From 93fe54bb21bf09aef3ca6dcad5703357523a352a Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Fri, 9 Oct 2015 05:10:13 +0300
Subject: [PATCH] Experimental fix to CAN bus lockup bug

---
 libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp b/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
index 77b8378a02..6d5fa5212b 100644
--- a/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
+++ b/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
@@ -516,8 +516,12 @@ int CanIface::init(const uavcan::uint32_t bitrate, const OperatingMode mode)
     /*
      * Hardware initialization
      */
-    can_->MCR &= ~bxcan::MCR_SLEEP; // Exit sleep mode
-    can_->MCR |= bxcan::MCR_INRQ;   // Request init
+    {
+        CriticalSectionLocker lock;
+
+        can_->MCR &= ~bxcan::MCR_SLEEP; // Exit sleep mode
+        can_->MCR |= bxcan::MCR_INRQ;   // Request init
+    }
 
     if (!waitMsrINakBitStateChange(true))
     {