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stm32/pyb_can: Handle timeout arg for FDCAN in pyb_can_send.

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Following the documented pyb can_send behavior in pyb.CAN docs.
This commit is contained in:
iabdalkader 2020-06-30 23:13:57 +02:00 committed by Damien George
parent d07073f4e2
commit c299cc94e3
1 changed files with 14 additions and 0 deletions
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14
ports/stm32/pyb_can.c
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@ -432,6 +432,20 @@ STATIC mp_obj_t pyb_can_send(size_t n_args, const mp_obj_t *pos_args, mp_map_t *
HAL_StatusTypeDef status;
#if MICROPY_HW_ENABLE_FDCAN
uint32_t timeout_ms = args[ARG_timeout].u_int;
uint32_t start = HAL_GetTick();
while (HAL_FDCAN_GetTxFifoFreeLevel(&self->can) == 0) {
if (timeout_ms == 0) {
mp_raise_OSError(MP_ETIMEDOUT);
}
// Check for the Timeout
if (timeout_ms != HAL_MAX_DELAY) {
if (HAL_GetTick() - start >= timeout_ms) {
mp_raise_OSError(MP_ETIMEDOUT);
}
}
MICROPY_EVENT_POLL_HOOK
}
status = HAL_FDCAN_AddMessageToTxFifoQ(&self->can, &tx_msg, tx_data);
#else
self->can.pTxMsg = &tx_msg;