Merge pull request #514 from BernardXiong/master

[DeviceDrivers] code cleanup for CAN driver and fix some critical issue

2 files changed, 699 insertions, 670 deletions

diff --git a/components/drivers/can/can.c b/components/drivers/can/can.c
index fc0d74877f..0ed971053d 100644
--- a/components/drivers/can/can.c
+++ b/components/drivers/can/can.c
@@ -3,18 +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
+ * Date           Author            Notes
+ * 2015-05-14     [email protected]   first version
+ * 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;
@@ -33,74 +48,87 @@ static rt_err_t rt_can_init(struct rt_device *dev)
 
     return result;
 }
+
 /*
  * can interrupt routines
  */
 rt_inline int _can_int_rx(struct rt_can_device *can, struct rt_can_msg *data, int msgs)
 {
     int size;
-    struct rt_can_rx_fifo* rx_fifo;
+    struct rt_can_rx_fifo *rx_fifo;
 
     RT_ASSERT(can != RT_NULL);
-    size = msgs; 
-    
-    rx_fifo = (struct rt_can_rx_fifo*) can->can_rx;
+    size = msgs;
+
+    rx_fifo = (struct rt_can_rx_fifo *) can->can_rx;
     RT_ASSERT(rx_fifo != RT_NULL);
 
     /* read from software FIFO */
     while (msgs)
     {
         rt_base_t level;
-        struct rt_can_msg_list *listmsg=RT_NULL;
+        struct rt_can_msg_list *listmsg = RT_NULL;
+
         /* disable interrupt */
         level = rt_hw_interrupt_disable();
 #ifdef RT_CAN_USING_HDR
-        rt_int32_t hdr = data->hdr;
-        if (hdr >=0 && can->hdr && hdr < can->config.maxhdr && !rt_list_isempty(&can->hdr[hdr].list))
+        hdr = data->hdr;
+
+        if (hdr >= 0 && can->hdr && hdr < can->config.maxhdr && !rt_list_isempty(&can->hdr[hdr].list))
         {
-             listmsg=rt_list_entry(can->hdr[hdr].list.next, struct rt_can_msg_list, hdrlist);
-             rt_list_remove(&listmsg->list);
-             rt_list_remove(&listmsg->hdrlist);
-             if(can->hdr[hdr].msgs) {
-               can->hdr[hdr].msgs--;                     
-             }
-             listmsg->owner = RT_NULL;
-        } else if(hdr == -1)
+            listmsg = rt_list_entry(can->hdr[hdr].list.next, struct rt_can_msg_list, hdrlist);
+            rt_list_remove(&listmsg->list);
+            rt_list_remove(&listmsg->hdrlist);
+            if (can->hdr[hdr].msgs)
+            {
+                can->hdr[hdr].msgs--;
+            }
+            listmsg->owner = RT_NULL;
+        }
+        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);
-             rt_list_remove(&listmsg->list);
+            if (!rt_list_isempty(&rx_fifo->uselist))
+            {
+                listmsg = rt_list_entry(rx_fifo->uselist.next, struct rt_can_msg_list, list);
+                rt_list_remove(&listmsg->list);
 #ifdef RT_CAN_USING_HDR
-             rt_list_remove(&listmsg->hdrlist);
-             if(listmsg->owner != RT_NULL && listmsg->owner->msgs) {
-                listmsg->owner->msgs--;                     
-              }
-              listmsg->owner = RT_NULL;
-#endif
-        }
-        else
-        {
-            /* no data, enable interrupt and break out */
-            rt_hw_interrupt_enable(level);
-            break;
+                rt_list_remove(&listmsg->hdrlist);
+                if (listmsg->owner != RT_NULL && listmsg->owner->msgs)
+                {
+                    listmsg->owner->msgs--;
+                }
+                listmsg->owner = RT_NULL;
+#endif /*RT_CAN_USING_HDR*/
+            }
+            else
+            {
+                /* no data, enable interrupt and break out */
+                rt_hw_interrupt_enable(level);
+                break;
+            }
         }
 
         /* enable interrupt */
         rt_hw_interrupt_enable(level);
-        if(listmsg!=RT_NULL)
+        if (listmsg != RT_NULL)
         {
-            rt_memcpy(data,&listmsg->data,sizeof(struct rt_can_msg));
+            rt_memcpy(data, &listmsg->data, sizeof(struct rt_can_msg));
+
             level = rt_hw_interrupt_disable();
-            rt_list_insert_before(&rx_fifo->freelist,&listmsg->list);
+            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 {
+        }
+        else
+        {
             break;
         }
-        data ++; msgs -= sizeof(struct rt_can_msg);
+        data ++;
+        msgs -= sizeof(struct rt_can_msg);
     }
 
     return (size - msgs);
@@ -110,56 +138,68 @@ rt_inline int _can_int_tx(struct rt_can_device *can, const struct rt_can_msg *da
 {
     int size;
     struct rt_can_tx_fifo *tx_fifo;
-    
+
     RT_ASSERT(can != RT_NULL);
 
     size = msgs;
-    tx_fifo = (struct rt_can_tx_fifo*) can->can_tx;
+    tx_fifo = (struct rt_can_tx_fifo *) can->can_tx;
     RT_ASSERT(tx_fifo != RT_NULL);
 
     while (msgs)
-    {      
+    {
         rt_base_t level;
         rt_uint32_t no;
-        struct rt_can_sndbxinx_list* tx_tosnd = RT_NULL;
+        rt_uint32_t result;
+        struct rt_can_sndbxinx_list *tx_tosnd = RT_NULL;
+
         level = rt_hw_interrupt_disable();
-        if(!rt_list_isempty(&tx_fifo->freelist))
+        if (!rt_list_isempty(&tx_fifo->freelist))
         {
             tx_tosnd = rt_list_entry(tx_fifo->freelist.next, struct rt_can_sndbxinx_list, list);
             RT_ASSERT(tx_tosnd != RT_NULL);
             rt_list_remove(&tx_tosnd->list);
-        } else {
+        }
+        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))
+
+        no = ((rt_uint32_t)tx_tosnd - (rt_uint32_t)tx_fifo->buffer) / sizeof(struct rt_can_sndbxinx_list);
+        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_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);
+
         level = rt_hw_interrupt_disable();
-        rt_uint32_t result = tx_tosnd->result;
-        if(!rt_list_isempty(&tx_tosnd->list)) {
-                rt_list_remove(&tx_tosnd->list);
+        result = tx_tosnd->result;
+        if (!rt_list_isempty(&tx_tosnd->list))
+        {
+            rt_list_remove(&tx_tosnd->list);
         }
-        rt_list_insert_before(&tx_fifo->freelist,&tx_tosnd->list);
+        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;
+
+            data ++;
+            msgs -= sizeof(struct rt_can_msg);
+            if (!msgs) break;
         }
         else
         {
@@ -170,61 +210,64 @@ 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))
+        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_completion_done(&(tx_fifo->completion));
         }
+        rt_hw_interrupt_enable(level);
     }
 
     return (size - msgs);
 }
+
 rt_inline int _can_int_tx_priv(struct rt_can_device *can, const struct rt_can_msg *data, int msgs)
 {
     int size;
+    rt_base_t level;
+    rt_uint32_t no, result;
     struct rt_can_tx_fifo *tx_fifo;
-    
+
     RT_ASSERT(can != RT_NULL);
 
     size = msgs;
-    tx_fifo = (struct rt_can_tx_fifo*) can->can_tx;
+    tx_fifo = (struct rt_can_tx_fifo *) can->can_tx;
     RT_ASSERT(tx_fifo != RT_NULL);
 
-    rt_base_t level;
-    rt_uint32_t no;
-    rt_uint32_t result;
     while (msgs)
-    {      
+    {
         no = data->priv;
-        if(no >= can->config.sndboxnumber) {
-           break;
+        if (no >= can->config.sndboxnumber)
+        {
+            break;
         }
+
         level = rt_hw_interrupt_disable();
-        if((tx_fifo->buffer[no].result != RT_CAN__SND_RESUTL_OK)) {
-           rt_hw_interrupt_enable(level);
-           rt_completion_wait(&(tx_fifo->buffer[no].completion), RT_WAITING_FOREVER);
-           continue;
+        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;
         }
         can->status.sndchange = 1;
         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++;
             rt_hw_interrupt_enable(level);
-            data ++; msgs -= sizeof(struct rt_can_msg);
-            if(!msgs) break;
+            data ++;
+            msgs -= sizeof(struct rt_can_msg);
+            if (!msgs) break;
         }
         else
         {
@@ -237,6 +280,7 @@ rt_inline int _can_int_tx_priv(struct rt_can_device *can, const struct rt_can_ms
 
     return (size - msgs);
 }
+
 static rt_err_t rt_can_open(struct rt_device *dev, rt_uint16_t oflag)
 {
     struct rt_can_device *can;
@@ -244,123 +288,101 @@ 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)
         {
-            struct rt_can_rx_fifo* rx_fifo;
+            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));
+            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);
+
+            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);
             rt_list_init(&rx_fifo->uselist);
-            rx_fifo->freenumbers=can->config.msgboxsz;
-            int i = 0;
-            for(i = 0;  i< can->config.msgboxsz; i++)
+            rx_fifo->freenumbers = can->config.msgboxsz;
+            for (i = 0;  i < can->config.msgboxsz; i++)
             {
-                  rt_list_insert_before(&rx_fifo->freelist,&rx_fifo->buffer[i].list);
+                rt_list_insert_before(&rx_fifo->freelist, &rx_fifo->buffer[i].list);
 #ifdef RT_CAN_USING_HDR
-                  rt_list_init(&rx_fifo->buffer[i].hdrlist);
-                  rx_fifo->buffer[i].owner = RT_NULL;
+                rt_list_init(&rx_fifo->buffer[i].hdrlist);
+                rx_fifo->buffer[i].owner = RT_NULL;
 #endif
             }
             can->can_rx = rx_fifo;
-            rt_exit_critical();
+
             dev->open_flag |= RT_DEVICE_FLAG_INT_RX;
             /* configure low level device */
             can->ops->control(can, RT_DEVICE_CTRL_SET_INT, (void *)RT_DEVICE_FLAG_INT_RX);
         }
-        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)
         {
+            int i = 0;
             struct rt_can_tx_fifo *tx_fifo;
 
-            tx_fifo = (struct rt_can_tx_fifo*) rt_malloc(sizeof(struct rt_can_tx_fifo)+
-                                can->config.sndboxnumber*sizeof(struct rt_can_sndbxinx_list));
+            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));
+
+            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));
             rt_list_init(&tx_fifo->freelist);
-            int i = 0;
-            for(i = 0;  i< can->config.sndboxnumber; i++)
+            for (i = 0;  i < can->config.sndboxnumber; i++)
             {
-                  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;
+                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_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);
         }
-        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) {
-        struct rt_can_hdr * phdr;
-        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));
+    if (can->hdr == RT_NULL)
+    {
         int i = 0;
-        for(i = 0;  i< can->config.maxhdr; i++)
+        struct rt_can_hdr *phdr;
+
+        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));
+        for (i = 0;  i < can->config.maxhdr; i++)
         {
-              rt_list_init(&phdr[i].list);
+            rt_list_init(&phdr[i].list);
         }
+
         can->hdr = phdr;
-        rt_exit_critical();
-    } else {
-        rt_exit_critical();
     }
 #endif
-    rt_enter_critical();
-    if(!can->timerinitflag) {
+
+    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;
 }
 
@@ -371,67 +393,70 @@ 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;
-    rt_enter_critical();
-    if(can->timerinitflag) {
+    if (dev->ref_count > 1)
+    {
+        CAN_UNLOCK(can);
+        return RT_EOK;
+    }
+
+    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) {
+    if (can->hdr != RT_NULL)
+    {
         rt_free(can->hdr);
         can->hdr = RT_NULL;
-        rt_exit_critical();
-    } else {
-        rt_exit_critical();
     }
 #endif
+
     if (dev->open_flag & RT_DEVICE_FLAG_INT_RX)
     {
-        struct rt_can_rx_fifo* rx_fifo;
+        struct rt_can_rx_fifo *rx_fifo;
 
-        rx_fifo = (struct rt_can_rx_fifo*)can->can_rx;
+        rx_fifo = (struct rt_can_rx_fifo *)can->can_rx;
         RT_ASSERT(rx_fifo != RT_NULL);
 
         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;
+        struct rt_can_tx_fifo *tx_fifo;
 
-        tx_fifo = (struct rt_can_tx_fifo*)can->can_rx;
+        tx_fifo = (struct rt_can_tx_fifo *)can->can_rx;
         RT_ASSERT(tx_fifo != RT_NULL);
 
         rt_free(tx_fifo);
         dev->open_flag &= ~RT_DEVICE_FLAG_INT_TX;
         /* 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_TX);
     }
+
     can->ops->control(can, RT_DEVICE_CTRL_CLR_INT, (void *)RT_DEVICE_CAN_INT_ERR);
+
+    CAN_UNLOCK(can);
+
     return RT_EOK;
 }
 
 static rt_size_t rt_can_read(struct rt_device *dev,
-                                rt_off_t          pos,
-                                void             *buffer,
-                                rt_size_t         size)
+                             rt_off_t          pos,
+                             void             *buffer,
+                             rt_size_t         size)
 {
     struct rt_can_device *can;
 
@@ -440,17 +465,18 @@ 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);
+        return _can_int_rx(can, buffer, size);
     }
+
     return 0;
 }
 
 static rt_size_t rt_can_write(struct rt_device *dev,
-                                 rt_off_t          pos,
-                                 const void       *buffer,
-                                 rt_size_t         size)
+                              rt_off_t          pos,
+                              const void       *buffer,
+                              rt_size_t         size)
 {
     struct rt_can_device *can;
 
@@ -459,20 +485,23 @@ 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) {
-         return _can_int_tx_priv(can, buffer, size);
-      } else {
-         return _can_int_tx(can, buffer, size);
-      }
+        if (can->config.privmode)
+        {
+            return _can_int_tx_priv(can, buffer, size);
+        }
+        else
+        {
+            return _can_int_tx(can, buffer, size);
+        }
     }
     return 0;
 }
 
 static rt_err_t rt_can_control(struct rt_device *dev,
-                                  rt_uint8_t        cmd,
-                                  void             *args)
+                               rt_uint8_t        cmd,
+                               void             *args)
 {
     struct rt_can_device *can;
     rt_err_t res;
@@ -482,213 +511,177 @@ static rt_err_t rt_can_control(struct rt_device *dev,
 
     switch (cmd)
     {
-        case RT_DEVICE_CTRL_SUSPEND:
-            /* suspend device */
-            dev->flag |= RT_DEVICE_FLAG_SUSPENDED;
-            break;
+    case RT_DEVICE_CTRL_SUSPEND:
+        /* suspend device */
+        dev->flag |= RT_DEVICE_FLAG_SUSPENDED;
+        break;
 
-        case RT_DEVICE_CTRL_RESUME:
-            /* resume device */
-            dev->flag &= ~RT_DEVICE_FLAG_SUSPENDED;
-            break;
+    case RT_DEVICE_CTRL_RESUME:
+        /* resume device */
+        dev->flag &= ~RT_DEVICE_FLAG_SUSPENDED;
+        break;
 
-        case RT_DEVICE_CTRL_CONFIG:
-            /* configure device */
-            can->ops->configure(can, (struct can_configure *)args);
-            break;
-        case RT_CAN_CMD_SET_PRIV:
-            /* configure device */
-            if((rt_uint32_t)args != can->config.privmode) {
-              if(res = can->ops->control(can, cmd, args) != RT_EOK) {
-                return res;
-              }
-              struct rt_can_tx_fifo* tx_fifo;
-              tx_fifo = (struct rt_can_tx_fifo*) can->can_tx;
-              int i;
-              rt_base_t level; 
-              if(can->config.privmode) {
-                  rt_completion_done(&(tx_fifo->completion));
-                  level = rt_hw_interrupt_disable();
-                   for(i = 0;  i< can->config.sndboxnumber; i++)
-                   {
-                       rt_list_remove(&tx_fifo->buffer[i].list);
-                   }
-                   rt_hw_interrupt_enable(level);
-              } else {
-                    for(i = 0;  i< can->config.sndboxnumber; i++)
+    case RT_DEVICE_CTRL_CONFIG:
+        /* configure device */
+        can->ops->configure(can, (struct can_configure *)args);
+        break;
+    case RT_CAN_CMD_SET_PRIV:
+        /* configure device */
+        if ((rt_uint32_t)args != can->config.privmode)
+        {
+            int i;
+            rt_base_t level;
+            struct rt_can_tx_fifo *tx_fifo;
+
+            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)
+            {
+                rt_completion_done(&(tx_fifo->completion));
+
+                level = rt_hw_interrupt_disable();
+                for (i = 0;  i < can->config.sndboxnumber; i++)
+                {
+                    rt_list_remove(&tx_fifo->buffer[i].list);
+                }
+                rt_hw_interrupt_enable(level);
+            }
+            else
+            {
+                for (i = 0;  i < can->config.sndboxnumber; i++)
+                {
+                    level = rt_hw_interrupt_disable();
+                    if (tx_fifo->buffer[i].result == RT_CAN_SND_RESULT_OK)
                     {
-                        rt_base_t level;
-                        level = rt_hw_interrupt_disable();
-                        if(tx_fifo->buffer[i].result == RT_CAN__SND_RESUTL_OK) {
-                            rt_list_insert_before(&tx_fifo->freelist,&tx_fifo->buffer[i].list);
-                        }
-                        rt_hw_interrupt_enable(level);
+                        rt_list_insert_before(&tx_fifo->freelist, &tx_fifo->buffer[i].list);
                     }
-              }
-              return RT_EOK;
+                    rt_hw_interrupt_enable(level);
+                }
             }
-            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;
+            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);
-            if(res != RT_EOK || can->hdr == RT_NULL) {
-              return res;
+    case RT_CAN_CMD_SET_FILTER:
+        res = can->ops->control(can, cmd, args);
+        if (res != RT_EOK || can->hdr == RT_NULL)
+        {
+            return res;
+        }
+
+        {
+            struct rt_can_filter_config *pfilter;
+            struct rt_can_filter_item *pitem;
+            rt_uint32_t count;
+            rt_base_t level;
+
+            pfilter = (struct rt_can_filter_config *)args;
+            count = pfilter->count;
+            pitem = pfilter->items;
+            if (pfilter->actived)
+            {
+                while (count)
+                {
+                    if (pitem->hdr >= can->config.maxhdr || pitem->hdr < 0)
+                    {
+                        count--;
+                        pitem++;
+                        continue;
+                    }
+
+                    level = rt_hw_interrupt_disable();
+                    if (!can->hdr[pitem->hdr].connected)
+                    {
+                        rt_memcpy(&can->hdr[pitem->hdr].filter, pitem,
+                                  sizeof(struct rt_can_filter_item));
+                        can->hdr[pitem->hdr].connected = 1;
+                        can->hdr[pitem->hdr].msgs = 0;
+                        rt_list_init(&can->hdr[pitem->hdr].list);
+                    }
+                    rt_hw_interrupt_enable(level);
+
+                    count--;
+                    pitem++;
+                }
             }
+            else
             {
-                  struct rt_can_filter_config* pfilter;
-                  struct rt_can_filter_item* pitem;
-                  rt_uint32_t count;
-                  rt_base_t level; 
-                  pfilter = (struct rt_can_filter_config*)args;
-                  count = pfilter->count;
-                  pitem = pfilter->items;
-                  if(pfilter->actived) {
-                        while(count) {
-                          if(pitem->hdr >= can->config.maxhdr || pitem->hdr < 0) {
-                            count--;
-                            pitem++;
-                            continue;
-                          }
-                          level = rt_hw_interrupt_disable();
-                          if(!can->hdr[pitem->hdr].connected) {
-                              rt_memcpy(&can->hdr[pitem->hdr].filter,pitem,
-                                        sizeof(struct rt_can_filter_item));
-                              can->hdr[pitem->hdr].connected = 1;
-                              can->hdr[pitem->hdr].msgs = 0;
-                              rt_list_init(&can->hdr[pitem->hdr].list);
-                          }
-                          rt_hw_interrupt_enable(level);
-                          count--;
-                          pitem++;
-                        }
-                  } else {
-                       while(count) {
-                          if(pitem->hdr >= can->config.maxhdr || pitem->hdr < 0) {
-                            count--;
-                            pitem++;
-                            continue;
-                          }
-                          level = rt_hw_interrupt_disable();
-                          if(can->hdr[pitem->hdr].connected) {
-                              rt_memset(&can->hdr[pitem->hdr].filter,0,
-                                        sizeof(struct rt_can_filter_item));
-                              can->hdr[pitem->hdr].connected = 0;
-                              can->hdr[pitem->hdr].msgs = 0;
-                              if(!rt_list_isempty(&can->hdr[pitem->hdr].list))
-                              {
-                                  rt_list_remove(can->hdr[pitem->hdr].list.next);
-                              }
-                          }
-                          rt_hw_interrupt_enable(level);
-                          count--;
-                          pitem++;
+                while (count)
+                {
+                    if (pitem->hdr >= can->config.maxhdr || pitem->hdr < 0)
+                    {
+                        count--;
+                        pitem++;
+                        continue;
+                    }
+                    level = rt_hw_interrupt_disable();
+
+                    if (can->hdr[pitem->hdr].connected)
+                    {
+                        rt_memset(&can->hdr[pitem->hdr].filter, 0,
+                                  sizeof(struct rt_can_filter_item));
+                        can->hdr[pitem->hdr].connected = 0;
+                        can->hdr[pitem->hdr].msgs = 0;
+                        if (!rt_list_isempty(&can->hdr[pitem->hdr].list))
+                        {
+                            rt_list_remove(can->hdr[pitem->hdr].list.next);
                         }
-                  }
+                    }
+                    rt_hw_interrupt_enable(level);
+                    count--;
+                    pitem++;
+                }
             }
-            break;
+        }
+        break;
 #endif /*RT_CAN_USING_HDR*/
-        default :
-            /* control device */
-            if(can->ops->control != RT_NULL)
-            {
-                can->ops->control(can, cmd, args);
-            }
-            break;
+
+    default :
+        /* control device */
+        if (can->ops->control != RT_NULL)
+        {
+            can->ops->control(can, cmd, args);
+        }
+        break;
     }
 
     return RT_EOK;
 }
+
 /*
  * can timer
  */
-static void cantimeout(void* arg)
+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);
-     }
+    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)
+    {
+        can->timerinitflag = 0xFF;
+    }
+
+    if (can->status_indicate.ind != RT_NULL)
+    {
+        can->status_indicate.ind(can, can->status_indicate.args);
+    }
 }
 
 /*
  * can register
  */
 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)
 {
     struct rt_device *device;
     RT_ASSERT(can != RT_NULL);
@@ -703,6 +696,8 @@ 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;
@@ -713,16 +708,17 @@ rt_err_t rt_hw_can_register(struct rt_can_device *can,
 
     can->status_indicate.ind  = RT_NULL;
     can->status_indicate.args = RT_NULL;
-    rt_memset(&can->status,0,sizeof(can->status));
+    rt_memset(&can->status, 0, sizeof(can->status));
 
     device->user_data   = data;
-    can->timerinitflag = 0;
-		rt_timer_init(&can->timer,
-							name,
-							cantimeout,
-							(void*)can,
-							can->config.ticks,
-							RT_TIMER_FLAG_PERIODIC);
+
+    can->timerinitflag  = 0;
+    rt_timer_init(&can->timer,
+                  name,
+                  cantimeout,
+                  (void *)can,
+                  can->config.ticks,
+                  RT_TIMER_FLAG_PERIODIC);
     /* register a character device */
     return rt_device_register(device, name, RT_DEVICE_FLAG_RDWR);
 }
@@ -732,177 +728,208 @@ void rt_hw_can_isr(struct rt_can_device *can, int event)
 {
     switch (event & 0xff)
     {
-        case RT_CAN_EVENT_RXOF_IND:
+    case RT_CAN_EVENT_RXOF_IND:
+    {
+        rt_base_t level;
+        level = rt_hw_interrupt_disable();
+        can->status.dropedrcvpkg++;
+        rt_hw_interrupt_enable(level);
+    }
+    case RT_CAN_EVENT_RX_IND:
+    {
+        struct rt_can_msg tmpmsg;
+        struct rt_can_rx_fifo *rx_fifo;
+        struct rt_can_msg_list *listmsg = RT_NULL;
+#ifdef RT_CAN_USING_HDR
+        rt_int32_t hdr;
+#endif
+        int ch = -1;
+        rt_base_t level;
+        rt_uint32_t no;
+
+        rx_fifo = (struct rt_can_rx_fifo *)can->can_rx;
+        RT_ASSERT(rx_fifo != RT_NULL);
+        /* interrupt mode receive */
+        RT_ASSERT(can->parent.open_flag & RT_DEVICE_FLAG_INT_RX);
+
+        no = event >> 8;
+        ch = can->ops->recvmsg(can, &tmpmsg, no);
+        if (ch == -1) break;
+
+        /* disable interrupt */
+        level = rt_hw_interrupt_disable();
+        can->status.rcvpkg++;
+        can->status.rcvchange = 1;
+        if (!rt_list_isempty(&rx_fifo->freelist))
         {
-            rt_base_t level; 
-            level = rt_hw_interrupt_disable();
-            can->status.dropedrcvpkg++;
-            rt_hw_interrupt_enable(level);
+            listmsg = rt_list_entry(rx_fifo->freelist.next, struct rt_can_msg_list, list);
+            rt_list_remove(&listmsg->list);
+#ifdef RT_CAN_USING_HDR
+            rt_list_remove(&listmsg->hdrlist);
+            if (listmsg->owner != RT_NULL && listmsg->owner->msgs)
+            {
+                listmsg->owner->msgs--;
+            }
+            listmsg->owner = RT_NULL;
+#endif /*RT_CAN_USING_HDR*/
+            RT_ASSERT(rx_fifo->freenumbers > 0);
+            rx_fifo->freenumbers--;
         }
-        case RT_CAN_EVENT_RX_IND:
+        else if (!rt_list_isempty(&rx_fifo->uselist))
         {
-            struct rt_can_msg tmpmsg;
-            struct rt_can_rx_fifo* rx_fifo;
-            struct rt_can_msg_list* listmsg=RT_NULL;
+            listmsg = rt_list_entry(rx_fifo->uselist.next, struct rt_can_msg_list, list);
+            can->status.dropedrcvpkg++;
+            rt_list_remove(&listmsg->list);
 #ifdef RT_CAN_USING_HDR
-            rt_int32_t hdr;
+            rt_list_remove(&listmsg->hdrlist);
+            if (listmsg->owner != RT_NULL && listmsg->owner->msgs)
+            {
+                listmsg->owner->msgs--;
+            }
+            listmsg->owner = RT_NULL;
 #endif
-            int ch = -1;
-            rt_base_t level; 
-            rx_fifo = (struct rt_can_rx_fifo*)can->can_rx;
-            RT_ASSERT(rx_fifo != RT_NULL);
-            /* interrupt mode receive */
-            RT_ASSERT(can->parent.open_flag & RT_DEVICE_FLAG_INT_RX);
-            
-            rt_uint32_t no;
-            no = event >> 8;
-            ch = can->ops->recvmsg(can,&tmpmsg,no);
-            if (ch == -1) break;
-            /* disable interrupt */
+        }
+        /* enable interrupt */
+        rt_hw_interrupt_enable(level);
+
+        if (listmsg != RT_NULL)
+        {
+            rt_memcpy(&listmsg->data, &tmpmsg, sizeof(struct rt_can_msg));
             level = rt_hw_interrupt_disable();
-            can->status.rcvpkg++;
-            can->status.rcvchange = 1;
-            if(!rt_list_isempty(&rx_fifo->freelist))
-            {
-                   listmsg = rt_list_entry(rx_fifo->freelist.next, struct rt_can_msg_list, list);
-                   rt_list_remove(&listmsg->list);
+            rt_list_insert_before(&rx_fifo->uselist, &listmsg->list);
 #ifdef RT_CAN_USING_HDR
-                   rt_list_remove(&listmsg->hdrlist);
-                   if(listmsg->owner != RT_NULL && listmsg->owner->msgs) {
-                     listmsg->owner->msgs--;                     
-                   }
-                   listmsg->owner = RT_NULL;
-#endif /*RT_CAN_USING_HDR*/
-                   RT_ASSERT(rx_fifo->freenumbers >0);
-                   rx_fifo->freenumbers--;
-            } else if(!rt_list_isempty(&rx_fifo->uselist)) {
-                   listmsg = rt_list_entry(rx_fifo->uselist.next, struct rt_can_msg_list, list);
-                   can->status.dropedrcvpkg++;
-                   rt_list_remove(&listmsg->list);
-#ifdef RT_CAN_USING_HDR
-                   rt_list_remove(&listmsg->hdrlist);
-                   if(listmsg->owner != RT_NULL && listmsg->owner->msgs) {
-                     listmsg->owner->msgs--;                     
-                   }
-                   listmsg->owner = RT_NULL;
+            hdr = tmpmsg.hdr;
+            if (can->hdr != RT_NULL)
+            {
+                RT_ASSERT(hdr < can->config.maxhdr && hdr >= 0);
+                if (can->hdr[hdr].connected)
+                {
+                    rt_list_insert_before(&can->hdr[hdr].list, &listmsg->hdrlist);
+                    listmsg->owner = &can->hdr[hdr];
+                    can->hdr[hdr].msgs++;
+                }
+
+            }
 #endif
-            }                  
-            /* enable interrupt */
             rt_hw_interrupt_enable(level);
-            if(listmsg != RT_NULL) {
-                  rt_memcpy(&listmsg->data,&tmpmsg,sizeof(struct rt_can_msg));
-                  level = rt_hw_interrupt_disable();
-                  rt_list_insert_before(&rx_fifo->uselist,&listmsg->list);
-#ifdef RT_CAN_USING_HDR
-                  hdr = tmpmsg.hdr;
-                  if(can->hdr != RT_NULL) {
-                        RT_ASSERT(hdr < can->config.maxhdr && hdr >= 0);
-                        if(can->hdr[hdr].connected) {
-                            rt_list_insert_before(&can->hdr[hdr].list,&listmsg->hdrlist);
-                            listmsg->owner = &can->hdr[hdr];
-                            can->hdr[hdr].msgs++;
-                        }
-                        
-                  }
-#endif
-                  rt_hw_interrupt_enable(level);
-            }
-            
-            /* invoke callback */
+        }
+
+        /* invoke callback */
 #ifdef RT_CAN_USING_HDR
-            if(can->hdr != RT_NULL && can->hdr[hdr].connected && can->hdr[hdr].filter.ind) {
-                  RT_ASSERT(hdr < can->config.maxhdr && hdr >= 0);
-                  rt_size_t rx_length;
-                  level = rt_hw_interrupt_disable();
-                  rx_length = can->hdr[hdr].msgs * sizeof(struct rt_can_msg);
-                  rt_hw_interrupt_enable(level);
-                  can->hdr[hdr].filter.ind(&can->parent, can->hdr[hdr].filter.args, hdr, rx_length);
-                  
-            } else
+        if (can->hdr != RT_NULL && can->hdr[hdr].connected && can->hdr[hdr].filter.ind)
+        {
+            rt_size_t rx_length;
+            RT_ASSERT(hdr < can->config.maxhdr && hdr >= 0);
+
+            level = rt_hw_interrupt_disable();
+            rx_length = can->hdr[hdr].msgs * sizeof(struct rt_can_msg);
+            rt_hw_interrupt_enable(level);
+            can->hdr[hdr].filter.ind(&can->parent, can->hdr[hdr].filter.args, hdr, rx_length);
+        }
+        else
 #endif
-              if (can->parent.rx_indicate != RT_NULL) {
+        {
+            if (can->parent.rx_indicate != RT_NULL)
+            {
                 rt_size_t rx_length;
-                /* get rx length */
+
                 level = rt_hw_interrupt_disable();
-                rx_length = rx_fifo->freenumbers*sizeof(struct rt_can_msg);
+                /* get rx length */
+                rx_length = rx_fifo->freenumbers * sizeof(struct rt_can_msg);
                 rt_hw_interrupt_enable(level);
 
                 can->parent.rx_indicate(&can->parent, rx_length);
             }
-            break;
         }
-        case RT_CAN_EVENT_TX_DONE:
-        case RT_CAN_EVENT_TX_FAIL:
+        break;
+    }
+
+    case RT_CAN_EVENT_TX_DONE:
+    case RT_CAN_EVENT_TX_FAIL:
+    {
+        struct rt_can_tx_fifo *tx_fifo;
+        rt_uint32_t no;
+        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)
         {
-            struct rt_can_tx_fifo* tx_fifo;
-            rt_uint32_t no;
-            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;
-            } else {
-                tx_fifo->buffer[no].result = RT_CAN__SND_RESUTL_ERR;
-            }
-            rt_completion_done(&(tx_fifo->buffer[no].completion));
-            break;
+            tx_fifo->buffer[no].result = RT_CAN_SND_RESULT_OK;
         }
+        else
+        {
+            tx_fifo->buffer[no].result = RT_CAN_SND_RESULT_ERR;
+        }
+        rt_completion_done(&(tx_fifo->buffer[no].completion));
+        break;
+    }
     }
 }
+
 #ifdef RT_USING_FINSH
 #include <finsh.h>
-int cmd_canstat(int argc,void** argv)
+int cmd_canstat(int argc, void **argv)
 {
-    static const char* ErrCode[] = {
-      "No Error!",
-      "Warning !",
-      "Passive !",
-      "Bus Off !"
+    static const char *ErrCode[] =
+    {
+        "No Error!",
+        "Warning !",
+        "Passive !",
+        "Bus Off !"
     };
-    if(argc >= 2) {
+
+    if (argc >= 2)
+    {
+        struct rt_can_status status;
         rt_device_t candev = rt_device_find(argv[1]);
-        if(!candev) {
-            rt_kprintf(" Can't find can device %s\n",argv[1]);
+        if (!candev)
+        {
+            rt_kprintf(" Can't find can device %s\n", argv[1]);
             return -1;
         }
-        rt_kprintf(" Finded can device: %s...",argv[1]);
-        struct rt_can_status status;
-        rt_device_control(candev,RT_CAN_CMD_GET_STATUS,&status);
+        rt_kprintf(" Finded can device: %s...", argv[1]);
+
+        rt_device_control(candev, RT_CAN_CMD_GET_STATUS, &status);
         rt_kprintf("\n Receive...error..count: %010ld. Send.....error....count: %010ld.",
-                   status.rcverrcnt,status.snderrcnt);
+                   status.rcverrcnt, status.snderrcnt);
         rt_kprintf("\n Bit..pad..error..count: %010ld. Format...error....count: %010ld",
-                   status.bitpaderrcnt,status.formaterrcnt);
+                   status.bitpaderrcnt, status.formaterrcnt);
         rt_kprintf("\n Ack.......error..count: %010ld. Bit......error....count: %010ld.",
-                   status.ackerrcnt,status.biterrcnt);
+                   status.ackerrcnt, status.biterrcnt);
         rt_kprintf("\n CRC.......error..count: %010ld. Error.code.[%010ld]: ",
-                   status.crcerrcnt,status.errcode);
-        switch(status.errcode) {
+                   status.crcerrcnt, status.errcode);
+        switch (status.errcode)
+        {
         case 0:
-            rt_kprintf("%s.",ErrCode[0]);
-        break;
+            rt_kprintf("%s.", ErrCode[0]);
+            break;
         case 1:
-            rt_kprintf("%s.",ErrCode[1]);
-        break;
+            rt_kprintf("%s.", ErrCode[1]);
+            break;
         case 2:
         case 3:
-            rt_kprintf("%s.",ErrCode[2]);
-        break;
+            rt_kprintf("%s.", ErrCode[2]);
+            break;
         case 4:
         case 5:
         case 6:
         case 7:
-            rt_kprintf("%s.",ErrCode[3]);
-        break;
+            rt_kprintf("%s.", ErrCode[3]);
+            break;
         }
         rt_kprintf("\n Total.receive.packages: %010ld. Droped.receive.packages: %010ld.",
-                   status.rcvpkg,status.dropedrcvpkg);
+                   status.rcvpkg, status.dropedrcvpkg);
         rt_kprintf("\n Total..send...packages: %010ld. Droped...send..packages: %010ld.\n",
-           status.sndpkg + status.dropedsndpkg,status.dropedsndpkg);
-    } else {
-        rt_kprintf(" Invalid Call %s\n",argv[0]);
-        rt_kprintf(" Please using %s cannamex .Here canname is driver name and x is candrive number.\n",argv[0]);
+                   status.sndpkg + status.dropedsndpkg, status.dropedsndpkg);
+    }
+    else
+    {
+        rt_kprintf(" Invalid Call %s\n", argv[0]);
+        rt_kprintf(" Please using %s cannamex .Here canname is driver name and x is candrive number.\n", argv[0]);
     }
     return 0;
 }
 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*/
+