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HAL_ChibiOS: removed wait on CAN peripheral in H7

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these wait busy loops can take a very long time, and end up causing
interrupts to be lost elsewhere in the system, causing lost bytes on
UARTs

We should not have while loops waiting on peripharals like this. If we
do need to wait for a flag to clear then it needs to be done in a low
priority thread, or we need to check for completion in a timer

CAN still seems to work with this change, but needs flight testing
This commit is contained in:
Andrew Tridgell 2019-09-29 20:12:34 +10:00
parent d017a9a60d
commit 0ec6210184
1 changed files with 0 additions and 4 deletions
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4
libraries/AP_HAL_ChibiOS/CANFDIface.cpp
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@ -721,8 +721,6 @@ void CanIface::pollErrorFlagsFromISR()
if (((1 << pending_tx_[i].index) & can_->TXBRP)) {
can_->TXBCR = 1 << pending_tx_[i].index; // Goodnight sweet transmission
error_cnt_++;
//Wait for Cancelation to finish
while (!(can_->TXBCF & (1 << pending_tx_[i].index))) {}
served_aborts_cnt_++;
}
}
@ -736,8 +734,6 @@ void CanIface::discardTimedOutTxMailboxes(uavcan::MonotonicTime current_time)
if (((1 << pending_tx_[i].index) & can_->TXBRP) && pending_tx_[i].deadline < current_time) {
can_->TXBCR = 1 << pending_tx_[i].index; // Goodnight sweet transmission
error_cnt_++;
//Wait for Cancelation to finish
while (!(can_->TXBCF & (1 << pending_tx_[i].index))) {}
}
}
}