From 8abfd18189b78c711ebd09fb11779e05bf4ba4fd Mon Sep 17 00:00:00 2001 From: suiauthon Date: Wed, 17 Feb 2016 09:51:50 +0100 Subject: [PATCH] uncommented osDelay --- libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp b/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp index 3a8c29f165..4beb8b980a 100644 --- a/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp +++ b/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp @@ -478,7 +478,7 @@ bool CanIface::waitMsrINakBitStateChange(bool target_state) ::chThdSleep(MS2ST(1)); #endif #if UAVCAN_STM32_FREERTOS - //::osDelay(1); + ::osDelay(1); #endif } return false; @@ -625,6 +625,10 @@ void CanIface::handleTxInterrupt(const uavcan::uint64_t utc_usec) update_event_.signalFromInterrupt(); pollErrorFlagsFromISR(); + + #if UAVCAN_STM32_FREERTOS + update_event_.yieldFromISR(); + #endif } void CanIface::handleRxInterrupt(uavcan::uint8_t fifo_index, uavcan::uint64_t utc_usec) @@ -688,6 +692,10 @@ void CanIface::handleRxInterrupt(uavcan::uint8_t fifo_index, uavcan::uint64_t ut update_event_.signalFromInterrupt(); pollErrorFlagsFromISR(); + + #if UAVCAN_STM32_FREERTOS + update_event_.yieldFromISR(); + #endif } void CanIface::pollErrorFlagsFromISR()