From 2c38c4b96b55c87502669fbf609bb2b5cca655cd Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Mon, 7 Apr 2014 14:50:43 +0400
Subject: [PATCH] STM32: Fixed race condition in clock driver

---
 libuavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/libuavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp b/libuavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp
index c43dd692a7..07e22c9617 100644
--- a/libuavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp
+++ b/libuavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp
@@ -119,12 +119,12 @@ uavcan::MonotonicTime getMonotonic()
     {
         CriticalSectionLock locker;
         usec = sampleFromCriticalSection(&time_mono);
-    }
 #if !NDEBUG
-    static uavcan::uint64_t prev_usec = 0;  // Self-test
-    assert(prev_usec <= usec);
-    prev_usec = usec;
+        static uavcan::uint64_t prev_usec = 0;  // Self-test
+        assert(prev_usec <= usec);
+        prev_usec = usec;
 #endif
+    }
     return uavcan::MonotonicTime::fromUSec(usec);
 }
 
@@ -239,7 +239,7 @@ UAVCAN_STM32_IRQ_HANDLER(TIMX_IRQHandler)
 {
     UAVCAN_STM32_IRQ_PROLOGUE();
 
-    TIMX->SR = ~TIM_SR_UIF;
+    TIMX->SR = 0;
 
     using namespace uavcan_stm32::clock;
     assert(initialized);