fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-14 02:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

STM32 IRQ fix

Browse Source
This commit is contained in:
Pavel Kirienko
2015-07-07 01:33:11 +03:00
parent a72bc11093
commit 36ec6781e8
1 changed files with 12 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
+12
View File
@@ -819,10 +819,12 @@ int CanDriver::init(uavcan::uint32_t bitrate)
IRQ_ATTACH(STM32_IRQ_CAN1TX, can1_irq);
IRQ_ATTACH(STM32_IRQ_CAN1RX0, can1_irq);
IRQ_ATTACH(STM32_IRQ_CAN1RX1, can1_irq);
IRQ_ATTACH(STM32_IRQ_CAN1SCE, can1_irq);
# if UAVCAN_STM32_NUM_IFACES > 1
IRQ_ATTACH(STM32_IRQ_CAN2TX, can2_irq);
IRQ_ATTACH(STM32_IRQ_CAN2RX0, can2_irq);
IRQ_ATTACH(STM32_IRQ_CAN2RX1, can2_irq);
IRQ_ATTACH(STM32_IRQ_CAN2SCE, can2_irq);
# endif
# undef IRQ_ATTACH
#else
@@ -831,10 +833,12 @@ int CanDriver::init(uavcan::uint32_t bitrate)
nvicEnableVector(CAN1_TX_IRQn, UAVCAN_STM32_IRQ_PRIORITY_MASK);
nvicEnableVector(CAN1_RX0_IRQn, UAVCAN_STM32_IRQ_PRIORITY_MASK);
nvicEnableVector(CAN1_RX1_IRQn, UAVCAN_STM32_IRQ_PRIORITY_MASK);
nvicEnableVector(CAN1_SCE_IRQn, UAVCAN_STM32_IRQ_PRIORITY_MASK);
# if UAVCAN_STM32_NUM_IFACES > 1
nvicEnableVector(CAN2_TX_IRQn, UAVCAN_STM32_IRQ_PRIORITY_MASK);
nvicEnableVector(CAN2_RX0_IRQn, UAVCAN_STM32_IRQ_PRIORITY_MASK);
nvicEnableVector(CAN2_RX1_IRQn, UAVCAN_STM32_IRQ_PRIORITY_MASK);
nvicEnableVector(CAN2_SCE_IRQn, UAVCAN_STM32_IRQ_PRIORITY_MASK);
# endif
}
#endif
@@ -906,6 +910,10 @@ static int can1_irq(const int irq, void*)
{
uavcan_stm32::handleRxInterrupt(0, 1);
}
else if (irq == STM32_IRQ_CAN1SCE)
{
uavcan_stm32::handleStatusChangeInterrupt(0);
}
else
{
PANIC();
@@ -929,6 +937,10 @@ static int can2_irq(const int irq, void*)
{
uavcan_stm32::handleRxInterrupt(1, 1);
}
else if (irq == STM32_IRQ_CAN2SCE)
{
uavcan_stm32::handleStatusChangeInterrupt(1);
}
else
{
PANIC();