From 88e7efcf9c585fca7e11ed65358a5b0d85854f31 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 14 Feb 2022 09:02:27 +1100
Subject: [PATCH] AP_HAL: make CANFrame data available as uint32_t
this makes the critical sections in CANFrame handling on STM32 faster
---
libraries/AP_HAL/CANIface.h | 5 ++++-
1 file changed, 4 insertions(+), 1 deletion(-)
diff --git a/libraries/AP_HAL/CANIface.h b/libraries/AP_HAL/CANIface.h
index 0a0b8a614e..0d11ea1159 100644
--- a/libraries/AP_HAL/CANIface.h
+++ b/libraries/AP_HAL/CANIface.h
@@ -35,7 +35,10 @@ struct AP_HAL::CANFrame {
static const uint8_t MaxDataLen = 8;
uint32_t id; ///< CAN ID with flags (above)
- uint8_t data[MaxDataLen];
+ union {
+ uint8_t data[MaxDataLen];
+ uint32_t data_32[MaxDataLen/4];
+ };
uint8_t dlc; ///< Data Length Code
CANFrame() :