[DeviceDrivers] Use mutex to lock can_open/close

2 files changed, 249 insertions, 361 deletions

diff --git a/components/drivers/can/can.c b/components/drivers/can/can.c
index 4cc02818c6..e0db377018 100644
--- a/components/drivers/can/can.c
+++ b/components/drivers/can/can.c
@@ -3,20 +3,33 @@
  * This file is part of RT-Thread RTOS
  * COPYRIGHT (C) 2015, RT-Thread Development Team
  *
- * The license and distribution terms for this file may be
- * found in the file LICENSE in this distribution or at
- * http://www.rt-thread.org/license/LICENSE
+ *  This program 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 2 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program 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, write to the Free Software Foundation, Inc.,
+ *  51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
  *
  * Change Logs:
  * Date           Author            Notes
  * 2015-05-14     [email protected]   first version
- * 2015-07-06     Bernard           code cleanup. 
+ * 2015-07-06     Bernard           code cleanup and remove RT_CAN_USING_LED;
  */
 
 #include <rthw.h>
 #include <rtthread.h>
 #include <rtdevice.h>
 
+#define CAN_LOCK(can)   rt_mutex_take(&(can->lock), RT_WAITING_FOREVER)
+#define CAN_UNLOCK(can) rt_mutex_release(&(can->lock))
+
 static rt_err_t rt_can_init(struct rt_device *dev)
 {
     rt_err_t result = RT_EOK;
@@ -54,7 +67,6 @@ rt_inline int _can_int_rx(struct rt_can_device *can, struct rt_can_msg *data, in
     while (msgs)
     {
         rt_base_t level;
-        rt_int32_t hdr;
         struct rt_can_msg_list *listmsg = RT_NULL;
 
         /* disable interrupt */
@@ -75,6 +87,7 @@ rt_inline int _can_int_rx(struct rt_can_device *can, struct rt_can_msg *data, in
         }
         else if (hdr == -1)
 #endif /*RT_CAN_USING_HDR*/
+        {
             if (!rt_list_isempty(&rx_fifo->uselist))
             {
                 listmsg = rt_list_entry(rx_fifo->uselist.next, struct rt_can_msg_list, list);
@@ -86,7 +99,7 @@ rt_inline int _can_int_rx(struct rt_can_device *can, struct rt_can_msg *data, in
                     listmsg->owner->msgs--;
                 }
                 listmsg->owner = RT_NULL;
-#endif
+#endif /*RT_CAN_USING_HDR*/
             }
             else
             {
@@ -94,17 +107,20 @@ rt_inline int _can_int_rx(struct rt_can_device *can, struct rt_can_msg *data, in
                 rt_hw_interrupt_enable(level);
                 break;
             }
+        }
 
         /* enable interrupt */
         rt_hw_interrupt_enable(level);
         if (listmsg != RT_NULL)
         {
             rt_memcpy(data, &listmsg->data, sizeof(struct rt_can_msg));
+
             level = rt_hw_interrupt_disable();
             rt_list_insert_before(&rx_fifo->freelist, &listmsg->list);
             rx_fifo->freenumbers++;
             RT_ASSERT(rx_fifo->freenumbers <= can->config.msgboxsz);
             rt_hw_interrupt_enable(level);
+
             listmsg = RT_NULL;
         }
         else
@@ -146,20 +162,23 @@ rt_inline int _can_int_tx(struct rt_can_device *can, const struct rt_can_msg *da
         else
         {
             rt_hw_interrupt_enable(level);
+
             rt_completion_wait(&(tx_fifo->completion), RT_WAITING_FOREVER);
             continue;
         }
         rt_hw_interrupt_enable(level);
 
         no = ((rt_uint32_t)tx_tosnd - (rt_uint32_t)tx_fifo->buffer) / sizeof(struct rt_can_sndbxinx_list);
-        tx_tosnd->result = RT_CAN__SND_RESUTL_WAIT;
-        if (can->ops->sendmsg(can, data , no))
+        tx_tosnd->result = RT_CAN_SND_RESULT_WAIT;
+        if (can->ops->sendmsg(can, data, no) != RT_EOK)
         {
+            /* send failed. */
             level = rt_hw_interrupt_disable();
             rt_list_insert_after(&tx_fifo->freelist, &tx_tosnd->list);
             rt_hw_interrupt_enable(level);
             continue;
         }
+
         can->status.sndchange = 1;
         rt_completion_wait(&(tx_tosnd->completion), RT_WAITING_FOREVER);
 
@@ -172,11 +191,12 @@ rt_inline int _can_int_tx(struct rt_can_device *can, const struct rt_can_msg *da
         rt_list_insert_before(&tx_fifo->freelist, &tx_tosnd->list);
         rt_hw_interrupt_enable(level);
 
-        if (result == RT_CAN__SND_RESUTL_OK)
+        if (result == RT_CAN_SND_RESULT_OK)
         {
             level = rt_hw_interrupt_disable();
             can->status.sndpkg++;
             rt_hw_interrupt_enable(level);
+
             data ++;
             msgs -= sizeof(struct rt_can_msg);
             if (!msgs) break;
@@ -192,13 +212,9 @@ rt_inline int _can_int_tx(struct rt_can_device *can, const struct rt_can_msg *da
         level = rt_hw_interrupt_disable();
         if (rt_list_isempty(&tx_fifo->freelist))
         {
-            rt_hw_interrupt_enable(level);
             rt_completion_done(&(tx_fifo->completion));
         }
-        else
-        {
-            rt_hw_interrupt_enable(level);
-        }
+        rt_hw_interrupt_enable(level);
     }
 
     return (size - msgs);
@@ -226,16 +242,17 @@ rt_inline int _can_int_tx_priv(struct rt_can_device *can, const struct rt_can_ms
         }
 
         level = rt_hw_interrupt_disable();
-        if ((tx_fifo->buffer[no].result != RT_CAN__SND_RESUTL_OK))
+        if ((tx_fifo->buffer[no].result != RT_CAN_SND_RESULT_OK))
         {
             rt_hw_interrupt_enable(level);
+
             rt_completion_wait(&(tx_fifo->buffer[no].completion), RT_WAITING_FOREVER);
             continue;
         }
-        tx_fifo->buffer[no].result = RT_CAN__SND_RESUTL_WAIT;
+        tx_fifo->buffer[no].result = RT_CAN_SND_RESULT_WAIT;
         rt_hw_interrupt_enable(level);
 
-        if (can->ops->sendmsg(can, data , no) != RT_EOK)
+        if (can->ops->sendmsg(can, data, no) != RT_EOK)
         {
             continue;
         }
@@ -243,7 +260,7 @@ rt_inline int _can_int_tx_priv(struct rt_can_device *can, const struct rt_can_ms
         rt_completion_wait(&(tx_fifo->buffer[no].completion), RT_WAITING_FOREVER);
 
         result = tx_fifo->buffer[no].result;
-        if (result == RT_CAN__SND_RESUTL_OK)
+        if (result == RT_CAN_SND_RESULT_OK)
         {
             level = rt_hw_interrupt_disable();
             can->status.sndpkg++;
@@ -271,19 +288,21 @@ static rt_err_t rt_can_open(struct rt_device *dev, rt_uint16_t oflag)
     RT_ASSERT(dev != RT_NULL);
     can = (struct rt_can_device *)dev;
 
+    CAN_LOCK(can);
+
     /* get open flags */
     dev->open_flag = oflag & 0xff;
-    rt_enter_critical();
     if (can->can_rx == RT_NULL)
     {
         if (oflag & RT_DEVICE_FLAG_INT_RX)
         {
-            int i=0;
+            int i = 0;
             struct rt_can_rx_fifo *rx_fifo;
 
             rx_fifo = (struct rt_can_rx_fifo *) rt_malloc(sizeof(struct rt_can_rx_fifo) +
                       can->config.msgboxsz * sizeof(struct rt_can_msg_list));
             RT_ASSERT(rx_fifo != RT_NULL);
+
             rx_fifo->buffer = (struct rt_can_msg_list *)(rx_fifo + 1);
             rt_memset(rx_fifo->buffer, 0, can->config.msgboxsz * sizeof(struct rt_can_msg_list));
             rt_list_init(&rx_fifo->freelist);
@@ -298,7 +317,6 @@ static rt_err_t rt_can_open(struct rt_device *dev, rt_uint16_t oflag)
 #endif
             }
             can->can_rx = rx_fifo;
-            rt_exit_critical();
 
             dev->open_flag |= RT_DEVICE_FLAG_INT_RX;
             /* configure low level device */
@@ -307,15 +325,9 @@ static rt_err_t rt_can_open(struct rt_device *dev, rt_uint16_t oflag)
         else
         {
             can->can_rx = RT_NULL;
-            rt_exit_critical();
         }
     }
-    else
-    {
-        rt_exit_critical();
-    }
 
-    rt_enter_critical();
     if (can->can_tx == RT_NULL)
     {
         if (oflag & RT_DEVICE_FLAG_INT_TX)
@@ -326,6 +338,7 @@ static rt_err_t rt_can_open(struct rt_device *dev, rt_uint16_t oflag)
             tx_fifo = (struct rt_can_tx_fifo *) rt_malloc(sizeof(struct rt_can_tx_fifo) +
                       can->config.sndboxnumber * sizeof(struct rt_can_sndbxinx_list));
             RT_ASSERT(tx_fifo != RT_NULL);
+
             tx_fifo->buffer = (struct rt_can_sndbxinx_list *)(tx_fifo + 1);
             rt_memset(tx_fifo->buffer, 0,
                       can->config.sndboxnumber * sizeof(struct rt_can_sndbxinx_list));
@@ -334,11 +347,11 @@ static rt_err_t rt_can_open(struct rt_device *dev, rt_uint16_t oflag)
             {
                 rt_list_insert_before(&tx_fifo->freelist, &tx_fifo->buffer[i].list);
                 rt_completion_init(&(tx_fifo->buffer[i].completion));
-                tx_fifo->buffer[i].result = RT_CAN__SND_RESUTL_OK;
+                tx_fifo->buffer[i].result = RT_CAN_SND_RESULT_OK;
             }
             rt_completion_init(&(tx_fifo->completion));
             can->can_tx = tx_fifo;
-            rt_exit_critical();
+
             dev->open_flag |= RT_DEVICE_FLAG_INT_TX;
             /* configure low level device */
             can->ops->control(can, RT_DEVICE_CTRL_SET_INT, (void *)RT_DEVICE_FLAG_INT_TX);
@@ -346,25 +359,17 @@ static rt_err_t rt_can_open(struct rt_device *dev, rt_uint16_t oflag)
         else
         {
             can->can_tx = RT_NULL;
-            rt_exit_critical();
         }
     }
-    else
-    {
-        rt_exit_critical();
-    }
 
     can->ops->control(can, RT_DEVICE_CTRL_SET_INT, (void *)RT_DEVICE_CAN_INT_ERR);
+
 #ifdef RT_CAN_USING_HDR
-    rt_enter_critical();
     if (can->hdr == RT_NULL)
     {
         int i = 0;
         struct rt_can_hdr *phdr;
 
-        /* exit critical region for malloc a header. */
-        rt_exit_critical();
-
         phdr = (struct rt_can_hdr *) rt_malloc(can->config.maxhdr * sizeof(struct rt_can_hdr));
         RT_ASSERT(phdr != RT_NULL);
         rt_memset(phdr, 0, can->config.maxhdr * sizeof(struct rt_can_hdr));
@@ -373,45 +378,18 @@ static rt_err_t rt_can_open(struct rt_device *dev, rt_uint16_t oflag)
             rt_list_init(&phdr[i].list);
         }
 
-        rt_enter_critical();
         can->hdr = phdr;
-        rt_exit_critical();
-    }
-    else
-    {
-        rt_exit_critical();
     }
 #endif
 
-    rt_enter_critical();
     if (!can->timerinitflag)
     {
         can->timerinitflag = 1;
-        rt_exit_critical();
 
-#ifdef RT_CAN_USING_LED
-        if (can->config.rcvled != RT_NULL)
-        {
-            rt_pin_mode(can->config.rcvled->pin, can->config.rcvled->mode);
-            rt_pin_write(can->config.rcvled->pin, can->config.rcvled->init);
-        }
-        if (can->config.sndled != RT_NULL)
-        {
-            rt_pin_mode(can->config.sndled->pin, can->config.sndled->mode);
-            rt_pin_write(can->config.sndled->pin, can->config.sndled->init);
-        }
-        if (can->config.errled != RT_NULL)
-        {
-            rt_pin_mode(can->config.errled->pin, can->config.errled->mode);
-            rt_pin_write(can->config.errled->pin, can->config.errled->init);
-        }
-#endif
         rt_timer_start(&can->timer);
     }
-    else
-    {
-        rt_exit_critical();
-    }
+
+    CAN_UNLOCK(can);
 
     return RT_EOK;
 }
@@ -423,48 +401,33 @@ static rt_err_t rt_can_close(struct rt_device *dev)
     RT_ASSERT(dev != RT_NULL);
     can = (struct rt_can_device *)dev;
 
+    CAN_LOCK(can);
+
     /* this device has more reference count */
-    if (dev->ref_count > 1) return RT_EOK;
+    if (dev->ref_count > 1)
+    {
+        CAN_UNLOCK(can);
+        return RT_EOK;
+    }
 
-    rt_enter_critical();
     if (can->timerinitflag)
     {
         can->timerinitflag = 0;
-        rt_exit_critical();
+
         rt_timer_stop(&can->timer);
-#ifdef RT_CAN_USING_LED
-        rt_pin_write(can->config.rcvled->pin, can->config.rcvled->init);
-        rt_pin_write(can->config.rcvled->pin, can->config.sndled->init);
-        rt_pin_write(can->config.rcvled->pin, can->config.errled->init);
-#endif
-    }
-    else
-    {
-        rt_exit_critical();
     }
 
-    rt_enter_critical();
     can->status_indicate.ind = RT_NULL;
     can->status_indicate.args = RT_NULL;
-    rt_exit_critical();
 
 #ifdef RT_CAN_USING_HDR
-    rt_enter_critical();
     if (can->hdr != RT_NULL)
     {
-        struct rt_can_hdr *hdr;
-
-        hdr = can->hdr;
+        rt_free(can->hdr);
         can->hdr = RT_NULL;
-        rt_exit_critical();
-
-        rt_free(hdr);
-    }
-    else
-    {
-        rt_exit_critical();
     }
 #endif
+
     if (dev->open_flag & RT_DEVICE_FLAG_INT_RX)
     {
         struct rt_can_rx_fifo *rx_fifo;
@@ -475,8 +438,9 @@ static rt_err_t rt_can_close(struct rt_device *dev)
         rt_free(rx_fifo);
         dev->open_flag &= ~RT_DEVICE_FLAG_INT_RX;
         /* configure low level device */
-        can->ops->control(can, RT_DEVICE_CTRL_CLR_INT, (void *)RT_DEVICE_FLAG_INT_TX);
+        can->ops->control(can, RT_DEVICE_CTRL_CLR_INT, (void *)RT_DEVICE_FLAG_INT_RX);
     }
+
     if (dev->open_flag & RT_DEVICE_FLAG_INT_TX)
     {
         struct rt_can_tx_fifo *tx_fifo;
@@ -489,7 +453,11 @@ static rt_err_t rt_can_close(struct rt_device *dev)
         /* configure low level device */
         can->ops->control(can, RT_DEVICE_CTRL_CLR_INT, (void *)RT_DEVICE_FLAG_INT_TX);
     }
+
     can->ops->control(can, RT_DEVICE_CTRL_CLR_INT, (void *)RT_DEVICE_CAN_INT_ERR);
+
+    CAN_UNLOCK(can);
+
     return RT_EOK;
 }
 
@@ -505,7 +473,7 @@ static rt_size_t rt_can_read(struct rt_device *dev,
 
     can = (struct rt_can_device *)dev;
 
-    if (dev->open_flag & RT_DEVICE_FLAG_INT_RX)
+    if ((dev->open_flag & RT_DEVICE_FLAG_INT_RX) && (dev->ref_count > 0))
     {
         return _can_int_rx(can, buffer, size);
     }
@@ -525,7 +493,7 @@ static rt_size_t rt_can_write(struct rt_device *dev,
 
     can = (struct rt_can_device *)dev;
 
-    if (dev->open_flag & RT_DEVICE_FLAG_INT_TX)
+    if ((dev->open_flag & RT_DEVICE_FLAG_INT_TX) && (dev->ref_count > 0))
     {
         if (can->config.privmode)
         {
@@ -573,10 +541,8 @@ static rt_err_t rt_can_control(struct rt_device *dev,
             rt_base_t level;
             struct rt_can_tx_fifo *tx_fifo;
 
-            if (res = can->ops->control(can, cmd, args) != RT_EOK)
-            {
-                return res;
-            }
+            res = can->ops->control(can, cmd, args);
+            if (res != RT_EOK) return res;
 
             tx_fifo = (struct rt_can_tx_fifo *) can->can_tx;
             if (can->config.privmode)
@@ -595,7 +561,7 @@ static rt_err_t rt_can_control(struct rt_device *dev,
                 for (i = 0;  i < can->config.sndboxnumber; i++)
                 {
                     level = rt_hw_interrupt_disable();
-                    if (tx_fifo->buffer[i].result == RT_CAN__SND_RESUTL_OK)
+                    if (tx_fifo->buffer[i].result == RT_CAN_SND_RESULT_OK)
                     {
                         rt_list_insert_before(&tx_fifo->freelist, &tx_fifo->buffer[i].list);
                     }
@@ -605,10 +571,12 @@ static rt_err_t rt_can_control(struct rt_device *dev,
             return RT_EOK;
         }
         break;
+
     case RT_CAN_CMD_SET_STATUS_IND:
         can->status_indicate.ind = ((rt_can_status_ind_type_t)args)->ind;
         can->status_indicate.args = ((rt_can_status_ind_type_t)args)->args;
         break;
+
 #ifdef RT_CAN_USING_HDR
     case RT_CAN_CMD_SET_FILTER:
         res = can->ops->control(can, cmd, args);
@@ -636,8 +604,8 @@ static rt_err_t rt_can_control(struct rt_device *dev,
                         pitem++;
                         continue;
                     }
-                    level = rt_hw_interrupt_disable();
 
+                    level = rt_hw_interrupt_disable();
                     if (!can->hdr[pitem->hdr].connected)
                     {
                         rt_memcpy(&can->hdr[pitem->hdr].filter, pitem,
@@ -647,6 +615,7 @@ static rt_err_t rt_can_control(struct rt_device *dev,
                         rt_list_init(&can->hdr[pitem->hdr].list);
                     }
                     rt_hw_interrupt_enable(level);
+
                     count--;
                     pitem++;
                 }
@@ -682,6 +651,7 @@ static rt_err_t rt_can_control(struct rt_device *dev,
         }
         break;
 #endif /*RT_CAN_USING_HDR*/
+
     default :
         /* control device */
         if (can->ops->control != RT_NULL)
@@ -699,105 +669,14 @@ static rt_err_t rt_can_control(struct rt_device *dev,
  */
 static void cantimeout(void *arg)
 {
-#ifdef RT_CAN_USING_LED
-    rt_uint32_t ledonflag = 0;
-#endif /*RT_CAN_USING_LED*/
     rt_can_t can = (rt_can_t)arg;
 
     rt_device_control((rt_device_t)can, RT_CAN_CMD_GET_STATUS, (void *)&can->status);
     if (can->timerinitflag == 1)
     {
-#ifdef RT_CAN_USING_LED
-        ledonflag = 1;
-#endif /*RT_CAN_USING_LED*/
         can->timerinitflag = 0xFF;
     }
-#ifdef RT_CAN_USING_LED
-    if (can->config.rcvled != RT_NULL && can->config.sndled == RT_NULL)
-    {
-        if (ledonflag == 1)
-        {
-            rt_pin_write(can->config.rcvled->pin, can->config.rcvled->init ? 0 : 1);
-        }
-        else
-        {
-            if (can->status.rcvchange == 1 || can->status.sndchange == 1)
-            {
-                can->status.rcvchange = 0;
-                can->status.sndchange = 0;
-                rt_pin_write(can->config.rcvled->pin, rt_pin_read(can->config.rcvled->pin) ? 0 : 1);
-            }
-            else
-            {
-                rt_pin_write(can->config.rcvled->pin, can->config.rcvled->init);
-            }
-        }
-    }
-    else if (can->config.rcvled != RT_NULL && can->config.sndled != RT_NULL)
-    {
-        if (ledonflag == 1)
-        {
-            rt_pin_write(can->config.rcvled->pin, can->config.rcvled->init ? 0 : 1);
-            rt_pin_write(can->config.sndled->pin, can->config.sndled->init ? 0 : 1);
-        }
-        else
-        {
-            if (can->status.rcvchange == 1)
-            {
-                can->status.rcvchange = 0;
-                rt_pin_write(can->config.rcvled->pin, rt_pin_read(can->config.rcvled->pin) ? 0 : 1);
-            }
-            else
-            {
-                rt_pin_write(can->config.rcvled->pin, can->config.rcvled->init);
-            }
-            if (can->status.sndchange == 1)
-            {
-                can->status.sndchange = 0;
-                rt_pin_write(can->config.sndled->pin, rt_pin_read(can->config.sndled->pin) ? 0 : 1);
-            }
-            else
-            {
-                rt_pin_write(can->config.sndled->pin, can->config.sndled->init);
-            }
-        }
-    }
-    else if (can->config.rcvled == RT_NULL && can->config.sndled != RT_NULL)
-    {
-        if (ledonflag == 1)
-        {
-            rt_pin_write(can->config.sndled->pin, can->config.sndled->init ? 0 : 1);
-        }
-        else
-        {
-            if (can->status.rcvchange == 1 || can->status.sndchange == 1)
-            {
-                can->status.rcvchange = 0;
-                can->status.sndchange = 0;
-                rt_pin_write(can->config.sndled->pin, rt_pin_read(can->config.sndled->pin) ? 0 : 1);
-            }
-            else
-            {
-                rt_pin_write(can->config.sndled->pin, can->config.sndled->init);
-            }
-        }
-    }
-    if (ledonflag == 1)
-    {
-        rt_pin_write(can->config.errled->pin, can->config.errled->init ? 0 : 1);
-    }
-    else
-    {
-        if (can->status.errcode)
-        {
-            rt_pin_write(can->config.errled->pin, can->config.errled->init ? 0 : 1);
-        }
-        else
-        {
-            rt_pin_write(can->config.errled->pin, can->config.errled->init);
-        }
-    }
-#endif
+
     if (can->status_indicate.ind != RT_NULL)
     {
         can->status_indicate.ind(can, can->status_indicate.args);
@@ -825,6 +704,8 @@ rt_err_t rt_hw_can_register(struct rt_can_device *can,
 #endif
     can->can_rx         = RT_NULL;
     can->can_tx         = RT_NULL;
+    rt_mutex_init(&(can->lock), "can", RT_IPC_FLAG_PRIO);
+
     device->init        = rt_can_init;
     device->open        = rt_can_open;
     device->close       = rt_can_close;
@@ -838,7 +719,8 @@ rt_err_t rt_hw_can_register(struct rt_can_device *can,
     rt_memset(&can->status, 0, sizeof(can->status));
 
     device->user_data   = data;
-    can->timerinitflag = 0;
+
+    can->timerinitflag  = 0;
     rt_timer_init(&can->timer,
                   name,
                   cantimeout,
@@ -954,6 +836,7 @@ void rt_hw_can_isr(struct rt_can_device *can, int event)
         }
         else
 #endif
+        {
             if (can->parent.rx_indicate != RT_NULL)
             {
                 rt_size_t rx_length;
@@ -965,6 +848,7 @@ void rt_hw_can_isr(struct rt_can_device *can, int event)
 
                 can->parent.rx_indicate(&can->parent, rx_length);
             }
+        }
         break;
     }
 
@@ -976,13 +860,14 @@ void rt_hw_can_isr(struct rt_can_device *can, int event)
         no = event >> 8;
         tx_fifo = (struct rt_can_tx_fifo *) can->can_tx;
         RT_ASSERT(tx_fifo != RT_NULL);
+
         if ((event & 0xff) == RT_CAN_EVENT_TX_DONE)
         {
-            tx_fifo->buffer[no].result = RT_CAN__SND_RESUTL_OK;
+            tx_fifo->buffer[no].result = RT_CAN_SND_RESULT_OK;
         }
         else
         {
-            tx_fifo->buffer[no].result = RT_CAN__SND_RESUTL_ERR;
+            tx_fifo->buffer[no].result = RT_CAN_SND_RESULT_ERR;
         }
         rt_completion_done(&(tx_fifo->buffer[no].completion));
         break;
@@ -1055,3 +940,4 @@ int cmd_canstat(int argc, void **argv)
 }
 FINSH_FUNCTION_EXPORT_ALIAS(cmd_canstat, __cmd_canstat, Stat Can Device Status.);
 #endif
+
diff --git a/components/drivers/include/drivers/can.h b/components/drivers/include/drivers/can.h
index a6c60cd28e..ec0f597f1c 100644
--- a/components/drivers/include/drivers/can.h
+++ b/components/drivers/include/drivers/can.h
@@ -3,80 +3,76 @@
  * This file is part of RT-Thread RTOS
  * COPYRIGHT (C) 2015, RT-Thread Development Team
  *
- * The license and distribution terms for this file may be
- * found in the file LICENSE in this distribution or at
- * http://www.rt-thread.org/license/LICENSE
+ *  This program 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 2 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program 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, write to the Free Software Foundation, Inc.,
+ *  51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
  *
  * Change Logs:
- * Date           Author       		Notes
- * 2015-05-14     [email protected] 	first version
+ * Date           Author            Notes
+ * 2015-05-14     [email protected]   first version
+ * 2015-07-06     Bernard           remove RT_CAN_USING_LED.
  */
+
 #ifndef CAN_H_
 #define CAN_H_
 
 #include <rtthread.h>
 
 #ifndef RT_CANMSG_BOX_SZ
-#define RT_CANMSG_BOX_SZ 16
+#define RT_CANMSG_BOX_SZ    16
 #endif
 #ifndef RT_CANSND_BOX_NUM
-#define RT_CANSND_BOX_NUM 1
+#define RT_CANSND_BOX_NUM   1
 #endif
 
 enum CANBAUD
 {
-        CAN1MBaud=0,    // 1 MBit/sec
-        CAN800kBaud,    // 800 kBit/sec
-        CAN500kBaud,    // 500 kBit/sec
-        CAN250kBaud,    // 250 kBit/sec
-        CAN125kBaud,    // 125 kBit/sec
-        CAN100kBaud,    // 100 kBit/sec
-        CAN50kBaud,     // 50 kBit/sec
-        CAN20kBaud,     // 20 kBit/sec
-        CAN10kBaud      // 10 kBit/sec
+    CAN1MBaud = 0,  /* 1 MBit/sec   */
+    CAN800kBaud,    /* 800 kBit/sec */
+    CAN500kBaud,    /* 500 kBit/sec */
+    CAN250kBaud,    /* 250 kBit/sec */
+    CAN125kBaud,    /* 125 kBit/sec */
+    CAN100kBaud,    /* 100 kBit/sec */
+    CAN50kBaud,     /* 50 kBit/sec  */
+    CAN20kBaud,     /* 20 kBit/sec  */
+    CAN10kBaud      /* 10 kBit/sec  */
 };
-#define RT_CAN_MODE_NORMAL 0
-#define RT_CAN_MODE_LISEN 1
-#define RT_CAN_MODE_LOOPBACK 2
-#define RT_CAN_MODE_LOOPBACKANLISEN 3
 
-#define RT_CAN_MODE_PRIV 0x01
-#define RT_CAN_MODE_NOPRIV 0x00
+#define RT_CAN_MODE_NORMAL              0
+#define RT_CAN_MODE_LISEN               1
+#define RT_CAN_MODE_LOOPBACK            2
+#define RT_CAN_MODE_LOOPBACKANLISEN     3
 
-#ifdef RT_CAN_USING_LED
-struct  rt_can_led
-{
-        rt_uint32_t pin,mode,init;
-        struct rt_timer* timer;
-        const char* timer_name;
-};
-#endif /*RT_CAN_USING_LED*/
+#define RT_CAN_MODE_PRIV                0x01
+#define RT_CAN_MODE_NOPRIV              0x00
 
 struct rt_can_filter_item
 {
-        rt_uint32_t id  :29;
-        rt_uint32_t ide :1;
-        rt_uint32_t rtr :1;
-        rt_uint32_t mode :1;
-        rt_uint32_t mask;
-        rt_int32_t hdr;
+    rt_uint32_t id  : 29;
+    rt_uint32_t ide : 1;
+    rt_uint32_t rtr : 1;
+    rt_uint32_t mode : 1;
+    rt_uint32_t mask;
+    rt_int32_t hdr;
 #ifdef RT_CAN_USING_HDR
-        rt_err_t  (*ind)(rt_device_t dev, void* args ,rt_int32_t hdr, rt_size_t size);
-	      void* args;
+    rt_err_t (*ind)(rt_device_t dev, void *args , rt_int32_t hdr, rt_size_t size);
+    void *args;
 #endif /*RT_CAN_USING_HDR*/
 };
+
 #ifdef RT_CAN_USING_HDR
 #define RT_CAN_FILTER_ITEM_INIT(id,ide,rtr,mode,mask,ind,args) \
-     {\
-         id,\
-         ide,\
-         rtr,\
-         mode,\
-         mask,\
-         -1,\
-         ind,\
-         args,\
-     }
+     {(id), (ide), (rtr), (mode), (mask), -1, (ind), (args)}
 #define RT_CAN_FILTER_STD_INIT(id,ind,args) \
      RT_CAN_FILTER_ITEM_INIT(id,0,0,0,0xFFFFFFFF,ind,args)
 #define RT_CAN_FILTER_EXT_INIT(id,ind,args) \
@@ -90,15 +86,9 @@ struct rt_can_filter_item
 #define RT_CAN_EXT_RMT_DATA_FILTER_INIT(id,ind,args) \
      RT_CAN_FILTER_ITEM_INIT(id,1,0,1,0xFFFFFFFF,ind,args)
 #else
+
 #define RT_CAN_FILTER_ITEM_INIT(id,ide,rtr,mode,mask) \
-     {\
-         id,\
-         ide,\
-         rtr,\
-         mode,\
-         mask,\
-         -1,\
-     }
+     {(id), (ide), (rtr), (mode), (mask), -1, }
 #define RT_CAN_FILTER_STD_INIT(id) \
      RT_CAN_FILTER_ITEM_INIT(id,0,0,0,0xFFFFFFFF)
 #define RT_CAN_FILTER_EXT_INIT(id) \
@@ -115,26 +105,22 @@ struct rt_can_filter_item
 
 struct rt_can_filter_config
 {
-        rt_uint32_t count;
-        rt_uint32_t actived;
-        struct rt_can_filter_item* items;
+    rt_uint32_t count;
+    rt_uint32_t actived;
+    struct rt_can_filter_item *items;
 };
+
 struct can_configure
 {
-        rt_uint32_t baud_rate;
-        rt_uint32_t msgboxsz;
-        rt_uint32_t sndboxnumber;
-        rt_uint32_t mode      :8;
-        rt_uint32_t privmode  :8;
-        rt_uint32_t reserved  :16;
-        #ifdef RT_CAN_USING_LED
-        const struct rt_can_led* rcvled;
-        const struct rt_can_led* sndled;
-        const struct rt_can_led* errled;
-        #endif  /*RT_CAN_USING_LED*/
-        rt_uint32_t ticks;
+    rt_uint32_t baud_rate;
+    rt_uint32_t msgboxsz;
+    rt_uint32_t sndboxnumber;
+    rt_uint32_t mode      : 8;
+    rt_uint32_t privmode  : 8;
+    rt_uint32_t reserved  : 16;
+    rt_uint32_t ticks;
 #ifdef RT_CAN_USING_HDR
-        rt_uint32_t maxhdr;
+    rt_uint32_t maxhdr;
 #endif
 };
 
@@ -147,80 +133,88 @@ struct can_configure
 };
 
 struct rt_can_ops;
-#define RT_CAN_CMD_SET_FILTER      0x13
-#define RT_CAN_CMD_SET_BAUD        0x14
-#define RT_CAN_CMD_SET_MODE        0x15
-#define RT_CAN_CMD_SET_PRIV        0x16
-#define RT_CAN_CMD_GET_STATUS      0x17
-#define RT_CAN_CMD_SET_STATUS_IND  0x18
+#define RT_CAN_CMD_SET_FILTER       0x13
+#define RT_CAN_CMD_SET_BAUD         0x14
+#define RT_CAN_CMD_SET_MODE         0x15
+#define RT_CAN_CMD_SET_PRIV         0x16
+#define RT_CAN_CMD_GET_STATUS       0x17
+#define RT_CAN_CMD_SET_STATUS_IND   0x18
 
-#define RT_DEVICE_CAN_INT_ERR  0x1000
+#define RT_DEVICE_CAN_INT_ERR       0x1000
 
 enum RT_CAN_STATUS_MODE
 {
-        NORMAL = 0,
-        ERRWARNING = 1,
-        ERRPASSIVE = 2,
-        BUSOFF = 4,
+    NORMAL = 0,
+    ERRWARNING = 1,
+    ERRPASSIVE = 2,
+    BUSOFF = 4,
 };
 enum RT_CAN_BUS_ERR
 {
-        RT_CAN_BUS_NO_ERR = 0,
-        RT_CAN_BUS_BIT_PAD_ERR = 1,
-        RT_CAN_BUS_FORMAT_ERR = 2,
-        RT_CAN_BUS_ACK_ERR = 3,
-        RT_CAN_BUS_IMPLICIT_BIT_ERR = 4,
-        RT_CAN_BUS_EXPLICIT_BIT_ERR = 5,
-        RT_CAN_BUS_CRC_ERR = 6,
+    RT_CAN_BUS_NO_ERR = 0,
+    RT_CAN_BUS_BIT_PAD_ERR = 1,
+    RT_CAN_BUS_FORMAT_ERR = 2,
+    RT_CAN_BUS_ACK_ERR = 3,
+    RT_CAN_BUS_IMPLICIT_BIT_ERR = 4,
+    RT_CAN_BUS_EXPLICIT_BIT_ERR = 5,
+    RT_CAN_BUS_CRC_ERR = 6,
 };
+
 struct rt_can_status
 {
-        rt_uint32_t rcverrcnt;
-        rt_uint32_t snderrcnt;
-        rt_uint32_t errcode;
-        rt_uint32_t rcvpkg;
-        rt_uint32_t dropedrcvpkg;
-        rt_uint32_t sndpkg;
-        rt_uint32_t dropedsndpkg;
-        rt_uint32_t bitpaderrcnt;
-        rt_uint32_t formaterrcnt;
-        rt_uint32_t ackerrcnt;
-        rt_uint32_t biterrcnt;
-        rt_uint32_t crcerrcnt;
-        rt_uint32_t rcvchange;
-        rt_uint32_t sndchange;
-        rt_uint32_t lasterrtype;
+    rt_uint32_t rcverrcnt;
+    rt_uint32_t snderrcnt;
+    rt_uint32_t errcode;
+    rt_uint32_t rcvpkg;
+    rt_uint32_t dropedrcvpkg;
+    rt_uint32_t sndpkg;
+    rt_uint32_t dropedsndpkg;
+    rt_uint32_t bitpaderrcnt;
+    rt_uint32_t formaterrcnt;
+    rt_uint32_t ackerrcnt;
+    rt_uint32_t biterrcnt;
+    rt_uint32_t crcerrcnt;
+    rt_uint32_t rcvchange;
+    rt_uint32_t sndchange;
+    rt_uint32_t lasterrtype;
 };
+
 #ifdef RT_CAN_USING_HDR
-struct rt_can_hdr {
-        rt_uint32_t connected;
-        rt_uint32_t msgs;
-        struct rt_can_filter_item filter;
-        struct rt_list_node list;
+struct rt_can_hdr
+{
+    rt_uint32_t connected;
+    rt_uint32_t msgs;
+    struct rt_can_filter_item filter;
+    struct rt_list_node list;
 };
 #endif
 struct rt_can_device;
-typedef rt_err_t (*rt_canstatus_ind)(struct rt_can_device*, void*);
+typedef rt_err_t (*rt_canstatus_ind)(struct rt_can_device *, void *);
 typedef struct rt_can_status_ind_type
 {
     rt_canstatus_ind ind;
-    void* args;
+    void *args;
 } *rt_can_status_ind_type_t;
+
 struct rt_can_device
 {
-        struct rt_device          parent;
+    struct rt_device parent;
 
-        const struct rt_can_ops *ops;
-        struct can_configure   config;
-        struct rt_can_status   status;
-        rt_uint32_t timerinitflag;
-        struct rt_timer timer;
-        struct rt_can_status_ind_type status_indicate;
+    const struct rt_can_ops *ops;
+    struct can_configure config;
+    struct rt_can_status status;
+
+    rt_uint32_t timerinitflag;
+    struct rt_timer timer;
+
+    struct rt_can_status_ind_type status_indicate;
 #ifdef RT_CAN_USING_HDR
-        struct rt_can_hdr* hdr;
+    struct rt_can_hdr *hdr;
 #endif
-        void *can_rx;
-	void *can_tx;
+
+    struct rt_mutex lock;
+    void *can_rx;
+    void *can_tx;
 };
 typedef struct rt_can_device *rt_can_t;
 
@@ -229,68 +223,76 @@ typedef struct rt_can_device *rt_can_t;
 #define RT_CAN_DTR   0
 #define RT_CAN_RTR   1
 
-typedef struct rt_can_status * rt_can_status_t;
+typedef struct rt_can_status *rt_can_status_t;
 struct rt_can_msg
 {
-        rt_uint32_t id  :29;
-        rt_uint32_t ide :1;
-        rt_uint32_t rtr :1;
-        rt_uint32_t rsv :1;
-        rt_uint32_t len :8;
-        rt_uint32_t priv :8;
-        rt_uint32_t hdr :8;
-        rt_uint32_t reserved :8;
-        rt_uint8_t data[8];
+    rt_uint32_t id  : 29;
+    rt_uint32_t ide : 1;
+    rt_uint32_t rtr : 1;
+    rt_uint32_t rsv : 1;
+    rt_uint32_t len : 8;
+    rt_uint32_t priv : 8;
+    rt_uint32_t hdr : 8;
+    rt_uint32_t reserved : 8;
+    rt_uint8_t data[8];
 };
-typedef struct rt_can_msg* rt_can_msg_t;
-struct rt_can_msg_list {
-        struct rt_list_node list;
+typedef struct rt_can_msg *rt_can_msg_t;
+
+struct rt_can_msg_list
+{
+    struct rt_list_node list;
 #ifdef RT_CAN_USING_HDR
-        struct rt_list_node hdrlist;
-        struct rt_can_hdr* owner;
+    struct rt_list_node hdrlist;
+    struct rt_can_hdr *owner;
 #endif
-        struct rt_can_msg data;
+    struct rt_can_msg data;
 };
+
 struct rt_can_rx_fifo
 {
-	/* software fifo */
-	struct rt_can_msg_list *buffer;
-        rt_uint32_t freenumbers;
-        struct rt_list_node freelist;
-        struct rt_list_node uselist;
+    /* software fifo */
+    struct rt_can_msg_list *buffer;
+    rt_uint32_t freenumbers;
+    struct rt_list_node freelist;
+    struct rt_list_node uselist;
 };
 
-#define RT_CAN__SND_RESUTL_OK 0
-#define RT_CAN__SND_RESUTL_ERR 1
-#define RT_CAN__SND_RESUTL_WAIT 2
+#define RT_CAN_SND_RESULT_OK        0
+#define RT_CAN_SND_RESULT_ERR       1
+#define RT_CAN_SND_RESULT_WAIT      2
 
-#define RT_CAN_EVENT_RX_IND          0x01    /* Rx indication */
-#define RT_CAN_EVENT_TX_DONE         0x02    /* Tx complete   */
-#define RT_CAN_EVENT_TX_FAIL         0x03    /* Tx complete   */
-#define RT_CAN_EVENT_RX_TIMEOUT      0x05    /* Rx timeout    */
-#define RT_CAN_EVENT_RXOF_IND        0x06    /* Rx overflow */
+#define RT_CAN_EVENT_RX_IND         0x01    /* Rx indication */
+#define RT_CAN_EVENT_TX_DONE        0x02    /* Tx complete   */
+#define RT_CAN_EVENT_TX_FAIL        0x03    /* Tx complete   */
+#define RT_CAN_EVENT_RX_TIMEOUT     0x05    /* Rx timeout    */
+#define RT_CAN_EVENT_RXOF_IND       0x06    /* Rx overflow */
 
-struct rt_can_sndbxinx_list {
-        struct rt_list_node list;
-        struct rt_completion completion;
-        rt_uint32_t result;
+struct rt_can_sndbxinx_list
+{
+    struct rt_list_node list;
+    struct rt_completion completion;
+    rt_uint32_t result;
 };
+
 struct rt_can_tx_fifo
 {
-  	struct rt_can_sndbxinx_list *buffer;
-	struct rt_completion completion;
-        struct rt_list_node freelist;
+    struct rt_can_sndbxinx_list *buffer;
+    struct rt_completion completion;
+    struct rt_list_node freelist;
 };
+
 struct rt_can_ops
 {
-        rt_err_t (*configure)(struct rt_can_device *can, struct can_configure *cfg);
-        rt_err_t (*control)(struct rt_can_device *can, int cmd, void *arg);
-        int (*sendmsg)(struct rt_can_device *can, const void* buf, rt_uint32_t boxno);
-        int (*recvmsg)(struct rt_can_device *can,void* buf, rt_uint32_t boxno);
+    rt_err_t (*configure)(struct rt_can_device *can, struct can_configure *cfg);
+    rt_err_t (*control)(struct rt_can_device *can, int cmd, void *arg);
+    int (*sendmsg)(struct rt_can_device *can, const void *buf, rt_uint32_t boxno);
+    int (*recvmsg)(struct rt_can_device *can, void *buf, rt_uint32_t boxno);
 };
+
 rt_err_t rt_hw_can_register(struct rt_can_device *can,
-                               const char              *name,
-                               const struct rt_can_ops *ops,
-                               void                    *data);
+                            const char              *name,
+                            const struct rt_can_ops *ops,
+                            void                    *data);
 void rt_hw_can_isr(struct rt_can_device *can, int event);
 #endif /*_CAN_H*/
+