DroneCAN: use bxCAN driver from ArduPilot for STM32

am32-firmware · Dec 12, 2024 · c16321a · c16321a
1 parent d4931ac
commit c16321a
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Showing 3 changed files with 322 additions and 69 deletions.
diff --git a/bootloader/DroneCAN/DroneCAN.c b/bootloader/DroneCAN/DroneCAN.c
@@ -675,10 +675,18 @@ void DroneCAN_receiveFrame(void)
 {
     CanardCANFrame rx_frame = {0};
     while (sys_can_receive(&rx_frame) > 0) {
-        canardHandleRxFrame(&canard, &rx_frame, micros64());
+      canardHandleRxFrame(&canard, &rx_frame, micros64());
     }
 }
 
+/*
+  handle a frame from interrupt context
+*/
+void DroneCAN_handleFrame(CanardCANFrame *frame)
+{
+    canardHandleRxFrame(&canard, frame, micros64());
+}
+
 /*
   Transmits all frames from the TX queue
 */

diff --git a/bootloader/DroneCAN/sys_can.h b/bootloader/DroneCAN/sys_can.h
@@ -53,6 +53,11 @@ extern void DroneCAN_processTxQueue();
  */
 extern void DroneCAN_receiveFrame();
 
+/*
+  called from IRQ to handle incoming frame
+ */
+void DroneCAN_handleFrame(CanardCANFrame *frame);
+
 /*
   try to transmit a frame.
   return 1 for success, 0 for no space, -ve for error