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Andrew Tridgell
52169f25da
this replaces the two booleans used to mediate TX and RX buffer protection with mutexes. The booleans were a hangover from the very early HAL_ChibiOS code, and can lead to a deadlock. The sequence is as follows: - a very high CAN bus bandwidth usage, triggered by MissionPlanner requesting CAN_FORWARD on a CAN serial port. That causes a "infinite" number of CAN_FRAME messages which saturates the bus, and leads to the DroneCAN thread looping with no pause - a serial port configured as GPS type AUTO, auto-probing for a GPS that isn't there. This calls begin() periodically - the UART TX thread assocated with that UART not making progress as the TX thread priority is below the DroneCAN thread priority - this causes the begin() in main thread waiting for _in_tx_timer to loop forever, which triggers a watchdog