From 2c68ce19869287cbdd0785754cd64d4b007fc83a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 24 Apr 2020 09:31:20 +1000
Subject: [PATCH] HAL_ChibiOS: fixed clock source for FDCAN

use selected source and add 80MHz limit, as per manual and latest STM32CubeMX tool
---
 libraries/AP_HAL_ChibiOS/CANFDIface.cpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_HAL_ChibiOS/CANFDIface.cpp b/libraries/AP_HAL_ChibiOS/CANFDIface.cpp
index 00a2c58b5f..57d426b46d 100644
--- a/libraries/AP_HAL_ChibiOS/CANFDIface.cpp
+++ b/libraries/AP_HAL_ChibiOS/CANFDIface.cpp
@@ -69,6 +69,8 @@
 
 extern const AP_HAL::HAL& hal;
 
+static_assert(STM32_FDCANCLK <= 80U*1000U*1000U, "FDCAN clock must be max 80MHz");
+
 namespace ChibiOS_CAN
 {
 namespace
@@ -200,7 +202,8 @@ int CanIface::computeTimings(const uavcan::uint32_t target_bitrate, Timings& out
     /*
      * Hardware configuration
      */
-    const uavcan::uint32_t pclk = STM32_PLL1_Q_CK;
+    const uavcan::uint32_t pclk = STM32_FDCANCLK;
+
 
     static const int MaxBS1 = 16;
     static const int MaxBS2 = 8;