Increased CAN speed on all boards to 1Mbit/s (#1413)

### Changelist 
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you and the reviewer keep this PR within scope. -->

### Testing Done
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solid. This could be unit tests, integration tests, testing on the car,
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### Resolved Tickets
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---------

Co-authored-by: Edwin Z <[email protected]>

can_bus/PcanProject.peproj

@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <PCANExplorerProject Version="6.0" AppVersion="6.7.0" Name="PcanProject">
     <Connections AutoReset="0" IgnoreRTRLength="0" ProcessRTR="1">
-        <Connection Name="Connection1" Bus="1" Enabled="1" Protocol="0" CalcBusLoad="1" SymbolsFileName="quadruna.dbc" BitRate="28" Connection="My Net@pcan_usb"/>
+        <Connection Name="Connection1" Bus="1" Enabled="1" Protocol="0" CalcBusLoad="1" SymbolsFileName="quadruna.dbc" BitRate="32803" Connection="Untitled@pcan_usb"/>
     </Connections>
     <Files>
         <File RelativePath="dbcs\quadruna.dbc" SelectedIDs="ALL"/>

firmware/quadruna/BMS/src/cubemx/BMS.ioc

@@ -57,13 +57,14 @@ Dma.ADC1.0.SyncSignalID=NONE
 Dma.Request0=ADC1
 Dma.RequestsNb=1
 FDCAN1.AutoRetransmission=ENABLE
-FDCAN1.CalculateBaudRateNominal=500000
-FDCAN1.CalculateTimeBitNominal=2000
-FDCAN1.CalculateTimeQuantumNominal=125.0
-FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,AutoRetransmission,NominalSyncJumpWidth,StdFiltersNbr,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalTimeSeg1,NominalPrescaler
-FDCAN1.NominalPrescaler=16
-FDCAN1.NominalSyncJumpWidth=4
-FDCAN1.NominalTimeSeg1=13
+FDCAN1.CalculateBaudRateNominal=1000000
+FDCAN1.CalculateTimeBitNominal=1000
+FDCAN1.CalculateTimeQuantumNominal=62.5
+FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,AutoRetransmission,NominalSyncJumpWidth,StdFiltersNbr,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalTimeSeg1,NominalPrescaler,NominalTimeSeg2
+FDCAN1.NominalPrescaler=6
+FDCAN1.NominalSyncJumpWidth=3
+FDCAN1.NominalTimeSeg1=12
+FDCAN1.NominalTimeSeg2=3
 FDCAN1.RxFifo0ElmtsNbr=1
 FDCAN1.StdFiltersNbr=1
 FDCAN1.TxFifoQueueElmtsNbr=1
@@ -441,7 +442,8 @@ RCC.DIVQ3Freq_Value=16125000
 RCC.DIVR1Freq_Value=256000000
 RCC.DIVR2Freq_Value=96000000
 RCC.DIVR3Freq_Value=16125000
-RCC.FDCANFreq_Value=128000000
+RCC.FDCANCLockSelection=RCC_FDCANCLKSOURCE_PLL2
+RCC.FDCANFreq_Value=96000000
 RCC.FMCFreq_Value=256000000
 RCC.FamilyName=M
 RCC.HCLK3ClockFreq_Value=256000000
@@ -450,7 +452,7 @@ RCC.HPRE=RCC_HCLK_DIV2
 RCC.HSE_VALUE=8000000
 RCC.I2C123Freq_Value=128000000
 RCC.I2C4Freq_Value=128000000
-RCC.IPParameters=ADCFreq_Value,AHB12Freq_Value,AHB4Freq_Value,APB1Freq_Value,APB2Freq_Value,APB3Freq_Value,APB4Freq_Value,AXIClockFreq_Value,CECFreq_Value,CKPERFreq_Value,CortexFreq_Value,CpuClockFreq_Value,D1CPREFreq_Value,D1PPRE,D2PPRE1,D2PPRE2,D3PPRE,DFSDMACLkFreq_Value,DFSDMFreq_Value,DIVM1,DIVM2,DIVN1,DIVN2,DIVP1,DIVP1Freq_Value,DIVP2Freq_Value,DIVP3Freq_Value,DIVQ1,DIVQ1Freq_Value,DIVQ2Freq_Value,DIVQ3Freq_Value,DIVR1Freq_Value,DIVR2Freq_Value,DIVR3Freq_Value,FDCANFreq_Value,FMCFreq_Value,FamilyName,HCLK3ClockFreq_Value,HCLKFreq_Value,HPRE,HSE_VALUE,I2C123Freq_Value,I2C4Freq_Value,LPTIM1Freq_Value,LPTIM2Freq_Value,LPTIM345Freq_Value,LPUART1Freq_Value,LTDCFreq_Value,MCO1PinFreq_Value,MCO2PinFreq_Value,PLL2FRACN,PLL3FRACN,PLLFRACN,PLLSourceVirtual,PWR_Regulator_Voltage_Scale,QSPIFreq_Value,RNGFreq_Value,RTCFreq_Value,SAI1Freq_Value,SAI4AFreq_Value,SAI4BFreq_Value,SDMMCFreq_Value,SPDIFRXFreq_Value,SPI123CLockSelection,SPI123Freq_Value,SPI45Freq_Value,SPI6Freq_Value,SWPMI1Freq_Value,SYSCLKFreq_VALUE,SYSCLKSource,Tim1OutputFreq_Value,Tim2OutputFreq_Value,TraceFreq_Value,USART16Freq_Value,USART234578Freq_Value,USBFreq_Value,VCO1OutputFreq_Value,VCO2OutputFreq_Value,VCO3OutputFreq_Value,VCOInput1Freq_Value,VCOInput2Freq_Value,VCOInput3Freq_Value
+RCC.IPParameters=ADCFreq_Value,AHB12Freq_Value,AHB4Freq_Value,APB1Freq_Value,APB2Freq_Value,APB3Freq_Value,APB4Freq_Value,AXIClockFreq_Value,CECFreq_Value,CKPERFreq_Value,CortexFreq_Value,CpuClockFreq_Value,D1CPREFreq_Value,D1PPRE,D2PPRE1,D2PPRE2,D3PPRE,DFSDMACLkFreq_Value,DFSDMFreq_Value,DIVM1,DIVM2,DIVN1,DIVN2,DIVP1,DIVP1Freq_Value,DIVP2Freq_Value,DIVP3Freq_Value,DIVQ1,DIVQ1Freq_Value,DIVQ2Freq_Value,DIVQ3Freq_Value,DIVR1Freq_Value,DIVR2Freq_Value,DIVR3Freq_Value,FDCANCLockSelection,FDCANFreq_Value,FMCFreq_Value,FamilyName,HCLK3ClockFreq_Value,HCLKFreq_Value,HPRE,HSE_VALUE,I2C123Freq_Value,I2C4Freq_Value,LPTIM1Freq_Value,LPTIM2Freq_Value,LPTIM345Freq_Value,LPUART1Freq_Value,LTDCFreq_Value,MCO1PinFreq_Value,MCO2PinFreq_Value,PLL2FRACN,PLL3FRACN,PLLFRACN,PLLSourceVirtual,PWR_Regulator_Voltage_Scale,QSPIFreq_Value,RNGFreq_Value,RTCFreq_Value,SAI1Freq_Value,SAI4AFreq_Value,SAI4BFreq_Value,SDMMCFreq_Value,SPDIFRXFreq_Value,SPI123CLockSelection,SPI123Freq_Value,SPI45Freq_Value,SPI6Freq_Value,SWPMI1Freq_Value,SYSCLKFreq_VALUE,SYSCLKSource,Tim1OutputFreq_Value,Tim2OutputFreq_Value,TraceFreq_Value,USART16Freq_Value,USART234578Freq_Value,USBFreq_Value,VCO1OutputFreq_Value,VCO2OutputFreq_Value,VCO3OutputFreq_Value,VCOInput1Freq_Value,VCOInput2Freq_Value,VCOInput3Freq_Value
 RCC.LPTIM1Freq_Value=128000000
 RCC.LPTIM2Freq_Value=128000000
 RCC.LPTIM345Freq_Value=128000000

firmware/quadruna/BMS/src/cubemx/BMS.ioc.md5

@@ -1 +1 @@
-b0a5ba8fcc46cb0bb8846b7353b0c5d9
+75218909f93a93c4c3a86f977999c2cf

firmware/quadruna/BMS/src/cubemx/Src/main.c

@@ -142,6 +142,7 @@ bool sd_inited;
 
 /* Private function prototypes -----------------------------------------------*/
 void        SystemClock_Config(void);
+void        PeriphCommonClock_Config(void);
 static void MX_GPIO_Init(void);
 static void MX_DMA_Init(void);
 static void MX_FDCAN1_Init(void);
@@ -189,6 +190,9 @@ int main(void)
     /* Configure the system clock */
     SystemClock_Config();
 
+    /* Configure the peripherals common clocks */
+    PeriphCommonClock_Config();
+
     /* USER CODE BEGIN SysInit */
     /* USER CODE END SysInit */
 
@@ -327,6 +331,33 @@ void SystemClock_Config(void)
     }
 }
 
+/**
+ * @brief Peripherals Common Clock Configuration
+ * @retval None
+ */
+void PeriphCommonClock_Config(void)
+{
+    RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = { 0 };
+
+    /** Initializes the peripherals clock
+     */
+    PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_SPI2 | RCC_PERIPHCLK_FDCAN;
+    PeriphClkInitStruct.PLL2.PLL2M           = 1;
+    PeriphClkInitStruct.PLL2.PLL2N           = 24;
+    PeriphClkInitStruct.PLL2.PLL2P           = 2;
+    PeriphClkInitStruct.PLL2.PLL2Q           = 2;
+    PeriphClkInitStruct.PLL2.PLL2R           = 2;
+    PeriphClkInitStruct.PLL2.PLL2RGE         = RCC_PLL2VCIRANGE_3;
+    PeriphClkInitStruct.PLL2.PLL2VCOSEL      = RCC_PLL2VCOWIDE;
+    PeriphClkInitStruct.PLL2.PLL2FRACN       = 0;
+    PeriphClkInitStruct.Spi123ClockSelection = RCC_SPI123CLKSOURCE_PLL2;
+    PeriphClkInitStruct.FdcanClockSelection  = RCC_FDCANCLKSOURCE_PLL2;
+    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
+    {
+        Error_Handler();
+    }
+}
+
 /**
  * @brief ADC1 Initialization Function
  * @param None
@@ -479,10 +510,10 @@ static void MX_FDCAN1_Init(void)
     hfdcan1.Init.AutoRetransmission   = ENABLE;
     hfdcan1.Init.TransmitPause        = DISABLE;
     hfdcan1.Init.ProtocolException    = DISABLE;
-    hfdcan1.Init.NominalPrescaler     = 16;
-    hfdcan1.Init.NominalSyncJumpWidth = 4;
-    hfdcan1.Init.NominalTimeSeg1      = 13;
-    hfdcan1.Init.NominalTimeSeg2      = 2;
+    hfdcan1.Init.NominalPrescaler     = 6;
+    hfdcan1.Init.NominalSyncJumpWidth = 3;
+    hfdcan1.Init.NominalTimeSeg1      = 12;
+    hfdcan1.Init.NominalTimeSeg2      = 3;
     hfdcan1.Init.DataPrescaler        = 1;
     hfdcan1.Init.DataSyncJumpWidth    = 1;
     hfdcan1.Init.DataTimeSeg1         = 1;

firmware/quadruna/BMS/src/cubemx/Src/stm32h7xx_hal_msp.c

@@ -227,23 +227,12 @@ void HAL_CRC_MspDeInit(CRC_HandleTypeDef *hcrc)
  */
 void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef *hfdcan)
 {
-    GPIO_InitTypeDef         GPIO_InitStruct     = { 0 };
-    RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = { 0 };
+    GPIO_InitTypeDef GPIO_InitStruct = { 0 };
     if (hfdcan->Instance == FDCAN1)
     {
         /* USER CODE BEGIN FDCAN1_MspInit 0 */
 
         /* USER CODE END FDCAN1_MspInit 0 */
-
-        /** Initializes the peripherals clock
-         */
-        PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_FDCAN;
-        PeriphClkInitStruct.FdcanClockSelection  = RCC_FDCANCLKSOURCE_PLL;
-        if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
-        {
-            Error_Handler();
-        }
-
         /* Peripheral clock enable */
         __HAL_RCC_FDCAN_CLK_ENABLE();
 
@@ -406,31 +395,12 @@ void HAL_SD_MspDeInit(SD_HandleTypeDef *hsd)
  */
 void HAL_SPI_MspInit(SPI_HandleTypeDef *hspi)
 {
-    GPIO_InitTypeDef         GPIO_InitStruct     = { 0 };
-    RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = { 0 };
+    GPIO_InitTypeDef GPIO_InitStruct = { 0 };
     if (hspi->Instance == SPI2)
     {
         /* USER CODE BEGIN SPI2_MspInit 0 */
 
         /* USER CODE END SPI2_MspInit 0 */
-
-        /** Initializes the peripherals clock
-         */
-        PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_SPI2;
-        PeriphClkInitStruct.PLL2.PLL2M           = 1;
-        PeriphClkInitStruct.PLL2.PLL2N           = 24;
-        PeriphClkInitStruct.PLL2.PLL2P           = 2;
-        PeriphClkInitStruct.PLL2.PLL2Q           = 2;
-        PeriphClkInitStruct.PLL2.PLL2R           = 2;
-        PeriphClkInitStruct.PLL2.PLL2RGE         = RCC_PLL2VCIRANGE_3;
-        PeriphClkInitStruct.PLL2.PLL2VCOSEL      = RCC_PLL2VCOWIDE;
-        PeriphClkInitStruct.PLL2.PLL2FRACN       = 0;
-        PeriphClkInitStruct.Spi123ClockSelection = RCC_SPI123CLKSOURCE_PLL2;
-        if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
-        {
-            Error_Handler();
-        }
-
         /* Peripheral clock enable */
         __HAL_RCC_SPI2_CLK_ENABLE();
 

firmware/quadruna/CRIT/src/cubemx/CRIT.ioc

@@ -13,16 +13,16 @@ CAD.formats=[]
 CAD.pinconfig=Project naming
 CAD.provider=
 CAN1.ABOM=ENABLE
-CAN1.BS1=CAN_BS1_13TQ
-CAN1.BS2=CAN_BS2_2TQ
-CAN1.CalculateBaudRate=500000
-CAN1.CalculateTimeBit=2000
-CAN1.CalculateTimeQuantum=125.0
+CAN1.BS1=CAN_BS1_12TQ
+CAN1.BS2=CAN_BS2_3TQ
+CAN1.CalculateBaudRate=1000000
+CAN1.CalculateTimeBit=1000
+CAN1.CalculateTimeQuantum=62.5
 CAN1.IPParameters=CalculateTimeQuantum,CalculateBaudRate,Prescaler,CalculateTimeBit,BS1,SJW,ABOM,NART,RFLM,TXFP,BS2
 CAN1.NART=ENABLE
-CAN1.Prescaler=6
+CAN1.Prescaler=3
 CAN1.RFLM=ENABLE
-CAN1.SJW=CAN_SJW_4TQ
+CAN1.SJW=CAN_SJW_3TQ
 CAN1.TXFP=ENABLE
 Dma.ADC1.0.Direction=DMA_PERIPH_TO_MEMORY
 Dma.ADC1.0.FIFOMode=DMA_FIFOMODE_DISABLE

firmware/quadruna/CRIT/src/cubemx/CRIT.ioc.md5

@@ -1 +1 @@
-f342cd5dc78891d8b405e1488752bb26
+dec0b6cff3b236e2b36dbd757f4451a8

firmware/quadruna/CRIT/src/cubemx/Src/main.c

@@ -348,11 +348,11 @@ static void MX_CAN1_Init(void)
 
     /* USER CODE END CAN1_Init 1 */
     hcan1.Instance                  = CAN1;
-    hcan1.Init.Prescaler            = 6;
+    hcan1.Init.Prescaler            = 3;
     hcan1.Init.Mode                 = CAN_MODE_NORMAL;
-    hcan1.Init.SyncJumpWidth        = CAN_SJW_4TQ;
-    hcan1.Init.TimeSeg1             = CAN_BS1_13TQ;
-    hcan1.Init.TimeSeg2             = CAN_BS2_2TQ;
+    hcan1.Init.SyncJumpWidth        = CAN_SJW_3TQ;
+    hcan1.Init.TimeSeg1             = CAN_BS1_12TQ;
+    hcan1.Init.TimeSeg2             = CAN_BS2_3TQ;
     hcan1.Init.TimeTriggeredMode    = DISABLE;
     hcan1.Init.AutoBusOff           = ENABLE;
     hcan1.Init.AutoWakeUp           = DISABLE;

firmware/quadruna/FSM/src/cubemx/FSM.ioc

@@ -37,16 +37,16 @@ CAD.formats=[]
 CAD.pinconfig=Project naming
 CAD.provider=
 CAN1.ABOM=ENABLE
-CAN1.BS1=CAN_BS1_13TQ
-CAN1.BS2=CAN_BS2_2TQ
-CAN1.CalculateBaudRate=500000
-CAN1.CalculateTimeBit=2000
-CAN1.CalculateTimeQuantum=125.0
+CAN1.BS1=CAN_BS1_12TQ
+CAN1.BS2=CAN_BS2_3TQ
+CAN1.CalculateBaudRate=1000000
+CAN1.CalculateTimeBit=1000
+CAN1.CalculateTimeQuantum=62.5
 CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,BS1,Prescaler,SJW,ABOM,NART,RFLM,TXFP,BS2
 CAN1.NART=ENABLE
-CAN1.Prescaler=6
+CAN1.Prescaler=3
 CAN1.RFLM=ENABLE
-CAN1.SJW=CAN_SJW_4TQ
+CAN1.SJW=CAN_SJW_3TQ
 CAN1.TXFP=ENABLE
 Dma.ADC1.0.Direction=DMA_PERIPH_TO_MEMORY
 Dma.ADC1.0.FIFOMode=DMA_FIFOMODE_DISABLE
@@ -275,7 +275,7 @@ ProjectManager.ToolChainLocation=
 ProjectManager.UAScriptAfterPath=
 ProjectManager.UAScriptBeforePath=
 ProjectManager.UnderRoot=true
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_CAN1_Init-CAN1-false-HAL-true,6-MX_TIM12_Init-TIM12-false-HAL-true,7-MX_USART1_UART_Init-USART1-false-HAL-true,8-MX_TIM3_Init-TIM3-false-HAL-true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_CAN1_Init-CAN1-false-HAL-true,6-MX_TIM12_Init-TIM12-false-HAL-true,7-MX_USART1_UART_Init-USART1-false-HAL-true,8-MX_TIM3_Init-TIM3-false-HAL-true,9-MX_IWDG_Init-IWDG-false-HAL-true
 RCC.AHBFreq_Value=96000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV2
 RCC.APB1Freq_Value=48000000

firmware/quadruna/FSM/src/cubemx/FSM.ioc.md5

@@ -1 +1 @@
-789915069a7107a76c10a7b1a040c604
+737aa00268fe4cc624a7f492ff96061c

firmware/quadruna/FSM/src/cubemx/Src/main.c

@@ -425,11 +425,11 @@ static void MX_CAN1_Init(void)
 
     /* USER CODE END CAN1_Init 1 */
     hcan1.Instance                  = CAN1;
-    hcan1.Init.Prescaler            = 6;
+    hcan1.Init.Prescaler            = 3;
     hcan1.Init.Mode                 = CAN_MODE_NORMAL;
-    hcan1.Init.SyncJumpWidth        = CAN_SJW_4TQ;
-    hcan1.Init.TimeSeg1             = CAN_BS1_13TQ;
-    hcan1.Init.TimeSeg2             = CAN_BS2_2TQ;
+    hcan1.Init.SyncJumpWidth        = CAN_SJW_3TQ;
+    hcan1.Init.TimeSeg1             = CAN_BS1_12TQ;
+    hcan1.Init.TimeSeg2             = CAN_BS2_3TQ;
     hcan1.Init.TimeTriggeredMode    = DISABLE;
     hcan1.Init.AutoBusOff           = ENABLE;
     hcan1.Init.AutoWakeUp           = DISABLE;

firmware/quadruna/RSM/src/cubemx/RSM.ioc

@@ -40,16 +40,16 @@ CAD.formats=[]
 CAD.pinconfig=Project naming
 CAD.provider=
 CAN1.ABOM=ENABLE
-CAN1.BS1=CAN_BS1_13TQ
-CAN1.BS2=CAN_BS2_2TQ
-CAN1.CalculateBaudRate=500000
-CAN1.CalculateTimeBit=2000
-CAN1.CalculateTimeQuantum=125.0
+CAN1.BS1=CAN_BS1_12TQ
+CAN1.BS2=CAN_BS2_3TQ
+CAN1.CalculateBaudRate=1000000
+CAN1.CalculateTimeBit=1000
+CAN1.CalculateTimeQuantum=62.5
 CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,BS1,Prescaler,SJW,ABOM,NART,RFLM,TXFP,BS2
 CAN1.NART=ENABLE
-CAN1.Prescaler=6
+CAN1.Prescaler=3
 CAN1.RFLM=ENABLE
-CAN1.SJW=CAN_SJW_4TQ
+CAN1.SJW=CAN_SJW_3TQ
 CAN1.TXFP=ENABLE
 Dma.ADC1.0.Direction=DMA_PERIPH_TO_MEMORY
 Dma.ADC1.0.FIFOMode=DMA_FIFOMODE_DISABLE
@@ -281,7 +281,7 @@ ProjectManager.ToolChainLocation=
 ProjectManager.UAScriptAfterPath=
 ProjectManager.UAScriptBeforePath=
 ProjectManager.UnderRoot=true
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_CAN1_Init-CAN1-false-HAL-true,6-MX_USART1_UART_Init-USART1-false-HAL-true,7-MX_TIM3_Init-TIM3-false-HAL-true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_CAN1_Init-CAN1-false-HAL-true,6-MX_USART1_UART_Init-USART1-false-HAL-true,7-MX_TIM3_Init-TIM3-false-HAL-true,8-MX_IWDG_Init-IWDG-false-HAL-true
 RCC.AHBFreq_Value=96000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV2
 RCC.APB1Freq_Value=48000000

firmware/quadruna/RSM/src/cubemx/RSM.ioc.md5

@@ -1 +1 @@
-25af797de0905b5c11cd10ba146294ad
+28ebeaccfb57303bb048e0af4eb618e3

firmware/quadruna/RSM/src/cubemx/Src/main.c

@@ -430,11 +430,11 @@ static void MX_CAN1_Init(void)
 
     /* USER CODE END CAN1_Init 1 */
     hcan1.Instance                  = CAN1;
-    hcan1.Init.Prescaler            = 6;
+    hcan1.Init.Prescaler            = 3;
     hcan1.Init.Mode                 = CAN_MODE_NORMAL;
-    hcan1.Init.SyncJumpWidth        = CAN_SJW_4TQ;
-    hcan1.Init.TimeSeg1             = CAN_BS1_13TQ;
-    hcan1.Init.TimeSeg2             = CAN_BS2_2TQ;
+    hcan1.Init.SyncJumpWidth        = CAN_SJW_3TQ;
+    hcan1.Init.TimeSeg1             = CAN_BS1_12TQ;
+    hcan1.Init.TimeSeg2             = CAN_BS2_3TQ;
     hcan1.Init.TimeTriggeredMode    = DISABLE;
     hcan1.Init.AutoBusOff           = ENABLE;
     hcan1.Init.AutoWakeUp           = DISABLE;

firmware/quadruna/VC/src/cubemx/Src/main.c

@@ -155,6 +155,7 @@ const osThreadAttr_t TaskTelem_attributes = {
 
 /* Private function prototypes -----------------------------------------------*/
 void        SystemClock_Config(void);
+void        PeriphCommonClock_Config(void);
 static void MX_GPIO_Init(void);
 static void MX_DMA_Init(void);
 static void MX_ADC3_Init(void);
@@ -208,6 +209,9 @@ int main(void)
     /* Configure the system clock */
     SystemClock_Config();
 
+    /* Configure the peripherals common clocks */
+    PeriphCommonClock_Config();
+
     /* USER CODE BEGIN SysInit */
 
     /* USER CODE END SysInit */
@@ -355,6 +359,33 @@ void SystemClock_Config(void)
     }
 }
 
+/**
+ * @brief Peripherals Common Clock Configuration
+ * @retval None
+ */
+void PeriphCommonClock_Config(void)
+{
+    RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = { 0 };
+
+    /** Initializes the peripherals clock
+     */
+    PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_ADC | RCC_PERIPHCLK_FDCAN;
+    PeriphClkInitStruct.PLL2.PLL2M           = 1;
+    PeriphClkInitStruct.PLL2.PLL2N           = 24;
+    PeriphClkInitStruct.PLL2.PLL2P           = 2;
+    PeriphClkInitStruct.PLL2.PLL2Q           = 2;
+    PeriphClkInitStruct.PLL2.PLL2R           = 2;
+    PeriphClkInitStruct.PLL2.PLL2RGE         = RCC_PLL2VCIRANGE_3;
+    PeriphClkInitStruct.PLL2.PLL2VCOSEL      = RCC_PLL2VCOWIDE;
+    PeriphClkInitStruct.PLL2.PLL2FRACN       = 0;
+    PeriphClkInitStruct.FdcanClockSelection  = RCC_FDCANCLKSOURCE_PLL2;
+    PeriphClkInitStruct.AdcClockSelection    = RCC_ADCCLKSOURCE_PLL2;
+    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
+    {
+        Error_Handler();
+    }
+}
+
 /**
  * @brief ADC1 Initialization Function
  * @param None
@@ -574,10 +605,10 @@ static void MX_FDCAN1_Init(void)
     hfdcan1.Init.AutoRetransmission   = ENABLE;
     hfdcan1.Init.TransmitPause        = DISABLE;
     hfdcan1.Init.ProtocolException    = DISABLE;
-    hfdcan1.Init.NominalPrescaler     = 16;
-    hfdcan1.Init.NominalSyncJumpWidth = 4;
-    hfdcan1.Init.NominalTimeSeg1      = 13;
-    hfdcan1.Init.NominalTimeSeg2      = 2;
+    hfdcan1.Init.NominalPrescaler     = 6;
+    hfdcan1.Init.NominalSyncJumpWidth = 3;
+    hfdcan1.Init.NominalTimeSeg1      = 12;
+    hfdcan1.Init.NominalTimeSeg2      = 3;
     hfdcan1.Init.DataPrescaler        = 1;
     hfdcan1.Init.DataSyncJumpWidth    = 1;
     hfdcan1.Init.DataTimeSeg1         = 1;