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STM32 driver: CAN timing docs

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Pavel Kirienko 2015-08-13 01:55:27 +03:00
parent e5efb2bb62
commit c2fec7be38
1 changed files with 6 additions and 0 deletions
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6
libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
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@ -298,6 +298,12 @@ int CanIface::computeTimings(const uavcan::uint32_t target_bitrate, Timings& out
/*
* Final validation
* Helpful Python:
* def sample_point_from_btr(x):
* assert 0b0011110010000000111111000000000 & x == 0
* ts2,ts1,brp = (BTR>>20)&7, (BTR>>16)&15, BTR&511
* return (1+ts1+1)/(1+ts1+1+ts2+1)
*
*/
if ((target_bitrate != (pclk / (prescaler * (1 + solution.bs1 + solution.bs2)))) || !solution.isValid())
{