From c11a6030d39bc796a47bbe95b4f7fbdf2f8fe085 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 1 Nov 2019 21:15:34 +1100
Subject: [PATCH] HAL_ChibiOS: fixed SPI timeout bug

thanks to CUAV for noticing
---
 libraries/AP_HAL_ChibiOS/SPIDevice.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_HAL_ChibiOS/SPIDevice.cpp b/libraries/AP_HAL_ChibiOS/SPIDevice.cpp
index 1404078be7..e3b3b27c77 100644
--- a/libraries/AP_HAL_ChibiOS/SPIDevice.cpp
+++ b/libraries/AP_HAL_ChibiOS/SPIDevice.cpp
@@ -200,7 +200,7 @@ bool SPIDevice::do_transfer(const uint8_t *send, uint8_t *recv, uint32_t len)
     // expect this timeout to trigger unless there is a severe MCU
     // error
     const uint32_t timeout_us = 20000U + len * 32U;
-    msg_t msg = osalThreadSuspendTimeoutS(&spi_devices[device_desc.bus].driver->thread, TIME_MS2I(timeout_us));
+    msg_t msg = osalThreadSuspendTimeoutS(&spi_devices[device_desc.bus].driver->thread, TIME_US2I(timeout_us));
     osalSysUnlock();
     if (msg == MSG_TIMEOUT) {
         ret = false;