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HAL_ChibiOS: use chSysLock for CAN critical section

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this avoids an assert in some code paths that combine with hrt
functions
This commit is contained in:
Andrew Tridgell 2023-12-30 08:52:44 +11:00
parent a52c71f380
commit c2011570f7
2 changed files with 4 additions and 4 deletions
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4
libraries/AP_HAL_ChibiOS/CANFDIface.h
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@ -73,11 +73,11 @@ class ChibiOS::CANIface : public AP_HAL::CANIface
struct CriticalSectionLocker { struct CriticalSectionLocker {
CriticalSectionLocker() CriticalSectionLocker()
{ {
chSysSuspend(); chSysLock();
} }
~CriticalSectionLocker() ~CriticalSectionLocker()
{ {
chSysEnable(); chSysUnlock();
} }
}; };

4
libraries/AP_HAL_ChibiOS/CANIface.h
View File

@ -69,11 +69,11 @@ class ChibiOS::CANIface : public AP_HAL::CANIface
struct CriticalSectionLocker { struct CriticalSectionLocker {
CriticalSectionLocker() CriticalSectionLocker()
{ {
chSysSuspend(); chSysLock();
} }
~CriticalSectionLocker() ~CriticalSectionLocker()
{ {
chSysEnable(); chSysUnlock();
} }
}; };