From a122640ac69ce3fb8ae5c6e83d9e3a912bb96c98 Mon Sep 17 00:00:00 2001
From: gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4>
Date: Thu, 14 Oct 2010 12:16:41 +0000
Subject: git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@2255
 35acf78f-673a-0410-8e92-d51de3d6d3f4

---
 os/hal/src/can.c | 31 +++++++++++++------------------
 1 file changed, 13 insertions(+), 18 deletions(-)

(limited to 'os/hal/src')

diff --git a/os/hal/src/can.c b/os/hal/src/can.c
index a1fb237f3..ec907de97 100644
--- a/os/hal/src/can.c
+++ b/os/hal/src/can.c
@@ -81,6 +81,9 @@ void canObjectInit(CANDriver *canp) {
 
 /**
  * @brief   Configures and activates the CAN peripheral.
+ * @note    Activating the CAN bus can be a slow operation this this function
+ *          is not atomic, it waits internally for the initialization to
+ *          complete.
  *
  * @param[in] canp      pointer to the @p CANDriver object
  * @param[in] config    pointer to the @p CANConfig object
@@ -95,8 +98,7 @@ void canStart(CANDriver *canp, const CANConfig *config) {
   chDbgAssert((canp->cd_state == CAN_STOP) ||
               (canp->cd_state == CAN_STARTING) ||
               (canp->cd_state == CAN_READY),
-              "canStart(), #1",
-              "invalid state");
+              "canStart(), #1", "invalid state");
   while (canp->cd_state == CAN_STARTING)
     chThdSleepS(1);
   if (canp->cd_state == CAN_STOP) {
@@ -120,8 +122,7 @@ void canStop(CANDriver *canp) {
 
   chSysLock();
   chDbgAssert((canp->cd_state == CAN_STOP) || (canp->cd_state == CAN_READY),
-              "canStop(), #1",
-              "invalid state");
+              "canStop(), #1", "invalid state");
   can_lld_stop(canp);
   chSemResetI(&canp->cd_rxsem, 0);
   chSemResetI(&canp->cd_txsem, 0);
@@ -146,8 +147,8 @@ void canStop(CANDriver *canp) {
  *                      .
  * @return              The operation result.
  * @retval RDY_OK       the frame has been queued for transmission.
- * @retval RDY_TIMEOUT  operation not finished within the specified time.
- * @retval RDY_RESET    driver stopped while waiting.
+ * @retval RDY_TIMEOUT  The operation has timed out.
+ * @retval RDY_RESET    The driver has been stopped while waiting.
  *
  * @api
  */
@@ -157,8 +158,7 @@ msg_t canTransmit(CANDriver *canp, const CANTxFrame *ctfp, systime_t timeout) {
 
   chSysLock();
   chDbgAssert((canp->cd_state == CAN_READY) || (canp->cd_state == CAN_SLEEP),
-              "canTransmit(), #1",
-              "invalid state");
+              "canTransmit(), #1", "invalid state");
   while ((canp->cd_state == CAN_SLEEP) || !can_lld_can_transmit(canp)) {
     msg_t msg = chSemWaitTimeoutS(&canp->cd_txsem, timeout);
     if (msg != RDY_OK) {
@@ -187,10 +187,8 @@ msg_t canTransmit(CANDriver *canp, const CANTxFrame *ctfp, systime_t 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 or
- *                      frame not immediately available if invoked using
- *                      @p TIME_IMMEDIATE.
- * @retval RDY_RESET    driver stopped while waiting.
+ * @retval RDY_TIMEOUT  The operation has timed out.
+ * @retval RDY_RESET    The driver has been stopped while waiting.
  *
  * @api
  */
@@ -200,8 +198,7 @@ msg_t canReceive(CANDriver *canp, CANRxFrame *crfp, systime_t timeout) {
 
   chSysLock();
   chDbgAssert((canp->cd_state == CAN_READY) || (canp->cd_state == CAN_SLEEP),
-              "canReceive(), #1",
-              "invalid state");
+              "canReceive(), #1", "invalid state");
   while ((canp->cd_state == CAN_SLEEP) || !can_lld_can_receive(canp)) {
     msg_t msg = chSemWaitTimeoutS(&canp->cd_rxsem, timeout);
     if (msg != RDY_OK) {
@@ -251,8 +248,7 @@ void canSleep(CANDriver *canp) {
 
   chSysLock();
   chDbgAssert((canp->cd_state == CAN_READY) || (canp->cd_state == CAN_SLEEP),
-              "canSleep(), #1",
-              "invalid state");
+              "canSleep(), #1", "invalid state");
   if (canp->cd_state == CAN_READY) {
     can_lld_sleep(canp);
     canp->cd_state = CAN_SLEEP;
@@ -275,8 +271,7 @@ void canWakeup(CANDriver *canp) {
 
   chSysLock();
   chDbgAssert((canp->cd_state == CAN_READY) || (canp->cd_state == CAN_SLEEP),
-              "canWakeup(), #1",
-              "invalid state");
+              "canWakeup(), #1", "invalid state");
   if (canp->cd_state == CAN_SLEEP) {
     can_lld_wakeup(canp);
     canp->cd_state = CAN_READY;
-- 
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