mirror of https://github.com/ArduPilot/ardupilot
HAL_ChibiOS: CANSerialRouter unlock the port in timer
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@ -76,6 +76,7 @@ void SLCANRouter::timer()
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}
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if (AP_HAL::millis() - _last_active_time > (_slcan_rt_timeout * 1000) && _slcan_rt_timeout != 0) {
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chSysLock();
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_port->lock_port(0, 0);
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_thread_suspended = true;
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chSysUnlock();
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}
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@ -113,7 +114,6 @@ void SLCANRouter::slcan2can_router_trampoline(void)
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chSysLock();
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_s2c_thd_ref = nullptr;
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if (_thread_suspended) {
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_port->lock_port(0, 0);
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chThdSuspendS(&_s2c_thd_ref);
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}
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chSysUnlock();
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@ -134,7 +134,6 @@ void SLCANRouter::can2slcan_router_trampoline(void)
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chSysLock();
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_c2s_thd_ref = nullptr;
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if (_thread_suspended) {
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_port->lock_port(0, 0);
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chThdSuspendS(&_c2s_thd_ref);
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}
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chSysUnlock();
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