From c2011570f742ad8d47b523afaa4e04231bd54885 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 30 Dec 2023 08:52:44 +1100
Subject: [PATCH] HAL_ChibiOS: use chSysLock for CAN critical section

this avoids an assert in some code paths that combine with hrt
functions
---
 libraries/AP_HAL_ChibiOS/CANFDIface.h | 4 ++--
 libraries/AP_HAL_ChibiOS/CANIface.h   | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/CANFDIface.h b/libraries/AP_HAL_ChibiOS/CANFDIface.h
index 9b21444161..81815fdaa0 100644
--- a/libraries/AP_HAL_ChibiOS/CANFDIface.h
+++ b/libraries/AP_HAL_ChibiOS/CANFDIface.h
@@ -73,11 +73,11 @@ class ChibiOS::CANIface : public AP_HAL::CANIface
     struct CriticalSectionLocker {
         CriticalSectionLocker()
         {
-            chSysSuspend();
+            chSysLock();
         }
         ~CriticalSectionLocker()
         {
-            chSysEnable();
+            chSysUnlock();
         }
     };
 
diff --git a/libraries/AP_HAL_ChibiOS/CANIface.h b/libraries/AP_HAL_ChibiOS/CANIface.h
index 47809fa79b..b85ed4e538 100644
--- a/libraries/AP_HAL_ChibiOS/CANIface.h
+++ b/libraries/AP_HAL_ChibiOS/CANIface.h
@@ -69,11 +69,11 @@ class ChibiOS::CANIface : public AP_HAL::CANIface
     struct CriticalSectionLocker {
         CriticalSectionLocker()
         {
-            chSysSuspend();
+            chSysLock();
         }
         ~CriticalSectionLocker()
         {
-            chSysEnable();
+            chSysUnlock();
         }
     };