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105 lines
3.1 KiB
105 lines
3.1 KiB
/* |
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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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