receive multiple frames during spin

PonomarevDA · Jan 10, 2025 · 22910e3 · 22910e3
1 parent 7b4103c
commit 22910e3
Showing 1 changed file with 10 additions and 5 deletions.
diff --git a/src/dronecan.c b/src/dronecan.c
@@ -314,12 +314,17 @@ 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;
 }