mirror of https://github.com/ArduPilot/ardupilot
HAL_ChibiOS: fixed SPI timeout bug
thanks to CUAV for noticing
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@ -200,7 +200,7 @@ bool SPIDevice::do_transfer(const uint8_t *send, uint8_t *recv, uint32_t len)
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// expect this timeout to trigger unless there is a severe MCU
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// error
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const uint32_t timeout_us = 20000U + len * 32U;
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msg_t msg = osalThreadSuspendTimeoutS(&spi_devices[device_desc.bus].driver->thread, TIME_MS2I(timeout_us));
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msg_t msg = osalThreadSuspendTimeoutS(&spi_devices[device_desc.bus].driver->thread, TIME_US2I(timeout_us));
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osalSysUnlock();
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if (msg == MSG_TIMEOUT) {
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ret = false;
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