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AP_HAL: make CANFrame data available as uint32_t

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this makes the critical sections in CANFrame handling on STM32 faster
This commit is contained in:
Andrew Tridgell 2022-02-14 09:02:27 +11:00
parent 44d9d410a1
commit 88e7efcf9c
1 changed files with 4 additions and 1 deletions
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libraries/AP_HAL/CANIface.h
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@ -35,7 +35,10 @@ struct AP_HAL::CANFrame {
static const uint8_t MaxDataLen = 8; static const uint8_t MaxDataLen = 8;
uint32_t id; ///< CAN ID with flags (above) 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 uint8_t dlc; ///< Data Length Code
CANFrame() : CANFrame() :