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added support for FreeRTOS

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This commit is contained in:
suiauthon
2016-02-15 11:21:10 +01:00
parent b4f6e1e553
commit ada61ef06b
2 changed files with 10 additions and 4 deletions
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libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
+5 -2
View File
@@ -873,14 +873,17 @@ uavcan::int16_t CanDriver::select(uavcan::CanSelectMasks& inout_masks,
static void nvicEnableVector(IRQn_Type irq, uint8_t prio) static void nvicEnableVector(IRQn_Type irq, uint8_t prio)
{ {
/*NVIC_InitTypeDef NVIC_InitStructure; #if !defined (USE_HAL_DRIVER)
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = irq; NVIC_InitStructure.NVIC_IRQChannel = irq;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = prio; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = prio;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);*/ NVIC_Init(&NVIC_InitStructure);
#else
HAL_NVIC_SetPriority(irq, prio, 0); HAL_NVIC_SetPriority(irq, prio, 0);
HAL_NVIC_EnableIRQ(irq); HAL_NVIC_EnableIRQ(irq);
#endif
} }
#endif #endif
libuavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp
+5 -2
View File
@@ -85,14 +85,17 @@ uavcan::uint64_t time_utc = 0;
static void nvicEnableVector(IRQn_Type irq, uint8_t prio) static void nvicEnableVector(IRQn_Type irq, uint8_t prio)
{ {
/*NVIC_InitTypeDef NVIC_InitStructure; #if !defined (USE_HAL_DRIVER)
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = irq; NVIC_InitStructure.NVIC_IRQChannel = irq;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = prio; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = prio;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);*/ NVIC_Init(&NVIC_InitStructure);
#else
HAL_NVIC_SetPriority(irq, prio, 0); HAL_NVIC_SetPriority(irq, prio, 0);
HAL_NVIC_EnableIRQ(irq); HAL_NVIC_EnableIRQ(irq);
#endif
} }