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fix(uavcan): i.MXRT SocketCAN driver update and IOB tuning #26887

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fix(uavcan): i.MXRT SocketCAN driver update and IOB tuning #26887

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9aefd90
fix(uavcan): Change SocketCAN return code handling
PetervdPerk-NXP Mar 25, 2026
35a9aa9
fix(boards): V6X-RT increase IOB buffers
PetervdPerk-NXP Mar 31, 2026
9b89abd
nuttx: update submodule (for i.MXRT FlexCAN rewrite)
PetervdPerk-NXP Mar 31, 2026
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5 changes: 3 additions & 2 deletions boards/px4/fmu-v6xrt/nuttx-config/nsh/defconfig
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Original file line number Diff line number Diff line change
Expand Up @@ -142,8 +142,9 @@ CONFIG_IMXRT_USDHC1_INVERT_CD=y
CONFIG_IMXRT_USDHC1_WIDTH_D1_D4=y
CONFIG_INIT_ENTRYPOINT="nsh_main"
CONFIG_INIT_STACKSIZE=2944
CONFIG_IOB_NBUFFERS=24
CONFIG_IOB_THROTTLE=0
CONFIG_IOB_NBUFFERS=256
CONFIG_IOB_NCHAINS=196
CONFIG_IOB_NOTIFIER=y
CONFIG_IPCFG_BINARY=y
CONFIG_IPCFG_CHARDEV=y
CONFIG_IPCFG_PATH="/fs/mtd_net"
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2 changes: 1 addition & 1 deletion platforms/nuttx/NuttX/nuttx
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Submodule nuttx updated 16 files
+2 −2 .github/workflows/build.yml
+1 −1 .github/workflows/check.yml
+1 −1 .github/workflows/doc.yml
+1 −1 .github/workflows/docker_linux.yml
+1 −1 .github/workflows/lint.yml
+2 −2 arch/arm/src/imxrt/hardware/imxrt_flexcan.h
+1,306 −797 arch/arm/src/imxrt/imxrt_flexcan.c
+2 −46 arch/arm/src/imxrt/imxrt_serial.c
+0 −22 drivers/mtd/Kconfig
+0 −4 drivers/mtd/Make.defs
+0 −12 drivers/mtd/ramtron.c
+0 −941 drivers/mtd/w25n.c
+3 −3 drivers/timers/pcf85263.c
+1 −1 fs/littlefs/Make.defs
+2 −14 fs/littlefs/lfs_vfs.c
+1 −12 include/nuttx/mtd/mtd.h
18 changes: 13 additions & 5 deletions src/drivers/uavcan/uavcan_drivers/socketcan/driver/src/socketcan.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -200,7 +200,11 @@ uavcan::int16_t CanIface::send(const uavcan::CanFrame &frame, uavcan::MonotonicT
return 1;

} else {
return res;
if (errno == ENOBUFS || errno == EAGAIN || errno == EWOULDBLOCK) {
return 0; // Transmit queue is full, retry
}

return -1;
}
}

Expand All @@ -210,7 +214,11 @@ uavcan::int16_t CanIface::receive(uavcan::CanFrame &out_frame, uavcan::Monotonic
int32_t result = recvmsg(_fd, &_recv_msg, MSG_DONTWAIT);

if (result < 0) {
return result;
if (errno == EAGAIN || errno == EWOULDBLOCK) {
return 0;
}

return -1;
}

/* Copy SocketCAN frame to CanardFrame */
Expand All @@ -220,7 +228,7 @@ uavcan::int16_t CanIface::receive(uavcan::CanFrame &out_frame, uavcan::Monotonic
out_frame.id = recv_frame->can_id;

if (recv_frame->len > CANFD_MAX_DLEN) {
return -EFAULT;
return -1;
}

out_frame.dlc = recv_frame->len;
Expand All @@ -231,7 +239,7 @@ uavcan::int16_t CanIface::receive(uavcan::CanFrame &out_frame, uavcan::Monotonic
out_frame.id = recv_frame->can_id;

if (recv_frame->can_dlc > CAN_MAX_DLEN) {
return -EFAULT;
return -1;
}

out_frame.dlc = recv_frame->can_dlc;
Expand All @@ -245,7 +253,7 @@ uavcan::int16_t CanIface::receive(uavcan::CanFrame &out_frame, uavcan::Monotonic
out_ts_monotonic = uavcan::MonotonicTime::fromUSec(tv->tv_sec * 1000000ULL + tv->tv_usec);
}

return result;
return 1;
}


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