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Fixed busyloop in the STM32 CAN driver for ChibiOS

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This commit is contained in:
Pavel Kirienko
2016-01-04 15:18:04 +03:00
parent 4c03b29401
commit 5bd641a744
1 changed files with 6 additions and 3 deletions
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libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
+6 -3
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@@ -467,8 +467,8 @@ uavcan::int16_t CanIface::configureFilters(const uavcan::CanFilterConfig* filter
bool CanIface::waitMsrINakBitStateChange(bool target_state)
{
#if UAVCAN_STM32_NUTTX
const unsigned Timeout = 500;
#if UAVCAN_STM32_NUTTX || UAVCAN_STM32_CHIBIOS
const unsigned Timeout = 1000;
#else
const unsigned Timeout = 2000000;
#endif
@@ -480,7 +480,10 @@ bool CanIface::waitMsrINakBitStateChange(bool target_state)
return true;
}
#if UAVCAN_STM32_NUTTX
::usleep(2000);
::usleep(1000);
#endif
#if UAVCAN_STM32_CHIBIOS
::chThdSleep(MS2ST(1));
#endif
}
return false;