ardupilot/libraries/AP_HAL_ChibiOS/CANInternal.h

106 lines
3.1 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
#include <hal.h>
#include <ch.h>
/**
* Debug output
*/
#ifndef UAVCAN_STM32_LOG
# if 0
# define UAVCAN_STM32_LOG(fmt, ...) syslog("uavcan_stm32: " fmt "\n", ##__VA_ARGS__)
# else
# define UAVCAN_STM32_LOG(...) ((void)0)
# endif
#endif
/**
* IRQ handler macros
*/
# define UAVCAN_STM32_IRQ_HANDLER(id) CH_IRQ_HANDLER(id)
# define UAVCAN_STM32_IRQ_PROLOGUE() CH_IRQ_PROLOGUE()
# define UAVCAN_STM32_IRQ_EPILOGUE() CH_IRQ_EPILOGUE()
/**
* Priority mask for timer and CAN interrupts.
*/
# ifndef UAVCAN_STM32_IRQ_PRIORITY_MASK
# if (CH_KERNEL_MAJOR == 2)
# define UAVCAN_STM32_IRQ_PRIORITY_MASK CORTEX_PRIORITY_MASK(CORTEX_MAX_KERNEL_PRIORITY)
# else // ChibiOS 3+
# define UAVCAN_STM32_IRQ_PRIORITY_MASK CORTEX_MAX_KERNEL_PRIORITY
# endif
# endif
/**
* Glue macros
*/
#define UAVCAN_STM32_GLUE2_(A, B) A##B
#define UAVCAN_STM32_GLUE2(A, B) UAVCAN_STM32_GLUE2_(A, B)
#define UAVCAN_STM32_GLUE3_(A, B, C) A##B##C
#define UAVCAN_STM32_GLUE3(A, B, C) UAVCAN_STM32_GLUE3_(A, B, C)
namespace ChibiOS_CAN {
struct CriticalSectionLocker {
CriticalSectionLocker()
{
chSysSuspend();
}
~CriticalSectionLocker()
{
chSysEnable();
}
};
namespace clock {
uint64_t getUtcUSecFromCanInterrupt();
}
}
#endif //HAL_WITH_UAVCAN