ardupilot/libraries/AP_HAL_ChibiOS/fdcan.hpp

90 lines
2.9 KiB
C++

/*
* The MIT License (MIT)
*
* Copyright (c) 2014 Pavel Kirienko
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
* Code by Siddharth Bharat Purohit
*/
#pragma once
#include "AP_HAL_ChibiOS.h"
#if HAL_WITH_UAVCAN
#if defined(STM32H7XX)
#include <uavcan/uavcan.hpp>
#include <stdint.h>
#ifndef UAVCAN_CPP_VERSION
# error UAVCAN_CPP_VERSION
#endif
#if UAVCAN_CPP_VERSION < UAVCAN_CPP11
// #undef'ed at the end of this file
# define constexpr const
#endif
namespace ChibiOS_CAN
{
namespace fdcan
{
typedef FDCAN_GlobalTypeDef CanType;
constexpr unsigned long IDE = (0x40000000U); // Identifier Extension
constexpr unsigned long STID_MASK = (0x1FFC0000U); // Standard Identifier Mask
constexpr unsigned long EXID_MASK = (0x1FFFFFFFU); // Extended Identifier Mask
constexpr unsigned long RTR = (0x20000000U); // Remote Transmission Request
constexpr unsigned long DLC_MASK = (0x000F0000U); // Data Length Code
/**
* CANx register sets
*/
CanType* const Can[UAVCAN_STM32_NUM_IFACES] = {
reinterpret_cast<CanType*>(FDCAN1_BASE)
#if UAVCAN_STM32_NUM_IFACES > 1
,
reinterpret_cast<CanType*>(FDCAN2_BASE)
#endif
};
}
}
#if UAVCAN_CPP_VERSION < UAVCAN_CPP11
# undef constexpr
#endif
#endif //defined(STM32H7XX)
#endif //HAL_WITH_UAVCAN