From 8751b4194013f552baae0ea2769bc0cd1fec9e5e Mon Sep 17 00:00:00 2001
From: jcar <devnull@localhost>
Date: Fri, 20 Apr 2012 14:14:16 +0200
Subject: [PATCH] CAN bugs fixed after mcaltest 5567

---
 arch/ppc/mpc55xx/drivers/Can.c | 16 ++++++------
 communication/CanIf/CanIf.c    | 45 +++++++++++++++++++++++-----------
 2 files changed, 38 insertions(+), 23 deletions(-)

diff --git a/arch/ppc/mpc55xx/drivers/Can.c b/arch/ppc/mpc55xx/drivers/Can.c
index b049fb23..6ccba164 100644
--- a/arch/ppc/mpc55xx/drivers/Can.c
+++ b/arch/ppc/mpc55xx/drivers/Can.c
@@ -644,7 +644,7 @@ static void Can_Isr_Rx(Can_UnitType *uPtr)
 
 static void Can_Isr(int controller )
 {
-    Can_UnitType *uPtr = &CanUnit[controller];
+    Can_UnitType *uPtr = CTRL_TO_UNIT_PTR(controller);
 
     if(uPtr->cfgCtrlPtr->Can_Arc_Flags & CAN_CTRL_TX_PROCESSING_INTERRUPT ){
         Can_Isr_Tx(uPtr);
@@ -894,7 +894,6 @@ void Can_InitController(uint8 controller,
     uint8_t tq2;
     uint32_t clock;
     Can_UnitType *canUnit;
-    uint8 cId = controller;
     const Can_ControllerConfigType *cfgCtrlPtr;
     const Can_HardwareObjectType *hohPtr;
     uint8_t fifoNr;
@@ -1044,10 +1043,10 @@ Can_ReturnType Can_SetControllerMode(uint8 controller,
 
     /** @req 3.1.5/CAN198 */
     VALIDATE( (Can_Global.initRun == CAN_READY), CAN_SETCONTROLLERMODE_SERVICE_ID, CAN_E_UNINIT );
-    Can_UnitType *canUnit = CTRL_TO_UNIT_PTR(controller);
-    VALIDATE( (canUnit->state!=CANIF_CS_UNINIT), CAN_SETCONTROLLERMODE_SERVICE_ID, CAN_E_UNINIT );
     /** @req 3.1.5/CAN199 */
     VALIDATE( VALID_CONTROLLER(controller), CAN_SETCONTROLLERMODE_SERVICE_ID, CAN_E_PARAM_CONTROLLER );
+    Can_UnitType *canUnit = CTRL_TO_UNIT_PTR(controller);
+    VALIDATE( (canUnit->state!=CANIF_CS_UNINIT), CAN_SETCONTROLLERMODE_SERVICE_ID, CAN_E_UNINIT );
 
     canHw = canUnit->hwPtr;
 
@@ -1091,6 +1090,8 @@ void Can_DisableControllerInterrupts(uint8 controller)
     /** !req 3.1.5/CAN292 */
 
 	VALIDATE_NO_RV( (Can_Global.initRun == CAN_READY), CAN_DISABLECONTROLLERINTERRUPTS_SERVICE_ID, CAN_E_UNINIT );
+    /** @req 3.1.5/CAN206 */
+    VALIDATE_NO_RV( VALID_CONTROLLER(controller) , CAN_DISABLECONTROLLERINTERRUPTS_SERVICE_ID, CAN_E_PARAM_CONTROLLER );
     Can_UnitType *canUnit = CTRL_TO_UNIT_PTR(controller);
     flexcan_t *canHw;
     imask_t state;
@@ -1098,8 +1099,6 @@ void Can_DisableControllerInterrupts(uint8 controller)
     /** @req 3.1.5/CAN205 */
     VALIDATE_NO_RV( (canUnit->state!=CANIF_CS_UNINIT), CAN_DISABLECONTROLLERINTERRUPTS_SERVICE_ID, CAN_E_UNINIT );
 
-    /** @req 3.1.5/CAN206 */
-    VALIDATE_NO_RV( VALID_CONTROLLER(controller) , CAN_DISABLECONTROLLERINTERRUPTS_SERVICE_ID, CAN_E_PARAM_CONTROLLER );
 
 
     Irq_Save(state);
@@ -1140,11 +1139,10 @@ void Can_EnableControllerInterrupts(uint8 controller)
 
     /** @req 3.1.5/CAN209 */
 	VALIDATE_NO_RV( (Can_Global.initRun == CAN_READY), CAN_ENABLECONTROLLERINTERRUPTS_SERVICE_ID, CAN_E_UNINIT );
-    canUnit = CTRL_TO_UNIT_PTR(controller);
-    VALIDATE_NO_RV( (canUnit->state!=CANIF_CS_UNINIT), CAN_ENABLECONTROLLERINTERRUPTS_SERVICE_ID, CAN_E_UNINIT );
-
     /** @req 3.1.5/CAN210 */
     VALIDATE_NO_RV( VALID_CONTROLLER(controller), CAN_ENABLECONTROLLERINTERRUPTS_SERVICE_ID, CAN_E_PARAM_CONTROLLER );
+    canUnit = CTRL_TO_UNIT_PTR(controller);
+    VALIDATE_NO_RV( (canUnit->state!=CANIF_CS_UNINIT), CAN_ENABLECONTROLLERINTERRUPTS_SERVICE_ID, CAN_E_UNINIT );
 
     Irq_Save(state);
     if (canUnit->lock_cnt > 1) {
diff --git a/communication/CanIf/CanIf.c b/communication/CanIf/CanIf.c
index e20a7ce8..6e9b4324 100644
--- a/communication/CanIf/CanIf.c
+++ b/communication/CanIf/CanIf.c
@@ -918,8 +918,15 @@ void CanIf_CancelTxConfirmation(const Can_PduType *PduInfoPtr)
 
 void CanIf_ControllerBusOff(uint8 Controller)
 {
-  // We call this a CanIf channel. Hopefully makes it easier to follow.
-  CanIf_Arc_ChannelIdType channel = (CanIf_Arc_ChannelIdType) Controller;
+  CanIf_Arc_ChannelIdType channel = 0xff;
+
+  for(int i = 0; i < CANIF_CHANNEL_CNT; i++)
+  {
+	  if(CanIf_ConfigPtr->Arc_ChannelToControllerMap[i] == Controller)
+	  {
+		  channel = i;
+	  }
+  }
 
   VALIDATE_NO_RV( CanIf_Global.initRun, CANIF_CONTROLLER_BUSOFF_ID, CANIF_E_UNINIT );
   VALIDATE_NO_RV( Controller < CANIF_CHANNEL_CNT, CANIF_CONTROLLER_BUSOFF_ID, CANIF_E_PARAM_CONTROLLER );
@@ -936,24 +943,34 @@ void CanIf_ControllerBusOff(uint8 Controller)
 
 void CanIf_SetWakeupEvent(uint8 Controller)
 {
-#if  ( CANIF_DEV_ERROR_DETECT == STD_ON )
-  // We call this a CanIf channel. Hopefully makes it easier to follow.
-  CanIf_Arc_ChannelIdType channel = (CanIf_Arc_ChannelIdType) Controller;
-#else
-  (void)Controller;
-#endif
+	CanIf_Arc_ChannelIdType channel = 0xff;
+
+	for(int i = 0; i < CANIF_CHANNEL_CNT; i++)
+	{
+	  if(CanIf_ConfigPtr->Arc_ChannelToControllerMap[i] == Controller)
+	  {
+		  channel = i;
+	  }
+	}
 
-  VALIDATE_NO_RV(FALSE, CANIF_SETWAKEUPEVENT_ID, CANIF_E_NOK_NOSUPPORT);
-  VALIDATE_NO_RV( CanIf_Global.initRun, CANIF_SETWAKEUPEVENT_ID, CANIF_E_UNINIT );
-  VALIDATE_NO_RV( channel < CANIF_CHANNEL_CNT, CANIF_SETWAKEUPEVENT_ID, CANIF_E_PARAM_CONTROLLER );
+	VALIDATE_NO_RV(FALSE, CANIF_SETWAKEUPEVENT_ID, CANIF_E_NOK_NOSUPPORT);
+	VALIDATE_NO_RV( CanIf_Global.initRun, CANIF_SETWAKEUPEVENT_ID, CANIF_E_UNINIT );
+	VALIDATE_NO_RV( channel < CANIF_CHANNEL_CNT, CANIF_SETWAKEUPEVENT_ID, CANIF_E_PARAM_CONTROLLER );
 
-  // Not supported
+	// Not supported
 }
 
 void CanIf_Arc_Error(uint8 Controller, Can_Arc_ErrorType Error)
 {
-  // We call this a CanIf channel. Hopefully makes it easier to follow.
-  CanIf_Arc_ChannelIdType channel = (CanIf_Arc_ChannelIdType) Controller;
+  CanIf_Arc_ChannelIdType channel = 0xff;
+
+  for(int i = 0; i < CANIF_CHANNEL_CNT; i++)
+  {
+	  if(CanIf_ConfigPtr->Arc_ChannelToControllerMap[i] == Controller)
+	  {
+		  channel = i;
+	  }
+  }
 
   VALIDATE_NO_RV( CanIf_Global.initRun, CANIF_ARCERROR_ID, CANIF_E_UNINIT );
   VALIDATE_NO_RV( channel < CANIF_CHANNEL_CNT, CANIF_ARCERROR_ID, CANIF_E_PARAM_CONTROLLER );
-- 
2.39.2