git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@1373 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 11 insertions, 13 deletions

diff --git a/os/hal/src/can.c b/os/hal/src/can.c
index e4258050e..3cd10126d 100644
--- a/os/hal/src/can.c
+++ b/os/hal/src/can.c
@@ -110,7 +110,7 @@ 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] cfp       pointer to the CAN frame to be transmitted
+ * @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.

@@ -121,25 +121,24 @@ void canStop(CANDriver *canp) {
  * @retval RDY_TIMEOUT operation not finished within the specified time.

  * @retval RDY_RESET driver stopped while waiting.

  */

-msg_t canTransmit(CANDriver *canp, const CANFrame *cfp, systime_t timeout) {

-  msg_t msg;

+msg_t canTransmit(CANDriver *canp, const CANTxFrame *ctfp, systime_t timeout) {

 

-  chDbgCheck((canp != NULL) && (cfp != NULL), "canTransmit");

+  chDbgCheck((canp != NULL) && (ctfp != NULL), "canTransmit");

 

   chSysLock();

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

               "canTransmit(), #1",

               "invalid state");

   if ((canp->cd_state == CAN_SLEEP) || !can_lld_can_transmit(canp)) {

-    msg = chSemWaitTimeoutS(&canp->cd_txsem, timeout);

+    msg_t msg = chSemWaitTimeoutS(&canp->cd_txsem, timeout);

     if (msg != RDY_OK) {

       chSysUnlock();

       return msg;

     }

   }

-  msg = can_lld_transmit(canp, cfp);

+  can_lld_transmit(canp, ctfp);

   chSysUnlock();

-  return msg;

+  return RDY_OK;

 }

 

 /**

@@ -162,25 +161,24 @@ msg_t canTransmit(CANDriver *canp, const CANFrame *cfp, systime_t timeout) {
  *         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) {

-  msg_t msg;

+msg_t canReceive(CANDriver *canp, CANRxFrame *crfp, systime_t timeout) {

 

-  chDbgCheck((canp != NULL) && (cfp != NULL), "canReceive");

+  chDbgCheck((canp != NULL) && (crfp != NULL), "canReceive");

 

   chSysLock();

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

               "canReceive(), #1",

               "invalid state");

   if ((canp->cd_state == CAN_SLEEP) || !can_lld_can_receive(canp)) {

-    msg = chSemWaitTimeoutS(&canp->cd_rxsem, timeout);

+    msg_t msg = chSemWaitTimeoutS(&canp->cd_rxsem, timeout);

     if (msg != RDY_OK) {

       chSysUnlock();

       return msg;

     }

   }

-  msg = can_lld_receive(canp, cfp);

+  can_lld_receive(canp, crfp);

   chSysUnlock();

-  return msg;

+  return RDY_OK;

 }

 

 /**