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AP_Periph: use a longer loop delay on non-H7

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the short delay broke the F412 based CUAV_GPS
This commit is contained in:
Andrew Tridgell 2021-09-02 20:27:09 +10:00
parent b9d62e7ff2
commit 6e33910c25
1 changed files with 10 additions and 1 deletions
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11
Tools/AP_Periph/can.cpp
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@ -82,6 +82,15 @@ extern AP_Periph_FW periph;
#define HAL_CAN_POOL_SIZE 4000
#endif
#ifndef HAL_PERIPH_LOOP_DELAY_US
// delay between can loop updates. This needs to be longer on F4
#if defined(STM32H7)
#define HAL_PERIPH_LOOP_DELAY_US 64
#else
#define HAL_PERIPH_LOOP_DELAY_US 512
#endif
#endif
#define DEBUG_PRINTS 0
#define DEBUG_PKTS 0
#if DEBUG_PRINTS
@ -1623,7 +1632,7 @@ void AP_Periph_FW::can_update()
#endif
const uint32_t now_us = AP_HAL::micros();
while ((AP_HAL::micros() - now_us) < 1000) {
hal.scheduler->delay_microseconds(64);
hal.scheduler->delay_microseconds(HAL_PERIPH_LOOP_DELAY_US);
processTx();
processRx();
}