mirror of https://github.com/ArduPilot/ardupilot
106 lines
3.1 KiB
C++
106 lines
3.1 KiB
C++
/*
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* The MIT License (MIT)
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*
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* Copyright (c) 2014 Pavel Kirienko
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Code by Siddharth Bharat Purohit
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*/
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#pragma once
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#include "AP_HAL_ChibiOS.h"
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#if HAL_WITH_UAVCAN
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#include <hal.h>
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#include <ch.h>
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/**
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* Debug output
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*/
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#ifndef UAVCAN_STM32_LOG
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# if 0
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# define UAVCAN_STM32_LOG(fmt, ...) syslog("uavcan_stm32: " fmt "\n", ##__VA_ARGS__)
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# else
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# define UAVCAN_STM32_LOG(...) ((void)0)
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# endif
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#endif
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/**
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* IRQ handler macros
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*/
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# define UAVCAN_STM32_IRQ_HANDLER(id) CH_IRQ_HANDLER(id)
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# define UAVCAN_STM32_IRQ_PROLOGUE() CH_IRQ_PROLOGUE()
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# define UAVCAN_STM32_IRQ_EPILOGUE() CH_IRQ_EPILOGUE()
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/**
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* Priority mask for timer and CAN interrupts.
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*/
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# ifndef UAVCAN_STM32_IRQ_PRIORITY_MASK
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# if (CH_KERNEL_MAJOR == 2)
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# define UAVCAN_STM32_IRQ_PRIORITY_MASK CORTEX_PRIORITY_MASK(CORTEX_MAX_KERNEL_PRIORITY)
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# else // ChibiOS 3+
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# define UAVCAN_STM32_IRQ_PRIORITY_MASK CORTEX_MAX_KERNEL_PRIORITY
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# endif
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# endif
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/**
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* Glue macros
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*/
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#define UAVCAN_STM32_GLUE2_(A, B) A##B
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#define UAVCAN_STM32_GLUE2(A, B) UAVCAN_STM32_GLUE2_(A, B)
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#define UAVCAN_STM32_GLUE3_(A, B, C) A##B##C
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#define UAVCAN_STM32_GLUE3(A, B, C) UAVCAN_STM32_GLUE3_(A, B, C)
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namespace ChibiOS_CAN {
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struct CriticalSectionLocker {
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CriticalSectionLocker()
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{
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chSysSuspend();
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}
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~CriticalSectionLocker()
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{
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chSysEnable();
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}
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};
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namespace clock {
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uint64_t getUtcUSecFromCanInterrupt();
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}
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}
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#endif //HAL_WITH_UAVCAN
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