From 1d8a197a9c286d61b47d0904c0c7352838dc3a91 Mon Sep 17 00:00:00 2001
From: PonomarevDA <ponomarevda96@gmail.com>
Date: Fri, 10 Jan 2025 21:08:42 +0300
Subject: [PATCH] receive multiple frames during spin

---
 src/dronecan.c | 14 +++++++++-----
 1 file changed, 9 insertions(+), 5 deletions(-)

diff --git a/src/dronecan.c b/src/dronecan.c
index 52c5be0..ef978d1 100644
--- a/src/dronecan.c
+++ b/src/dronecan.c
@@ -314,12 +314,16 @@ static uint8_t uavcanProcessSending() {
 
 static bool uavcanProcessReceiving(uint32_t crnt_time_ms) {
     CanardCANFrame rx_frame;
-    int16_t res = canDriverReceive(&rx_frame, CAN_DRIVER_FIRST);
-    if (res) {
-        uint64_t crnt_time_us = crnt_time_ms * 1000;
-        canardHandleRxFrame(&g_canard, &rx_frame, crnt_time_us);
-        return true;
+    for (size_t idx = 0; idx < 10; idx++) {
+        int16_t res = canDriverReceive(&rx_frame, CAN_DRIVER_FIRST);
+        if (res) {
+            uint64_t crnt_time_us = crnt_time_ms * 1000;
+            canardHandleRxFrame(&g_canard, &rx_frame, crnt_time_us);
+        } else {
+            break;
+        }
     }
+
     return false;
 }