X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/b47c0a55a3721e635d5b28f61a46161f72894394..3a2bb63f0bb8de2aafb346b53b945c59b3f87a41:/lincan/src/sja1000.c

diff --git a/lincan/src/sja1000.c b/lincan/src/sja1000.c
index 5b549c4..d5f7b15 100644
--- a/lincan/src/sja1000.c
+++ b/lincan/src/sja1000.c
@@ -387,12 +387,6 @@ void sja1000_irq_read_handler(struct chip_t *chip, struct msgobj_t *obj)
 		id = can_read_reg(chip, SJARXID0) | (can_read_reg(chip, SJARXID1)<<8);
 		obj->rx_msg.length = len = id & 0x0f;
 		obj->rx_msg.flags = id&sjaID0_RTR ? MSG_RTR : 0;
-               #ifdef CAN_MSG_VERSION_2
-		obj->rx_msg.timestamp.tv_sec = 0;
-		obj->rx_msg.timestamp.tv_usec = 0;
-               #else /* CAN_MSG_VERSION_2 */
-		obj->rx_msg.timestamp = 0;
-               #endif /* CAN_MSG_VERSION_2 */
 		obj->rx_msg.cob = 0;
 		obj->rx_msg.id = id>>5;
 
@@ -402,6 +396,9 @@ void sja1000_irq_read_handler(struct chip_t *chip, struct msgobj_t *obj)
 
 		can_write_reg(chip, sjaCMR_RRB, SJACMR);
 
+		/* fill CAN message timestamp */
+		can_filltimestamp(&obj->rx_msg.timestamp);
+
 		canque_filter_msg2edges(obj->qends, &obj->rx_msg);
 	} while(can_read_reg(chip, SJASR) & sjaSR_RBS);
 }
@@ -413,6 +410,9 @@ void sja1000_irq_write_handler(struct chip_t *chip, struct msgobj_t *obj)
 	if(obj->tx_slot){
 		/* Do local transmitted message distribution if enabled */
 		if (processlocal){
+			/* fill CAN message timestamp */
+			can_filltimestamp(&obj->tx_slot->msg.timestamp);
+			
 			obj->tx_slot->msg.flags |= MSG_LOCAL;
 			canque_filter_msg2edges(obj->qends, &obj->tx_slot->msg);
 		}