From 353eca79b6075ccb349d8a8be928e3f31fd6f334 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 14 Mar 2021 16:39:05 +1100
Subject: [PATCH] HAL_ChibiOS: fixed 32/64 micros bug in CAN select()

---
 libraries/AP_HAL_ChibiOS/CANFDIface.cpp | 4 ++--
 libraries/AP_HAL_ChibiOS/CanIface.cpp   | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/CANFDIface.cpp b/libraries/AP_HAL_ChibiOS/CANFDIface.cpp
index 1e8121214a..b812e85e2c 100644
--- a/libraries/AP_HAL_ChibiOS/CANFDIface.cpp
+++ b/libraries/AP_HAL_ChibiOS/CANFDIface.cpp
@@ -994,7 +994,7 @@ bool CANIface::select(bool &read, bool &write,
 {
     const bool in_read = read;
     const bool in_write= write;
-    uint64_t time = AP_HAL::micros();
+    uint64_t time = AP_HAL::micros64();
 
     if (!read && !write) {
         //invalid request
@@ -1018,7 +1018,7 @@ bool CANIface::select(bool &read, bool &write,
         if ((read && in_read) || (write && in_write)) {
             return true;
         }
-        time = AP_HAL::micros();
+        time = AP_HAL::micros64();
     }
     return false;
 }
diff --git a/libraries/AP_HAL_ChibiOS/CanIface.cpp b/libraries/AP_HAL_ChibiOS/CanIface.cpp
index 0c2a666bac..50d4485992 100644
--- a/libraries/AP_HAL_ChibiOS/CanIface.cpp
+++ b/libraries/AP_HAL_ChibiOS/CanIface.cpp
@@ -711,7 +711,7 @@ bool CANIface::select(bool &read, bool &write,
 {
     const bool in_read = read;
     const bool in_write= write;
-    uint64_t time = AP_HAL::micros();
+    uint64_t time = AP_HAL::micros64();
 
     if (!read && !write) {
         //invalid request
@@ -737,7 +737,7 @@ bool CANIface::select(bool &read, bool &write,
         if ((read && in_read) || (write && in_write)) {
             return true;
         }
-        time = AP_HAL::micros();
+        time = AP_HAL::micros64();
     }
 #endif // #if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)
     return true;