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STM32 CAN driver moved from .data to heap; partially resolves #4677 (#4681)

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Pavel Kirienko
2016-05-29 14:54:45 +03:00
committed by Lorenz Meier
parent 7398164fcc
commit ef343dc452
1 changed files with 15 additions and 7 deletions
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src/modules/uavcan/uavcan_main.cpp
+15 -7
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@@ -550,25 +550,33 @@ int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate)
/*
* CAN driver init
* Note that we instantiate and initialize CanInitHelper only once, because the STM32's bxCAN driver
* shipped with libuavcan does not support deinitialization.
*/
static CanInitHelper can;
static bool can_initialized = false;
static CanInitHelper* can = nullptr;
if (!can_initialized) {
const int can_init_res = can.init(bitrate);
if (can == nullptr) {
warnx("CAN driver init...");
can = new CanInitHelper();
if (can == nullptr) { // We don't have exceptions so bad_alloc cannot be thrown
warnx("Out of memory");
return -1;
}
const int can_init_res = can->init(bitrate);
if (can_init_res < 0) {
warnx("CAN driver init failed %i", can_init_res);
return can_init_res;
}
can_initialized = true;
}
/*
* Node init
*/
_instance = new UavcanNode(can.driver, uavcan_stm32::SystemClock::instance());
_instance = new UavcanNode(can->driver, uavcan_stm32::SystemClock::instance());
if (_instance == nullptr) {
warnx("Out of memory");