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stm32: canio: Fix canio.CAN.restart()

This commit is contained in:
Jeff Epler 2020-10-06 10:31:01 -05:00
parent e5a0af9216
commit abe0405d6e
1 changed files with 9 additions and 1 deletions
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10
ports/stm/common-hal/canio/CAN.c
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@ -197,7 +197,15 @@ canio_bus_state_t common_hal_canio_can_state_get(canio_can_obj_t *self) {
void common_hal_canio_can_restart(canio_can_obj_t *self) {
if (!common_hal_canio_can_auto_restart_get(self)) {
HAL_CAN_Start(&self->handle);
// "If ABOM is cleared, the software must initiate the recovering
// sequence by requesting bxCAN to enter and to leave initialization
// mode."
self->handle.Instance->MCR |= CAN_MCR_INRQ;
while ((self->handle.Instance->MSR & CAN_MSR_INAK) == 0) {
}
self->handle.Instance->MCR &= ~CAN_MCR_INRQ;
while ((self->handle.Instance->MSR & CAN_MSR_INAK)) {
}
}
}