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HAL_ChibiOS: flush serial bus during switching to and from SLCAN

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This commit is contained in:
Siddharth Purohit 2019-01-19 13:31:44 +08:00 committed by Andrew Tridgell
parent 664c952460
commit a6b01901f1
1 changed files with 2 additions and 0 deletions
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2
libraries/AP_HAL_ChibiOS/CANSerialRouter.cpp
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@ -77,6 +77,7 @@ void SLCANRouter::timer()
if (AP_HAL::millis() - _last_active_time > (_slcan_rt_timeout * 1000) && _slcan_rt_timeout != 0) { if (AP_HAL::millis() - _last_active_time > (_slcan_rt_timeout * 1000) && _slcan_rt_timeout != 0) {
chSysLock(); chSysLock();
_port->lock_port(0, 0); _port->lock_port(0, 0);
_port->flush();
_thread_suspended = true; _thread_suspended = true;
chSysUnlock(); chSysUnlock();
} }
@ -115,6 +116,7 @@ void SLCANRouter::slcan2can_router_trampoline(void)
_s2c_thd_ref = nullptr; _s2c_thd_ref = nullptr;
if (_thread_suspended) { if (_thread_suspended) {
chThdSuspendS(&_s2c_thd_ref); chThdSuspendS(&_s2c_thd_ref);
_port->flush();
} }
chSysUnlock(); chSysUnlock();
_slcan_if.reader(); _slcan_if.reader();