Enter init mode in builder fn

[systec-ms]

Good day,

I am a little surprised that no one ran into it, so the following may be absolute nonsense.

I have tried both the example of the stm32f7xx-hal (STM32F767 example adapted to bxcan v0.6) and the stm32f4xx-hal (STM32F407). With both the bxcan::CanBuilder::set_bit_timing function and probably also the other implemented functions, which access the CAN_BTR register, has no functionality. This is caused by the fact that the CAN is not in initialization mode.

Page 1561 RM0410 Rev 4:

This register can only be accessed by the software when the CAN hardware is in
initialization mode.

With the function can.modify_config().set_bit_timing(0x001c_0018).enable(); it works, but this sets the initialization mode before.

My customization also does this in the bxcan::Can::builder function, after the customization, it works as I would expect it to.

[jonas-schievink]

Oh, nice catch! I agree with the solution, entering init mode in Can::builder seems like the right way to do this.

bors r+

[bors]

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