AP_HAL: make CANFrame data available as uint32_t

this makes the critical sections in CANFrame handling on STM32 faster
2022-02-14 09:02:27 +11:00 · 2022-02-14 09:02:27 +11:00 · 88e7efcf9c
commit 88e7efcf9c
parent 44d9d410a1
1 changed files with 4 additions and 1 deletions
--- a/libraries/AP_HAL/CANIface.h
+++ b/libraries/AP_HAL/CANIface.h
@ -35,7 +35,10 @@ struct AP_HAL::CANFrame {
    static const uint8_t MaxDataLen = 8;

    uint32_t id;                ///< CAN ID with flags (above)
+    union {
        uint8_t data[MaxDataLen];
+        uint32_t data_32[MaxDataLen/4];
+    };
    uint8_t dlc;                ///< Data Length Code

    CANFrame() :