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This commit is contained in:
rusefi 2018-10-16 21:31:48 -04:00
parent c392ba8844
commit 2c7b7934ed
1 changed files with 13 additions and 9 deletions
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22
firmware/hw_layer/can_hw.cpp
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@ -14,11 +14,6 @@
#include "string.h"
#include "obd2.h"
#if EFI_PROD_CODE || defined(__DOXYGEN__)
#endif /* EFI_PROD_CODE */
#if EFI_CAN_SUPPORT || defined(__DOXYGEN__)
#include "pin_repository.h"
@ -49,10 +44,19 @@ static THD_WORKING_AREA(canTreadStack, UTILITY_THREAD_STACK_SIZE);
* 29 bit would be CAN_TI0R_EXID (?) but we do not mention it here
* CAN_TI0R_STID "Standard Identifier or Extended Identifier"? not mentioned as well
*/
static const CANConfig canConfig = {
static const CANConfig canConfig500 = {
CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
CAN_BTR_SJW(0) | CAN_BTR_TS2(1) | CAN_BTR_TS1(8) | CAN_BTR_BRP(6) };
/*
* speed = 42000000 / (BRP + 1) / (1 + TS1 + 1 + TS2 + 1)
* 42000000 / 7 / 6 = 1000000
*
*/
static const CANConfig canConfig1000 = {
CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
CAN_BTR_SJW(0) | CAN_BTR_TS2(1) | CAN_BTR_TS1(2) | CAN_BTR_BRP(6) };
static CANRxFrame rxBuffer;
CANTxFrame txmsg;
@ -315,10 +319,10 @@ void initCan(void) {
#if STM32_CAN_USE_CAN2 || defined(__DOXYGEN__)
// CAN1 is required for CAN2
canStart(&CAND1, &canConfig);
canStart(&CAND2, &canConfig);
canStart(&CAND1, &canConfig500);
canStart(&CAND2, &canConfig500);
#else
canStart(&CAND1, &canConfig);
canStart(&CAND1, &canConfig500);
#endif /* STM32_CAN_USE_CAN2 */
chThdCreateStatic(canTreadStack, sizeof(canTreadStack), NORMALPRIO, (tfunc_t) canThread, NULL);