git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@1378 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 5 insertions, 2 deletions

diff --git a/os/hal/src/can.c b/os/hal/src/can.c
index 3cd10126d..7359e57b7 100644
--- a/os/hal/src/can.c
+++ b/os/hal/src/can.c
@@ -98,6 +98,9 @@ void canStop(CANDriver *canp) {
               "canStop(), #1",

               "invalid state");

   can_lld_stop(canp);

+  chSemResetI(&canp->cd_rxsem, 0);

+  chSemResetI(&canp->cd_txsem, 0);

+  chSchRescheduleS();

   canp->cd_state  = CAN_STOP;

   canp->cd_status = 0;

   chSysUnlock();

@@ -129,7 +132,7 @@ msg_t canTransmit(CANDriver *canp, const CANTxFrame *ctfp, systime_t timeout) {
   chDbgAssert((canp->cd_state == CAN_READY) || (canp->cd_state == CAN_SLEEP),

               "canTransmit(), #1",

               "invalid state");

-  if ((canp->cd_state == CAN_SLEEP) || !can_lld_can_transmit(canp)) {

+  while ((canp->cd_state == CAN_SLEEP) || !can_lld_can_transmit(canp)) {

     msg_t msg = chSemWaitTimeoutS(&canp->cd_txsem, timeout);

     if (msg != RDY_OK) {

       chSysUnlock();

@@ -169,7 +172,7 @@ msg_t canReceive(CANDriver *canp, CANRxFrame *crfp, systime_t timeout) {
   chDbgAssert((canp->cd_state == CAN_READY) || (canp->cd_state == CAN_SLEEP),

               "canReceive(), #1",

               "invalid state");

-  if ((canp->cd_state == CAN_SLEEP) || !can_lld_can_receive(canp)) {

+  while ((canp->cd_state == CAN_SLEEP) || !can_lld_can_receive(canp)) {

     msg_t msg = chSemWaitTimeoutS(&canp->cd_rxsem, timeout);

     if (msg != RDY_OK) {

       chSysUnlock();