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AP_HAL_ChibiOS: move to using data_32 for copying into CANFD buffer

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bugobliterator 2022-03-02 14:54:19 +05:30 committed by Andrew Tridgell
parent 5865680070
commit 633eb0db8b
1 changed files with 3 additions and 9 deletions
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12
libraries/AP_HAL_ChibiOS/CANFDIface.cpp
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@ -317,13 +317,6 @@ bool CANIface::computeTimings(const uint32_t target_bitrate, Timings& out_timing
return true;
}
static uint32_t bytes_to_word(const uint8_t data[]) {
return (uint32_t(data[3]) << 24) |
(uint32_t(data[2]) << 16) |
(uint32_t(data[1]) << 8) |
(uint32_t(data[0]) << 0);
}
int16_t CANIface::send(const AP_HAL::CANFrame& frame, uint64_t tx_deadline,
CanIOFlags flags)
{
@ -378,8 +371,9 @@ int16_t CANIface::send(const AP_HAL::CANFrame& frame, uint64_t tx_deadline,
// Write Frame to the message RAM
const uint8_t data_length = AP_HAL::CANFrame::dlcToDataLength(frame.dlc);
for (uint8_t i = 0, l = 2; i < data_length; i+=4, l++) {
buffer[l] = bytes_to_word(&frame.data[i]);
uint32_t *data_ptr = &buffer[2];
for (uint8_t i = 0; i < (data_length+3)/4; i++) {
data_ptr[i] = frame.data_32[i];
}
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