From 5bd641a7440cc3a7ed7cd4a94c283d4a83c5c154 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Mon, 4 Jan 2016 15:18:04 +0300
Subject: [PATCH] Fixed busyloop in the STM32 CAN driver for ChibiOS

---
 libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp b/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
index d4de68496f..d8739bbc77 100644
--- a/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
+++ b/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
@@ -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;