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HAL_ChibiOS: during setup() we expect delays

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this may fix occasional internal errors on SPI during startup
This commit is contained in:
Andrew Tridgell 2020-04-26 18:07:39 +10:00
parent ebc6272865
commit 2200dfefdb
1 changed files with 4 additions and 0 deletions
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4
libraries/AP_HAL_ChibiOS/Scheduler.cpp
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@ -333,6 +333,10 @@ void Scheduler::_timer_thread(void *arg)
*/ */
bool Scheduler::in_expected_delay(void) const bool Scheduler::in_expected_delay(void) const
{ {
if (!_initialized) {
// until setup() is complete we expect delays
return true;
}
if (expect_delay_start != 0) { if (expect_delay_start != 0) {
uint32_t now = AP_HAL::millis(); uint32_t now = AP_HAL::millis();
if (now - expect_delay_start <= expect_delay_length) { if (now - expect_delay_start <= expect_delay_length) {