I have a nucleo h743 that bridges between several G4 boards and a PC. connection between the G4 and the H7 is CAN-FD. connection to the PC is USB-CDC.
after a while the connection fails - the sw hangs waiting for the semaphore in _ux_dcd_stm32_transfer_request(...)
I tried to relax the sending - sending a message once in 4 millisec, but to no avail.
when loading the CAN interface, the disconnection is much faster.
