monotonic error count, matching ECR/ESR1 read over SWD at 20 Hz, while the other interface stays error-active with zero errors. Assisted-by: Claude:claude-fable-5 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> |
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