From 590634a82cfc4d99dc63dd0c410be59333654bf9 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Sat, 12 Apr 2014 18:23:43 +0400
Subject: [PATCH] STM32: increased default RX queue size

---
 libuavcan_drivers/stm32/driver/include/uavcan_stm32/can.hpp | 4 ++--
 libuavcan_drivers/stm32/test_stm32f107/src/main.cpp         | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/libuavcan_drivers/stm32/driver/include/uavcan_stm32/can.hpp b/libuavcan_drivers/stm32/driver/include/uavcan_stm32/can.hpp
index 80cd7f50cd..ae1e1226ad 100644
--- a/libuavcan_drivers/stm32/driver/include/uavcan_stm32/can.hpp
+++ b/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];
diff --git a/libuavcan_drivers/stm32/test_stm32f107/src/main.cpp b/libuavcan_drivers/stm32/test_stm32f107/src/main.cpp
index 558f3d77a4..0d0f3f61fd 100644
--- a/libuavcan_drivers/stm32/test_stm32f107/src/main.cpp
+++ b/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_;