STM32: increased default RX queue size

libuavcan_drivers/stm32/driver/include/uavcan_stm32/can.hpp

@@ -233,9 +233,9 @@ public:
 /**
  * Helper class.
  * Normally only this class should be used by the application.
- * 145 usec per Extended CAN frame @ 1 Mbps, e.g. 16 RX slots * 145 usec --> 2320 usec before RX queue overruns.
+ * 145 usec per Extended CAN frame @ 1 Mbps, e.g. 32 RX slots * 145 usec --> 4.6 msec before RX queue overruns.
  */
-template <unsigned RxQueueCapacity = 16>
+template <unsigned RxQueueCapacity = 32>
 class CanInitHelper
 {
     CanRxItem queue_storage_[UAVCAN_STM32_NUM_IFACES][RxQueueCapacity];

libuavcan_drivers/stm32/test_stm32f107/src/main.cpp

@@ -14,7 +14,7 @@ namespace
 
 uavcan_stm32::CanInitHelper<128> can;
 
-typedef uavcan::Node<8192> Node;
+typedef uavcan::Node<16384> Node;
 
 uavcan::LazyConstructor<Node> node_;