+ diff -u xenomai/ksrc/drivers/can/rtcan_dev.c.TXSEM xenomai/ksrc/drivers/can/rtcan_dev.c
+ diff -u xenomai/ksrc/drivers/can/rtcan_raw.c.TXSEM xenomai/ksrc/drivers/can/rtcan_raw.c
--- xenomai/ksrc/drivers/can/rtcan_raw.c.TXSEM	2007-02-15 17:11:11.000000000 +0100
+++ xenomai/ksrc/drivers/can/rtcan_raw.c	2007-02-15 13:46:02.000000000 +0100
@@ -964,12 +964,13 @@
 
     /* Controller should be operating */
     if (!CAN_STATE_OPERATING(dev->state)) {
+	if (dev->state == CAN_STATE_SLEEPING) {
+	    ret = -ECOMM;
+	    rtdm_sem_up(&dev->tx_sem);
+	    goto send_out2;
+	}
         ret = -ENETDOWN;
         goto send_out2;
-    } else if (dev->state == CAN_STATE_SLEEPING) {
-        ret = -ECOMM;
-        rtdm_sem_up(&dev->tx_sem);
-        goto send_out2;
     }
 
     dev->tx_count++;
+ diff -u xenomai/ksrc/drivers/can/rtcan_raw_dev.c.TXSEM xenomai/ksrc/drivers/can/rtcan_raw_dev.c
--- xenomai/ksrc/drivers/can/rtcan_raw_dev.c.TXSEM	2007-02-15 11:21:43.000000000 +0100
+++ xenomai/ksrc/drivers/can/rtcan_raw_dev.c	2007-02-15 14:16:16.000000000 +0100
@@ -193,7 +193,8 @@
     switch (request) {
     case SIOCSCANMODE:
 	mode = (can_mode_t *)&ifr->ifr_ifru;
-	if (dev->do_set_mode)
+	if (dev->do_set_mode &&
+	    !(*mode == CAN_MODE_START && CAN_STATE_OPERATING(dev->state)))
 	    ret = dev->do_set_mode(dev, *mode, &lock_ctx);
 	break;
 
+ diff -u xenomai/ksrc/drivers/can/rtcan_virt.c.TXSEM xenomai/ksrc/drivers/can/rtcan_virt.c
--- xenomai/ksrc/drivers/can/rtcan_virt.c.TXSEM	2007-02-15 11:24:14.000000000 +0100
+++ xenomai/ksrc/drivers/can/rtcan_virt.c	2007-02-15 17:13:23.000000000 +0100
@@ -102,8 +102,7 @@
 		break;
 
 	case CAN_MODE_START:
-		if (dev->state == CAN_STATE_STOPPED)
-			rtdm_sem_init(&dev->tx_sem, VIRT_TX_BUFS);
+		rtdm_sem_init(&dev->tx_sem, VIRT_TX_BUFS);
 		dev->state = CAN_STATE_ACTIVE;
 		break;
 
@@ -126,7 +125,7 @@
 	dev->ctrl_name = virt_ctlr_name;
 	dev->board_name = virt_board_name;
 
-	dev->state = CAN_STATE_STOPPED;
+	rtcan_virt_set_mode(dev, CAN_MODE_STOP, NULL);
 
 	strncpy(dev->name, RTCAN_DEV_NAME, IFNAMSIZ);