From fca62242ba936e2ba1ac3258b2df497990dd533b Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Thu, 19 Apr 2018 15:24:26 +0300
Subject: [PATCH] ChbiOS 18 support

---
 libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp    | 4 ++++
 libuavcan_drivers/stm32/driver/src/uc_stm32_thread.cpp | 4 +++-
 2 files changed, 7 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 5bb5cf199d..1a8d48184a 100644
--- a/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
+++ b/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
@@ -551,7 +551,11 @@ bool CanIface::waitMsrINakBitStateChange(bool target_state)
         ::usleep(1000);
 #endif
 #if UAVCAN_STM32_CHIBIOS
+#ifdef MS2ST
         ::chThdSleep(MS2ST(1));
+#else
+        ::chThdSleep(TIME_MS2I(1));
+#endif
 #endif
 #if UAVCAN_STM32_FREERTOS
         ::osDelay(1);
diff --git a/libuavcan_drivers/stm32/driver/src/uc_stm32_thread.cpp b/libuavcan_drivers/stm32/driver/src/uc_stm32_thread.cpp
index 0c91c4e6a1..04a569ebc7 100644
--- a/libuavcan_drivers/stm32/driver/src/uc_stm32_thread.cpp
+++ b/libuavcan_drivers/stm32/driver/src/uc_stm32_thread.cpp
@@ -34,8 +34,10 @@ bool BusEvent::wait(uavcan::MonotonicDuration duration)
     {
 # if (CH_KERNEL_MAJOR == 2)
         ret = sem_.waitTimeout((msec > MaxDelayMSec) ? MS2ST(MaxDelayMSec) : MS2ST(msec));
-# else // ChibiOS 3+
+# elif defined(MS2ST) // ChibiOS 3+
         ret = sem_.wait((msec > MaxDelayMSec) ? MS2ST(MaxDelayMSec) : MS2ST(msec));
+# else // ChibiOS 17+
+        ret = sem_.wait(::systime_t((msec > MaxDelayMSec) ? TIME_MS2I(MaxDelayMSec) : TIME_MS2I(msec)));
 # endif
     }
 # if (CH_KERNEL_MAJOR == 2)