stm32/pyb_can: Handle timeout arg for FDCAN in pyb_can_send.
Following the documented pyb can_send behavior in pyb.CAN docs.
@@ -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;
