git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@1370 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 15 insertions, 6 deletions

diff --git a/os/hal/src/can.c b/os/hal/src/can.c
index 7c6cdd656..e4258050e 100644
--- a/os/hal/src/can.c
+++ b/os/hal/src/can.c
@@ -69,12 +69,18 @@ void canStart(CANDriver *canp, const CANConfig *config) {
   chDbgCheck((canp != NULL) && (config != NULL), "canStart");

 

   chSysLock();

-  chDbgAssert((canp->cd_state == CAN_STOP) || (canp->cd_state == CAN_READY),

+  chDbgAssert((canp->cd_state == CAN_STOP) ||

+              (canp->cd_state == CAN_STARTING) ||

+              (canp->cd_state == CAN_READY),

               "canStart(), #1",

               "invalid state");

-  canp->cd_config = config;

-  can_lld_start(canp);

-  canp->cd_state = CAN_READY;

+  while (canp->cd_state == CAN_STARTING)

+    chThdSleepS(1);

+  if (canp->cd_state == CAN_STOP) {

+    canp->cd_config = config;

+    can_lld_start(canp);

+    canp->cd_state = CAN_READY;

+  }

   chSysUnlock();

 }

 

@@ -145,12 +151,15 @@ msg_t canTransmit(CANDriver *canp, const CANFrame *cfp, systime_t timeout) {
  * @param[out] cfp      pointer to the buffer where the CAN frame is copied

  * @param[in] timeout   the number of ticks before the operation timeouts,

  *                      the following special values are allowed:

- *                      - @a TIME_IMMEDIATE immediate timeout.

+ *                      - @a TIME_IMMEDIATE immediate timeout (useful in an

+ *                        event driven scenario where a thread never blocks

+ *                        for I/O).

  *                      - @a TIME_INFINITE no timeout.

  *                      .

  * @return The operation result.

  * @retval RDY_OK a frame has been received and placed in the buffer.

- * @retval RDY_TIMEOUT operation not finished within the specified time.

+ * @retval RDY_TIMEOUT operation not finished within the specified time or

+ *         frame not immediately available if invoked using @p TIME_IMMEDIATE.

  * @retval RDY_RESET driver stopped while waiting.

  */

 msg_t canReceive(CANDriver *canp, CANFrame *cfp, systime_t timeout) {