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90 lines
2.9 KiB
90 lines
2.9 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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#if defined(STM32H7XX) |
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#include <uavcan/uavcan.hpp> |
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#include <stdint.h> |
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#ifndef UAVCAN_CPP_VERSION |
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# error UAVCAN_CPP_VERSION |
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#endif |
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#if UAVCAN_CPP_VERSION < UAVCAN_CPP11 |
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// #undef'ed at the end of this file |
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# define constexpr const |
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#endif |
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namespace ChibiOS_CAN |
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{ |
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namespace fdcan |
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{ |
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typedef FDCAN_GlobalTypeDef CanType; |
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constexpr unsigned long IDE = (0x40000000U); // Identifier Extension |
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constexpr unsigned long STID_MASK = (0x1FFC0000U); // Standard Identifier Mask |
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constexpr unsigned long EXID_MASK = (0x1FFFFFFFU); // Extended Identifier Mask |
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constexpr unsigned long RTR = (0x20000000U); // Remote Transmission Request |
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constexpr unsigned long DLC_MASK = (0x000F0000U); // Data Length Code |
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/** |
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* CANx register sets |
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*/ |
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CanType* const Can[UAVCAN_STM32_NUM_IFACES] = { |
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reinterpret_cast<CanType*>(FDCAN1_BASE) |
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#if UAVCAN_STM32_NUM_IFACES > 1 |
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, |
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reinterpret_cast<CanType*>(FDCAN2_BASE) |
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#endif |
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}; |
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} |
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} |
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#if UAVCAN_CPP_VERSION < UAVCAN_CPP11 |
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# undef constexpr |
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#endif |
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#endif //defined(STM32H7XX) |
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#endif //HAL_WITH_UAVCAN
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