From mboxrd@z Thu Jan  1 00:00:00 1970
Message-ID: <52DF9C5F.70005@geral.com>
Date: Wed, 22 Jan 2014 11:24:31 +0100
From: Alexandre COFFIGNAL <acoffignal@geral.com>
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Subject: [Xenomai] imx28 rtcan flexcan system freezes
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To: xenomai@xenomai.org

Hi all,

I use two rtcan flexcan on imx28-evk board.

If both rtcan devices receive a data at the same time, this cause a freeze.
After investigation, i found that if I replace in flexcan_rx_interrupt 
these instructions :
-        *(__be32 *)(cf->data + 0) =
-            cpu_to_be32(flexcan_read(&mb->data[0]));
-        *(__be32 *)(cf->data + 4) =
-            cpu_to_be32(flexcan_read(&mb->data[1]));

by these

+        data0 = flexcan_read(&mb->data[0]);
+        data1 = flexcan_read(&mb->data[1]);
+
+        cf->data[3]=((data0 >> 0)  & 0xFF) ;
+        cf->data[2]=((data0 >> 8)  & 0xFF) ;
+        cf->data[1]=((data0 >> 16)  & 0xFF) ;
+        cf->data[0]=((data0 >> 24)  & 0xFF) ;
+        cf->data[7]=((data1 >> 0)  & 0xFF) ;
+        cf->data[6]=((data1 >> 8)  & 0xFF) ;
+        cf->data[5]=((data1 >> 16)  & 0xFF) ;
+        cf->data[4]=((data1 >> 24)  & 0xFF) ;

rtcan flexcan works perfectly.
is  anyone know what is the problem with first instructions ?

My config : xenomai 2.6.3,  linux 3.8.13,