From 85ad13334694bf39b4457259adf8e94f7ea48e1d Mon Sep 17 00:00:00 2001
From: Giovanni Di Sirio <gdisirio@gmail.com>
Date: Sat, 21 Mar 2020 08:20:51 +0000
Subject: [PATCH] CANFD fixes.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@13466 27425a3e-05d8-49a3-a47f-9c15f0e5edd8
---
 os/hal/ports/STM32/LLD/FDCANv1/hal_can_lld.c | 4 ++++
 os/hal/ports/STM32/LLD/FDCANv1/hal_can_lld.h | 4 ++++
 2 files changed, 8 insertions(+)

diff --git a/os/hal/ports/STM32/LLD/FDCANv1/hal_can_lld.c b/os/hal/ports/STM32/LLD/FDCANv1/hal_can_lld.c
index 2c75d928a..7d51dc868 100644
--- a/os/hal/ports/STM32/LLD/FDCANv1/hal_can_lld.c
+++ b/os/hal/ports/STM32/LLD/FDCANv1/hal_can_lld.c
@@ -279,6 +279,7 @@ bool can_lld_start(CANDriver *canp) {
   canp->fdcan->CCCR |= FDCAN_CCCR_CCE;
 
   /* Setting up operation mode except driver-controlled bits.*/
+  canp->fdcan->NBTP = canp->config->NBTP;
   canp->fdcan->DBTP = canp->config->DBTP;
   canp->fdcan->CCCR = canp->config->CCCR & ~(FDCAN_CCCR_CSR | FDCAN_CCCR_CSA |
                                              FDCAN_CCCR_CCE | FDCAN_CCCR_INIT);
@@ -387,6 +388,9 @@ void can_lld_transmit(CANDriver *canp,
   for (unsigned i = 0U; i < dlc_to_bytes[ctfp->DLC]; i += 4U) {
     *tx_address++ = ctfp->data32[i / 4U];
   }
+
+  /* Starting transmission.*/
+  canp->fdcan->TXBAR = (uint32_t)1 << (uint32_t)mailbox;
 }
 
 /**
diff --git a/os/hal/ports/STM32/LLD/FDCANv1/hal_can_lld.h b/os/hal/ports/STM32/LLD/FDCANv1/hal_can_lld.h
index eb02c344e..3f7c10a1b 100644
--- a/os/hal/ports/STM32/LLD/FDCANv1/hal_can_lld.h
+++ b/os/hal/ports/STM32/LLD/FDCANv1/hal_can_lld.h
@@ -304,6 +304,10 @@ typedef struct {
  * @brief   Driver configuration structure.
  */
 typedef struct {
+  /**
+   * @brief   Nominal bit timing and prescaler register.
+   */
+  uint32_t                  NBTP;
   /**
    * @brief   Data bit timing and prescaler register.
    */