USB startup: Ensure that we are not talking to the peripheral too soon. Startup does not take longer due to smart rearrangement of launch calls

src/systemcmds/nshterm/module.mk

@@ -38,7 +38,7 @@
 MODULE_COMMAND	 = nshterm
 SRCS		 = nshterm.c
 
-MODULE_STACKSIZE = 1600
+MODULE_STACKSIZE = 1500
 
 MAXOPTIMIZATION	 = -Os
 

src/systemcmds/nshterm/nshterm.c

@@ -50,6 +50,7 @@
 #include <apps/nsh.h>
 #include <fcntl.h>
 #include <systemlib/err.h>
+#include <drivers/drv_hrt.h>
 
 #include <uORB/topics/actuator_armed.h>
 
@@ -67,6 +68,11 @@ nshterm_main(int argc, char *argv[])
     int armed_fd = orb_subscribe(ORB_ID(actuator_armed));
     struct actuator_armed_s armed;
 
+    /* back off 800 ms to avoid running into the USB setup timing */
+    while (hrt_absolute_time() < 800U * 1000U) {
+        usleep(50000);
+    }
+
     /* try to bring up the console - stop doing so if the system gets armed */
     while (true) {