Match CAN config with CAN network settings (500 Kbaud) - Githubissues

Dartmouth-Formula-Racing / DFR_CVC_2019

Dartmouth Formula Racing Central Vehicle Controller Codebase

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Match CAN config with CAN network settings (500 Kbaud) #11

Closed alexnewman23 closed 5 years ago

leina05 commented 5 years ago

Fixed, CAN settings configured properly and we are able to snoop vehicle CAN bus. Required fixing system clock configuration, PLLM set to 25 but needed to be 8 (to match frequency of external crystal).

CAN baud rate calculation:

CAN runs on APB1, with a divider of 4. So CAN clock frequency = 216 MHz / 4 = 54 MHz.
CAN baud rate = (Fclk / prescaler) / (1 + BTS_1 + BTS_2)

where (1 + BTS_1 + BTS_2) is the number of time quantiles.