From 8ca210a4af9fd039e290cfcc309adde543999c1f Mon Sep 17 00:00:00 2001 From: gdisirio Date: Fri, 9 Aug 2013 08:24:22 +0000 Subject: git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6108 35acf78f-673a-0410-8e92-d51de3d6d3f4 --- os/hal/src/can.c | 285 ------------------------------------------------------- 1 file changed, 285 deletions(-) delete mode 100644 os/hal/src/can.c (limited to 'os/hal/src/can.c') diff --git a/os/hal/src/can.c b/os/hal/src/can.c deleted file mode 100644 index a57f12356..000000000 --- a/os/hal/src/can.c +++ /dev/null @@ -1,285 +0,0 @@ -/* - ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010, - 2011,2012,2013 Giovanni Di Sirio. - - This file is part of ChibiOS/RT. - - ChibiOS/RT is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 3 of the License, or - (at your option) any later version. - - ChibiOS/RT is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . -*/ - -/** - * @file can.c - * @brief CAN Driver code. - * - * @addtogroup CAN - * @{ - */ - -#include "ch.h" -#include "hal.h" - -#if HAL_USE_CAN || defined(__DOXYGEN__) - -/*===========================================================================*/ -/* Driver local definitions. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Driver exported variables. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Driver local variables and types. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Driver local functions. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Driver exported functions. */ -/*===========================================================================*/ - -/** - * @brief CAN Driver initialization. - * @note This function is implicitly invoked by @p halInit(), there is - * no need to explicitly initialize the driver. - * - * @init - */ -void canInit(void) { - - can_lld_init(); -} - -/** - * @brief Initializes the standard part of a @p CANDriver structure. - * - * @param[out] canp pointer to the @p CANDriver object - * - * @init - */ -void canObjectInit(CANDriver *canp) { - - canp->state = CAN_STOP; - canp->config = NULL; - chSemInit(&canp->txsem, 0); - chSemInit(&canp->rxsem, 0); - chEvtInit(&canp->rxfull_event); - chEvtInit(&canp->txempty_event); - chEvtInit(&canp->error_event); -#if CAN_USE_SLEEP_MODE - chEvtInit(&canp->sleep_event); - chEvtInit(&canp->wakeup_event); -#endif /* CAN_USE_SLEEP_MODE */ -} - -/** - * @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. Depending on - * the implementation the value can be @p NULL. - * - * @api - */ -void canStart(CANDriver *canp, const CANConfig *config) { - - chDbgCheck(canp != NULL, "canStart"); - - chSysLock(); - chDbgAssert((canp->state == CAN_STOP) || - (canp->state == CAN_STARTING) || - (canp->state == CAN_READY), - "canStart(), #1", "invalid state"); - while (canp->state == CAN_STARTING) - chThdSleepS(1); - if (canp->state == CAN_STOP) { - canp->config = config; - can_lld_start(canp); - canp->state = CAN_READY; - } - chSysUnlock(); -} - -/** - * @brief Deactivates the CAN peripheral. - * - * @param[in] canp pointer to the @p CANDriver object - * - * @api - */ -void canStop(CANDriver *canp) { - - chDbgCheck(canp != NULL, "canStop"); - - chSysLock(); - chDbgAssert((canp->state == CAN_STOP) || (canp->state == CAN_READY), - "canStop(), #1", "invalid state"); - can_lld_stop(canp); - chSemResetI(&canp->rxsem, 0); - chSemResetI(&canp->txsem, 0); - chSchRescheduleS(); - canp->state = CAN_STOP; - chSysUnlock(); -} - -/** - * @brief Can frame transmission. - * @details The specified frame is queued for transmission, if the hardware - * queue is full then the invoking thread is queued. - * @note Trying to transmit while in sleep mode simply enqueues the thread. - * - * @param[in] canp pointer to the @p CANDriver object - * @param[in] mailbox mailbox number, @p CAN_ANY_MAILBOX for any mailbox - * @param[in] ctfp pointer to the CAN frame to be transmitted - * @param[in] timeout the number of ticks before the operation timeouts, - * the following special values are allowed: - * - @a TIME_IMMEDIATE immediate timeout. - * - @a TIME_INFINITE no timeout. - * . - * @return The operation result. - * @retval RDY_OK the frame has been queued for transmission. - * @retval RDY_TIMEOUT The operation has timed out. - * @retval RDY_RESET The driver has been stopped while waiting. - * - * @api - */ -msg_t canTransmit(CANDriver *canp, - canmbx_t mailbox, - const CANTxFrame *ctfp, - systime_t timeout) { - - chDbgCheck((canp != NULL) && (ctfp != NULL) && (mailbox <= CAN_TX_MAILBOXES), - "canTransmit"); - - chSysLock(); - chDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP), - "canTransmit(), #1", "invalid state"); - while ((canp->state == CAN_SLEEP) || !can_lld_is_tx_empty(canp, mailbox)) { - msg_t msg = chSemWaitTimeoutS(&canp->txsem, timeout); - if (msg != RDY_OK) { - chSysUnlock(); - return msg; - } - } - can_lld_transmit(canp, mailbox, ctfp); - chSysUnlock(); - return RDY_OK; -} - -/** - * @brief Can frame receive. - * @details The function waits until a frame is received. - * @note Trying to receive while in sleep mode simply enqueues the thread. - * - * @param[in] canp pointer to the @p CANDriver object - * @param[in] mailbox mailbox number, @p CAN_ANY_MAILBOX for any mailbox - * @param[out] crfp 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 (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 The operation has timed out. - * @retval RDY_RESET The driver has been stopped while waiting. - * - * @api - */ -msg_t canReceive(CANDriver *canp, - canmbx_t mailbox, - CANRxFrame *crfp, - systime_t timeout) { - - chDbgCheck((canp != NULL) && (crfp != NULL) && (mailbox < CAN_RX_MAILBOXES), - "canReceive"); - - chSysLock(); - chDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP), - "canReceive(), #1", "invalid state"); - while ((canp->state == CAN_SLEEP) || !can_lld_is_rx_nonempty(canp, mailbox)) { - msg_t msg = chSemWaitTimeoutS(&canp->rxsem, timeout); - if (msg != RDY_OK) { - chSysUnlock(); - return msg; - } - } - can_lld_receive(canp, mailbox, crfp); - chSysUnlock(); - return RDY_OK; -} - -#if CAN_USE_SLEEP_MODE || defined(__DOXYGEN__) -/** - * @brief Enters the sleep mode. - * @details This function puts the CAN driver in sleep mode and broadcasts - * the @p sleep_event event source. - * @pre In order to use this function the option @p CAN_USE_SLEEP_MODE must - * be enabled and the @p CAN_SUPPORTS_SLEEP mode must be supported - * by the low level driver. - * - * @param[in] canp pointer to the @p CANDriver object - * - * @api - */ -void canSleep(CANDriver *canp) { - - chDbgCheck(canp != NULL, "canSleep"); - - chSysLock(); - chDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP), - "canSleep(), #1", "invalid state"); - if (canp->state == CAN_READY) { - can_lld_sleep(canp); - canp->state = CAN_SLEEP; - chEvtBroadcastI(&canp->sleep_event); - chSchRescheduleS(); - } - chSysUnlock(); -} - -/** - * @brief Enforces leaving the sleep mode. - * @note The sleep mode is supposed to be usually exited automatically by - * an hardware event. - * - * @param[in] canp pointer to the @p CANDriver object - */ -void canWakeup(CANDriver *canp) { - - chDbgCheck(canp != NULL, "canWakeup"); - - chSysLock(); - chDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP), - "canWakeup(), #1", "invalid state"); - if (canp->state == CAN_SLEEP) { - can_lld_wakeup(canp); - canp->state = CAN_READY; - chEvtBroadcastI(&canp->wakeup_event); - chSchRescheduleS(); - } - chSysUnlock(); -} -#endif /* CAN_USE_SLEEP_MODE */ - -#endif /* HAL_USE_CAN */ - -/** @} */ -- cgit v1.2.3 From 0e34cd051ed686263001af3a721f6858db94d072 Mon Sep 17 00:00:00 2001 From: gdisirio Date: Fri, 9 Aug 2013 08:25:09 +0000 Subject: git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6109 35acf78f-673a-0410-8e92-d51de3d6d3f4 --- os/hal/src/can.c | 284 +++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 284 insertions(+) create mode 100644 os/hal/src/can.c (limited to 'os/hal/src/can.c') diff --git a/os/hal/src/can.c b/os/hal/src/can.c new file mode 100644 index 000000000..9a352ddd1 --- /dev/null +++ b/os/hal/src/can.c @@ -0,0 +1,284 @@ +/* + ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010, + 2011,2012,2013 Giovanni Di Sirio. + + This file is part of ChibiOS/RT. + + ChibiOS/RT is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 3 of the License, or + (at your option) any later version. + + ChibiOS/RT is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +/** + * @file can.c + * @brief CAN Driver code. + * + * @addtogroup CAN + * @{ + */ + +#include "hal.h" + +#if HAL_USE_CAN || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief CAN Driver initialization. + * @note This function is implicitly invoked by @p halInit(), there is + * no need to explicitly initialize the driver. + * + * @init + */ +void canInit(void) { + + can_lld_init(); +} + +/** + * @brief Initializes the standard part of a @p CANDriver structure. + * + * @param[out] canp pointer to the @p CANDriver object + * + * @init + */ +void canObjectInit(CANDriver *canp) { + + canp->state = CAN_STOP; + canp->config = NULL; + osalQueueObjectInit(&canp->txqueue); + osalQueueObjectInit(&canp->rxqueue); + osalEventObjectInit(&canp->rxfull_event); + osalEventObjectInit(&canp->txempty_event); + osalEventObjectInit(&canp->error_event); +#if CAN_USE_SLEEP_MODE + osalEventObjectInit(&canp->sleep_event); + osalEventObjectInit(&canp->wakeup_event); +#endif /* CAN_USE_SLEEP_MODE */ +} + +/** + * @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. Depending on + * the implementation the value can be @p NULL. + * + * @api + */ +void canStart(CANDriver *canp, const CANConfig *config) { + + osalDbgCheck(canp != NULL); + + osalSysLock(); + osalDbgAssert((canp->state == CAN_STOP) || + (canp->state == CAN_STARTING) || + (canp->state == CAN_READY), + "canStart(), #1", "invalid state"); + while (canp->state == CAN_STARTING) + osalThreadSleepS(1); + if (canp->state == CAN_STOP) { + canp->config = config; + can_lld_start(canp); + canp->state = CAN_READY; + } + osalSysUnlock(); +} + +/** + * @brief Deactivates the CAN peripheral. + * + * @param[in] canp pointer to the @p CANDriver object + * + * @api + */ +void canStop(CANDriver *canp) { + + osalDbgCheck(canp != NULL); + + osalSysLock(); + osalDbgAssert((canp->state == CAN_STOP) || (canp->state == CAN_READY), + "canStop(), #1", "invalid state"); + can_lld_stop(canp); + canp->state = CAN_STOP; + osalQueueWakeupAllI(&canp->rxqueue, MSG_RESET); + osalQueueWakeupAllI(&canp->txqueue, MSG_RESET); + osalOsRescheduleS(); + osalSysUnlock(); +} + +/** + * @brief Can frame transmission. + * @details The specified frame is queued for transmission, if the hardware + * queue is full then the invoking thread is queued. + * @note Trying to transmit while in sleep mode simply enqueues the thread. + * + * @param[in] canp pointer to the @p CANDriver object + * @param[in] mailbox mailbox number, @p CAN_ANY_MAILBOX for any mailbox + * @param[in] ctfp pointer to the CAN frame to be transmitted + * @param[in] timeout the number of ticks before the operation timeouts, + * the following special values are allowed: + * - @a TIME_IMMEDIATE immediate timeout. + * - @a TIME_INFINITE no timeout. + * . + * @return The operation result. + * @retval MSG_OK the frame has been queued for transmission. + * @retval MSG_TIMEOUT The operation has timed out. + * @retval MSG_RESET The driver has been stopped while waiting. + * + * @api + */ +msg_t canTransmit(CANDriver *canp, + canmbx_t mailbox, + const CANTxFrame *ctfp, + systime_t timeout) { + + osalDbgCheck((canp != NULL) && (ctfp != NULL) && + (mailbox <= CAN_TX_MAILBOXES)); + + osalSysLock(); + osalDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP), + "canTransmit(), #1", "invalid state"); + while ((canp->state == CAN_SLEEP) || !can_lld_is_tx_empty(canp, mailbox)) { + msg_t msg = osalQueueGoSleepTimeoutS(&canp->txqueue, timeout); + if (msg != MSG_OK) { + osalSysUnlock(); + return msg; + } + } + can_lld_transmit(canp, mailbox, ctfp); + osalSysUnlock(); + return MSG_OK; +} + +/** + * @brief Can frame receive. + * @details The function waits until a frame is received. + * @note Trying to receive while in sleep mode simply enqueues the thread. + * + * @param[in] canp pointer to the @p CANDriver object + * @param[in] mailbox mailbox number, @p CAN_ANY_MAILBOX for any mailbox + * @param[out] crfp 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 (useful in an + * event driven scenario where a thread never blocks + * for I/O). + * - @a TIME_INFINITE no timeout. + * . + * @return The operation result. + * @retval MSG_OK a frame has been received and placed in the buffer. + * @retval MSG_TIMEOUT The operation has timed out. + * @retval MSG_RESET The driver has been stopped while waiting. + * + * @api + */ +msg_t canReceive(CANDriver *canp, + canmbx_t mailbox, + CANRxFrame *crfp, + systime_t timeout) { + + osalDbgCheck((canp != NULL) && (crfp != NULL) && + (mailbox < CAN_RX_MAILBOXES)); + + osalSysLock(); + osalDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP), + "canReceive(), #1", "invalid state"); + while ((canp->state == CAN_SLEEP) || !can_lld_is_rx_nonempty(canp, mailbox)) { + msg_t msg = osalQueueGoSleepTimeoutS(&canp->rxqueue, timeout); + if (msg != MSG_OK) { + osalSysUnlock(); + return msg; + } + } + can_lld_receive(canp, mailbox, crfp); + osalSysUnlock(); + return MSG_OK; +} + +#if CAN_USE_SLEEP_MODE || defined(__DOXYGEN__) +/** + * @brief Enters the sleep mode. + * @details This function puts the CAN driver in sleep mode and broadcasts + * the @p sleep_event event source. + * @pre In order to use this function the option @p CAN_USE_SLEEP_MODE must + * be enabled and the @p CAN_SUPPORTS_SLEEP mode must be supported + * by the low level driver. + * + * @param[in] canp pointer to the @p CANDriver object + * + * @api + */ +void canSleep(CANDriver *canp) { + + osalDbgCheck(canp != NULL); + + osalSysLock(); + osalDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP), + "canSleep(), #1", "invalid state"); + if (canp->state == CAN_READY) { + can_lld_sleep(canp); + canp->state = CAN_SLEEP; + osalEventBroadcastFlagsI(&canp->sleep_event, 0); + osalOsRescheduleS(); + } + osalSysUnlock(); +} + +/** + * @brief Enforces leaving the sleep mode. + * @note The sleep mode is supposed to be usually exited automatically by + * an hardware event. + * + * @param[in] canp pointer to the @p CANDriver object + */ +void canWakeup(CANDriver *canp) { + + osalDbgCheck(canp != NULL); + + osalSysLock(); + osalDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP), + "canWakeup(), #1", "invalid state"); + if (canp->state == CAN_SLEEP) { + can_lld_wakeup(canp); + canp->state = CAN_READY; + osalEventBroadcastFlagsI(&canp->wakeup_event, 0); + osalOsRescheduleS(); + } + osalSysUnlock(); +} +#endif /* CAN_USE_SLEEP_MODE */ + +#endif /* HAL_USE_CAN */ + +/** @} */ -- cgit v1.2.3 From eb7a1a15b23341693864c6fc13ac5eab5c1d6122 Mon Sep 17 00:00:00 2001 From: gdisirio Date: Sat, 10 Aug 2013 14:50:32 +0000 Subject: Removed 2nd parameter to assertion and check macros. git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6122 35acf78f-673a-0410-8e92-d51de3d6d3f4 --- os/hal/src/can.c | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) (limited to 'os/hal/src/can.c') diff --git a/os/hal/src/can.c b/os/hal/src/can.c index 9a352ddd1..ed5c43f87 100644 --- a/os/hal/src/can.c +++ b/os/hal/src/can.c @@ -104,7 +104,7 @@ void canStart(CANDriver *canp, const CANConfig *config) { osalDbgAssert((canp->state == CAN_STOP) || (canp->state == CAN_STARTING) || (canp->state == CAN_READY), - "canStart(), #1", "invalid state"); + "invalid state"); while (canp->state == CAN_STARTING) osalThreadSleepS(1); if (canp->state == CAN_STOP) { @@ -128,7 +128,7 @@ void canStop(CANDriver *canp) { osalSysLock(); osalDbgAssert((canp->state == CAN_STOP) || (canp->state == CAN_READY), - "canStop(), #1", "invalid state"); + "invalid state"); can_lld_stop(canp); canp->state = CAN_STOP; osalQueueWakeupAllI(&canp->rxqueue, MSG_RESET); @@ -168,7 +168,7 @@ msg_t canTransmit(CANDriver *canp, osalSysLock(); osalDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP), - "canTransmit(), #1", "invalid state"); + "invalid state"); while ((canp->state == CAN_SLEEP) || !can_lld_is_tx_empty(canp, mailbox)) { msg_t msg = osalQueueGoSleepTimeoutS(&canp->txqueue, timeout); if (msg != MSG_OK) { @@ -213,7 +213,7 @@ msg_t canReceive(CANDriver *canp, osalSysLock(); osalDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP), - "canReceive(), #1", "invalid state"); + "invalid state"); while ((canp->state == CAN_SLEEP) || !can_lld_is_rx_nonempty(canp, mailbox)) { msg_t msg = osalQueueGoSleepTimeoutS(&canp->rxqueue, timeout); if (msg != MSG_OK) { @@ -245,7 +245,7 @@ void canSleep(CANDriver *canp) { osalSysLock(); osalDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP), - "canSleep(), #1", "invalid state"); + "invalid state"); if (canp->state == CAN_READY) { can_lld_sleep(canp); canp->state = CAN_SLEEP; @@ -268,7 +268,7 @@ void canWakeup(CANDriver *canp) { osalSysLock(); osalDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP), - "canWakeup(), #1", "invalid state"); + "invalid state"); if (canp->state == CAN_SLEEP) { can_lld_wakeup(canp); canp->state = CAN_READY; -- cgit v1.2.3 From 1b6619e5ccd8ee5a28968c5e703b334ce3738d7a Mon Sep 17 00:00:00 2001 From: gdisirio Date: Thu, 14 Nov 2013 11:01:51 +0000 Subject: git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6474 35acf78f-673a-0410-8e92-d51de3d6d3f4 --- os/hal/src/can.c | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) (limited to 'os/hal/src/can.c') diff --git a/os/hal/src/can.c b/os/hal/src/can.c index ed5c43f87..92efdf7e7 100644 --- a/os/hal/src/can.c +++ b/os/hal/src/can.c @@ -73,8 +73,8 @@ void canObjectInit(CANDriver *canp) { canp->state = CAN_STOP; canp->config = NULL; - osalQueueObjectInit(&canp->txqueue); - osalQueueObjectInit(&canp->rxqueue); + osalThreadQueueObjectInit(&canp->txqueue); + osalThreadQueueObjectInit(&canp->rxqueue); osalEventObjectInit(&canp->rxfull_event); osalEventObjectInit(&canp->txempty_event); osalEventObjectInit(&canp->error_event); @@ -131,8 +131,8 @@ void canStop(CANDriver *canp) { "invalid state"); can_lld_stop(canp); canp->state = CAN_STOP; - osalQueueWakeupAllI(&canp->rxqueue, MSG_RESET); - osalQueueWakeupAllI(&canp->txqueue, MSG_RESET); + osalThreadDequeueAllI(&canp->rxqueue, MSG_RESET); + osalThreadDequeueAllI(&canp->txqueue, MSG_RESET); osalOsRescheduleS(); osalSysUnlock(); } @@ -170,7 +170,7 @@ msg_t canTransmit(CANDriver *canp, osalDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP), "invalid state"); while ((canp->state == CAN_SLEEP) || !can_lld_is_tx_empty(canp, mailbox)) { - msg_t msg = osalQueueGoSleepTimeoutS(&canp->txqueue, timeout); + msg_t msg = osalThreadEnqueueTimeoutS(&canp->txqueue, timeout); if (msg != MSG_OK) { osalSysUnlock(); return msg; @@ -215,7 +215,7 @@ msg_t canReceive(CANDriver *canp, osalDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP), "invalid state"); while ((canp->state == CAN_SLEEP) || !can_lld_is_rx_nonempty(canp, mailbox)) { - msg_t msg = osalQueueGoSleepTimeoutS(&canp->rxqueue, timeout); + msg_t msg = osalThreadEnqueueTimeoutS(&canp->rxqueue, timeout); if (msg != MSG_OK) { osalSysUnlock(); return msg; -- cgit v1.2.3