From 48506ff3481afe8e2490e78a451852bc4bbb1c0b Mon Sep 17 00:00:00 2001
From: gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4>
Date: Fri, 22 Feb 2013 13:42:10 +0000
Subject: CAN driver revision, work in progress.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@5299 35acf78f-673a-0410-8e92-d51de3d6d3f4
---
 os/hal/src/can.c | 28 ++++++++++++++++++++--------
 1 file changed, 20 insertions(+), 8 deletions(-)

(limited to 'os/hal/src')

diff --git a/os/hal/src/can.c b/os/hal/src/can.c
index 18d7b302b..e0d47d5c5 100644
--- a/os/hal/src/can.c
+++ b/os/hal/src/can.c
@@ -145,6 +145,7 @@ void canStop(CANDriver *canp) {
  * @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_TX_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:
@@ -158,21 +159,26 @@ void canStop(CANDriver *canp) {
  *
  * @api
  */
-msg_t canTransmit(CANDriver *canp, const CANTxFrame *ctfp, systime_t timeout) {
+msg_t canTransmit(CANDriver *canp,
+                  canmbx_t mailbox,
+                  const CANTxFrame *ctfp,
+                  systime_t timeout) {
 
-  chDbgCheck((canp != NULL) && (ctfp != NULL), "canTransmit");
+  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_can_transmit(canp)) {
+  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, ctfp);
+  can_lld_transmit(canp, mailbox, ctfp);
   chSysUnlock();
   return RDY_OK;
 }
@@ -183,6 +189,7 @@ msg_t canTransmit(CANDriver *canp, const CANTxFrame *ctfp, systime_t timeout) {
  * @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
  * @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:
@@ -198,21 +205,26 @@ msg_t canTransmit(CANDriver *canp, const CANTxFrame *ctfp, systime_t timeout) {
  *
  * @api
  */
-msg_t canReceive(CANDriver *canp, CANRxFrame *crfp, systime_t timeout) {
+msg_t canReceive(CANDriver *canp,
+                 canmbx_t mailbox,
+                 CANRxFrame *crfp,
+                 systime_t timeout) {
 
-  chDbgCheck((canp != NULL) && (crfp != NULL), "canReceive");
+  chDbgCheck((canp != NULL) && (crfp != NULL) &&
+             (mailbox >= 1) && (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_can_receive(canp)) {
+  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, crfp);
+  can_lld_receive(canp, mailbox, crfp);
   chSysUnlock();
   return RDY_OK;
 }
-- 
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