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add autoretransmit disable option #3

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add autoretransmit disable option #3

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4 changes: 3 additions & 1 deletion st-f4can/include/can.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -74,9 +74,11 @@ extern void CANSetFilter(uint8_t index, uint8_t scale, uint8_t mode, uint8_t fif
* =2: CAN2_RX mapped to PB12, CAN2_TX mapped to PB13
*
* =3: CAN2_RX mapped to PB12, CAN2_TX mapped to PB13
*
* @param automaticRetransmission - allow automatic retransmission to be disabled
*
*/
extern bool CANInit(BITRATE bitrate, int _CAN1, int _CAN2);
extern bool CANInit(BITRATE bitrate, int _CAN1, int _CAN2, bool automaticRetransmission = true);

/**
* Decodes CAN messages from the data registers and populates a
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16 changes: 9 additions & 7 deletions st-f4can/src/can.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -103,7 +103,7 @@ void CANSetFilter(uint8_t index, uint8_t scale, uint8_t mode, uint8_t fifo, uint
}


bool CANInit(BITRATE bitrate, int _CAN1, int _CAN2)
bool CANInit(BITRATE bitrate, int _CAN1, int _CAN2, bool automaticRetransmission)
{
// Reference manual
// https://www.st.com/content/ccc/resource/technical/document/reference_manual/4d/ed/bc/89/b5/70/40/dc/DM00135183.pdf/files/DM00135183.pdf/jcr:content/translations/en.DM00135183.pdf
Expand Down Expand Up @@ -157,12 +157,14 @@ bool CANInit(BITRATE bitrate, int _CAN1, int _CAN2)
CAN2->MCR |= 0x1UL; // Require CAN2 to Initialization mode
while (!(CAN2->MSR & 0x1UL)); // Wait for Initialization mode
//printRegister("CAN2->MCR=", CAN2->MCR);

//CAN1->MCR = 0x51UL; // Hardware initialization(No automatic retransmission)
CAN1->MCR = 0x41UL; // Hardware initialization(With automatic retransmission)

//CAN2->MCR = 0x51UL; // Hardware initialization(No automatic retransmission)
CAN2->MCR = 0x41UL; // Hardware initialization(With automatic retransmission)
if(automaticRetransmission){
CAN1->MCR = 0x41UL; // Hardware initialization(With automatic retransmission)
CAN2->MCR = 0x41UL; // Hardware initialization(With automatic retransmission)
}
else{
CAN1->MCR = 0x51UL; // Hardware initialization(No automatic retransmission)
CAN2->MCR = 0x51UL; // Hardware initialization(No automatic retransmission)
}


// Set bit rates
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