git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@2255 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 13 insertions, 18 deletions

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;