From 00cc305d02e6dae5abbfc9f2d8f334f6b12fe76b Mon Sep 17 00:00:00 2001
From: Matthew Kennedy <matthewkennedy@outlook.com>
Date: Wed, 15 Mar 2023 18:07:31 -0700
Subject: [PATCH] GetCanConfig

---
 firmware/boards/f0_module/bootloader/bootloader.cpp | 2 +-
 firmware/boards/f0_module/port_shared.cpp           | 6 +++++-
 firmware/boards/f1_dual/port_shared.cpp             | 6 +++++-
 firmware/boards/f1_rev2/port_shared.cpp             | 6 +++++-
 firmware/boards/f1_rev3/port_shared.cpp             | 6 +++++-
 firmware/boards/port_shared.h                       | 2 +-
 firmware/can.cpp                                    | 2 +-
 7 files changed, 23 insertions(+), 7 deletions(-)

diff --git a/firmware/boards/f0_module/bootloader/bootloader.cpp b/firmware/boards/f0_module/bootloader/bootloader.cpp
index 47c933c..a507a42 100644
--- a/firmware/boards/f0_module/bootloader/bootloader.cpp
+++ b/firmware/boards/f0_module/bootloader/bootloader.cpp
@@ -222,7 +222,7 @@ THD_FUNCTION(BootloaderThread, arg)
     (void)arg;
 
     // turn on CAN
-    canStart(&CAND1, &canConfig500);
+    canStart(&CAND1, &GetCanConfig());
 
     WaitForBootloaderCmd();
 
diff --git a/firmware/boards/f0_module/port_shared.cpp b/firmware/boards/f0_module/port_shared.cpp
index 5fa0e8a..702da38 100644
--- a/firmware/boards/f0_module/port_shared.cpp
+++ b/firmware/boards/f0_module/port_shared.cpp
@@ -2,7 +2,7 @@
 
 // board-specific stuff shared between bootloader and firmware
 
-const CANConfig canConfig500 =
+static const CANConfig canConfig500 =
 {
     CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
     /*
@@ -10,3 +10,7 @@ const CANConfig canConfig500 =
     */
     CAN_BTR_SJW(0) | CAN_BTR_BRP(5)  | CAN_BTR_TS1(12) | CAN_BTR_TS2(1),
 };
+
+const CANConfig& GetCanConfig() {
+    return canConfig500;
+}
diff --git a/firmware/boards/f1_dual/port_shared.cpp b/firmware/boards/f1_dual/port_shared.cpp
index ad7927d..8647809 100644
--- a/firmware/boards/f1_dual/port_shared.cpp
+++ b/firmware/boards/f1_dual/port_shared.cpp
@@ -2,7 +2,7 @@
 
 // board-specific stuff shared between bootloader and firmware
 
-const CANConfig canConfig500 =
+static const CANConfig canConfig500 =
 {
     CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
     /*
@@ -10,3 +10,7 @@ const CANConfig canConfig500 =
     */
     CAN_BTR_SJW(0) | CAN_BTR_BRP(2)  | CAN_BTR_TS1(12) | CAN_BTR_TS2(1),
 };
+
+const CANConfig& GetCanConfig() {
+    return canConfig500;
+}
diff --git a/firmware/boards/f1_rev2/port_shared.cpp b/firmware/boards/f1_rev2/port_shared.cpp
index 3e2cbff..e8b98d1 100644
--- a/firmware/boards/f1_rev2/port_shared.cpp
+++ b/firmware/boards/f1_rev2/port_shared.cpp
@@ -2,7 +2,7 @@
 
 // board-specific stuff shared between bootloader and firmware
 
-const CANConfig canConfig500 =
+static const CANConfig canConfig500 =
 {
     CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
     /*
@@ -10,3 +10,7 @@ const CANConfig canConfig500 =
     */
     CAN_BTR_SJW(0) | CAN_BTR_BRP(4 - 1)  | CAN_BTR_TS1(13 - 1) | CAN_BTR_TS2(2 - 1),
 };
+
+const CANConfig& GetCanConfig() {
+    return canConfig500;
+}
diff --git a/firmware/boards/f1_rev3/port_shared.cpp b/firmware/boards/f1_rev3/port_shared.cpp
index ad7927d..8647809 100644
--- a/firmware/boards/f1_rev3/port_shared.cpp
+++ b/firmware/boards/f1_rev3/port_shared.cpp
@@ -2,7 +2,7 @@
 
 // board-specific stuff shared between bootloader and firmware
 
-const CANConfig canConfig500 =
+static const CANConfig canConfig500 =
 {
     CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
     /*
@@ -10,3 +10,7 @@ const CANConfig canConfig500 =
     */
     CAN_BTR_SJW(0) | CAN_BTR_BRP(2)  | CAN_BTR_TS1(12) | CAN_BTR_TS2(1),
 };
+
+const CANConfig& GetCanConfig() {
+    return canConfig500;
+}
diff --git a/firmware/boards/port_shared.h b/firmware/boards/port_shared.h
index e04aa74..19c16f0 100644
--- a/firmware/boards/port_shared.h
+++ b/firmware/boards/port_shared.h
@@ -1,4 +1,4 @@
 #include "ch.h"
 #include "hal.h"
 
-extern const CANConfig canConfig500;
\ No newline at end of file
+const CANConfig& GetCanConfig();
diff --git a/firmware/can.cpp b/firmware/can.cpp
index 815addc..184ff33 100644
--- a/firmware/can.cpp
+++ b/firmware/can.cpp
@@ -128,7 +128,7 @@ void InitCan()
 {
     configuration = GetConfiguration();
 
-    canStart(&CAND1, &canConfig500);
+    canStart(&CAND1, &GetCanConfig());
     chThdCreateStatic(waCanTxThread, sizeof(waCanTxThread), NORMALPRIO, CanTxThread, nullptr);
     chThdCreateStatic(waCanRxThread, sizeof(waCanRxThread), NORMALPRIO - 4, CanRxThread, nullptr);
 }