SAMA5 CAN: Fix a data alignment problem

ChangeLog

@@ -5955,5 +5955,5 @@
 	  write so  that the device is complete before WRDI is sent.  From
 	  David Sidrane (2013-11-2).
 	* configs/sama5/src/sam_can.c:  Add CAN initialization logic
-	  (2013-11-3).
+	  and fix a data alignment problem (2013-11-3).
 

arch/arm/src/sama5/chip/sam_can.h

@@ -326,8 +326,44 @@
 #define CAN_MSR_MRDY             (1 << 23) /* Bit 23: Mailbox Ready */
 #define CAN_MSR_MMI              (1 << 24) /* Bit 24: Mailbox Message Ignored */
 
-/* Mailbox Data Low Register (32-bit data low value) */
+/* Mailbox Data Low Register and Mailbox Data High Register.
-/* Mailbox Data High Register (32-bit data high value) */
+ * Bytes are received/sent on the bus in the following order:
+ *
+ *   1. CAN_MDL[7:0]
+ *   2. CAN_MDL[15:8]
+ *   3. CAN_MDL[23:16]
+ *   4. CAN_MDL[31:24]
+ *   5. CAN_MDH[7:0]
+ *   6. CAN_MDH[15:8]
+ *   7. CAN_MDH[23:16]
+ *   8. CAN_MDH[31:24]
+ */
+
+#define CAN_MDL0_SHIFT           (0)       /* Bits 0-7:   Byte 0 */
+#define CAN_MDL0_MASK            (0xff << CAN_MDL0_SHIFT)
+#  define CAN_MDL0(n)            ((uint32_t)(n) << CAN_MDL0_SHIFT)
+#define CAN_MDL1_SHIFT           (8)       /* Bits 8-15:  Byte 1 */
+#define CAN_MDL1_MASK            (0xff << CAN_MDL1_SHIFT)
+#  define CAN_MDL1(n)            ((uint32_t)(n) << CAN_MDL1_SHIFT)
+#define CAN_MDL2_SHIFT           (16)      /* Bits 16-23: Byte 2 */
+#define CAN_MDL2_MASK            (0xff << CAN_MDL2_SHIFT)
+#  define CAN_MDL2(n)            ((uint32_t)(n) << CAN_MDL2_SHIFT)
+#define CAN_MDL3_SHIFT           (24)      /* Bits 24-31: Byte 3 */
+#define CAN_MDL3_MASK            (0xff << CAN_MDL3_SHIFT)
+#  define CAN_MDL3(n)            ((uint32_t)(n) << CAN_MDL3_SHIFT)
+
+#define CAN_MDH4_SHIFT           (0)       /* Bits 0-7:   Byte 4 */
+#define CAN_MDH4_MASK            (0xff << CAN_MDH4_SHIFT)
+#  define CAN_MDH4(n)            ((uint32_t)(n) << CAN_MDH4_SHIFT)
+#define CAN_MDH5_SHIFT           (8)       /* Bits 8-15:  Byte 5 */
+#define CAN_MDH5_MASK            (0xff << CAN_MDH5_SHIFT)
+#  define CAN_MDH5(n)            ((uint32_t)(n) << CAN_MDH5_SHIFT)
+#define CAN_MDH6_SHIFT           (16)      /* Bits 16-23: Byte 6 */
+#define CAN_MDH6_MASK            (0xff << CAN_MDH6_SHIFT)
+#  define CAN_MDH6(n)            ((uint32_t)(n) << CAN_MDH6_SHIFT)
+#define CAN_MDH7_SHIFT           (24)      /* Bits 24-31: Byte 7 */
+#define CAN_MDH7_MASK            (0xff << CAN_MDH7_SHIFT)
+#  define CAN_MDH7(n)            ((uint32_t)(n) << CAN_MDH7_SHIFT)
 
 /* Mailbox Control Register */
 

arch/arm/src/sama5/sam_can.c

@@ -1087,7 +1087,7 @@ static int can_remoterequest(FAR struct can_dev_s *dev, uint16_t id)
 static int can_send(FAR struct can_dev_s *dev, FAR struct can_msg_s *msg)
 {
   FAR struct sam_can_s *priv;
-  FAR uint32_t *md;
+  FAR uint8_t *ptr;
   uint32_t regval;
   int mbndx;
 
@@ -1159,11 +1159,14 @@ static int can_send(FAR struct can_dev_s *dev, FAR struct can_msg_s *msg)
 #  warning REVISIT
 #endif
 
-  DEBUGASSERT(((uintptr_t)msg->cm_data & 3) == 0);
+  /* The message buffer is probably not properaly aligned for 32-bit accesses */
-  md = (FAR uint32_t *)msg->cm_data;
 
-  can_putreg(priv, SAM_CAN_MnDL_OFFSET(mbndx), md[0]);
+  ptr    = msg->cm_data;
-  can_putreg(priv, SAM_CAN_MnDH_OFFSET(mbndx), md[1]);
+  regval = CAN_MDL0(ptr[0]) | CAN_MDL1(ptr[1]) | CAN_MDL2(ptr[1]) | CAN_MDL3(ptr[1]);
+  can_putreg(priv, SAM_CAN_MnDL_OFFSET(mbndx), regval);
+
+  regval = CAN_MDH4(ptr[4]) | CAN_MDH5(ptr[5]) | CAN_MDH6(ptr[6]) | CAN_MDH7(ptr[7]);
+  can_putreg(priv, SAM_CAN_MnDH_OFFSET(mbndx), regval);
 
   /* Set the DLC value in the CAN_MCRx register.  Set the MTCR register
    * clearing MRDY, and indicating that the message is ready to be sent.