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Merged
jacobh460 merged 9 commits into from
Nov 5, 2026
Merged

Features/g4 can #19

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00295b2
added clock configs
Rishabg24 Oct 30, 2026
37ff460
started work on implementing CAN for G4 and moving platform-dependent…
jacobh460 Oct 30, 2026
38e2bfb
select FDCAN clock source and enable it's APB clock, CAN.begin() retu…
jacobh460 Oct 31, 2026
12c0706
testing stuffs; we can throw away this commit
jacobh460 Oct 31, 2026
c5f11f1
consolidate tests to fdcan_toad files and remove interrupt handlers b…
jacobh460 Oct 31, 2026
672e419
working toward min-diff
jacobh460 Oct 31, 2026
b9dc9d7
get rid of USB interrupt NVIC config in the G4 SystemClock_Config; ru…
jacobh460 Nov 1, 2026
9c56149
a few comments, get rid of unused symbols, comment SystemClock_Config…
jacobh460 Nov 4, 2026
2e8f396
get rid of unnecessary members
jacobh460 Nov 4, 2026
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70 changes: 53 additions & 17 deletions firmware/boards/TOAD_G4/variant_TOAD_G4.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -103,47 +103,83 @@ const uint32_t analogInputPin[] = {
* @param None
* @retval None
*/
WEAK void SystemClock_Config(void) {
void SystemClock_Config(void) {
RCC_OscInitTypeDef RCC_OscInitStruct = {};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {};
RCC_CRSInitTypeDef CRS_Init = {};
RCC_PeriphCLKInitTypeDef PeriphClkInit = {};

/** Configure the main internal regulator output voltage
*/
HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1_BOOST);
/* */
HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1);
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/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI | RCC_OSCILLATORTYPE_HSI48;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;

/* See RM[275] for clock tree */
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI48 | RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_BYPASS; /* Our HSE is 8MHz; we use a MEMS oscillator instead of crystal
oscillator, hence BYPASS (RM[277]) */
RCC_OscInitStruct.HSI48State = RCC_HSI48_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV4;
RCC_OscInitStruct.PLL.PLLN = 85;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV4;
RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; /* PLL Source is HSE */
RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV2; /* Prescaler; scales down to 4MHz */
RCC_OscInitStruct.PLL.PLLN = 60; /* Multiplier; scales up to 240MHz */
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; /* PLLPCLK = 120MHz */
RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2; /* PLLQCLK = 120MHz */
RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2; /* PLLRCLK = 120MHz */
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
Error_Handler();
}

/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; /* SYSCLK = PLLRCLK = 120MHz */
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; /* AHB = 120MHz */
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1; /* APB1 = AHB = 120MHz */
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1; /* APB2 = AHB = 120MHz */

if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK) {
/* Note: from RM[75] stm32g474 is a category 3 device */
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_3) != HAL_OK) {
Error_Handler();
}
/** Initializes the peripherals clocks

/** Enable the SYSCFG APB clock
*/
__HAL_RCC_CRS_CLK_ENABLE();

/** Configures CRS
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*/
CRS_Init.Prescaler = RCC_CRS_SYNC_DIV1;
CRS_Init.Source = RCC_CRS_SYNC_SOURCE_USB;
CRS_Init.Polarity = RCC_CRS_SYNC_POLARITY_RISING;
CRS_Init.ReloadValue = __HAL_RCC_CRS_RELOADVALUE_CALCULATE(48000000, 1000);
CRS_Init.ErrorLimitValue = 34;
CRS_Init.HSI48CalibrationValue = 32;

HAL_RCCEx_CRSConfig(&CRS_Init);

PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USB;
PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_HSI48;

@RobertJN64 RobertJN64 Nov 1, 2026

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interesting that this works on G4, while HSI48 had issues on H7...
(usb wouldn't work if we set the clock to HSI48 like we are doing here)

@jacobh460 jacobh460 Nov 4, 2026

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Could this have something to do with the fact that we have CRS disabled on the H7? HSI48 is not precise enough alone to be used for USB

@RobertJN64 RobertJN64 Nov 4, 2026

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ah that's almost certainly it - we could consider HSI48 + CRS on the H7 then?

Not sure what's actually better, but I assume the same thing is better for both. Anyhow, issue for future PRs.

if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) {
Error_Handler();
}

/* Peripheral clock enable */
__HAL_RCC_USB_CLK_ENABLE();

/* Select FDCAN Clock Source */
PeriphClkInit = {0};
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_FDCAN;
PeriphClkInit.FdcanClockSelection = RCC_FDCANCLKSOURCE_PLL;

if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) {
Error_Handler();
}

/* Enable FDCAN Peripheral Clock */
__HAL_RCC_FDCAN_CLK_ENABLE();
}
6 changes: 6 additions & 0 deletions firmware/boards/TOAD_G4/variant_TOAD_G4.h
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Original file line number Diff line number Diff line change
Expand Up @@ -203,6 +203,12 @@
#define HAL_QSPI_MODULE_ENABLED
#endif

#if !defined(HAL_FDCAN_MODULE_DISABLED) // enable FDCAN HAL definitions
#define HAL_FDCAN_MODULE_ENABLED
#endif

#define HSE_VALUE (8000000UL) /*!< Value of the External oscillator in Hz */

/*----------------------------------------------------------------------------
* Arduino objects - C++ only
*----------------------------------------------------------------------------*/
Expand Down
6 changes: 3 additions & 3 deletions firmware/boards/TOAD_H7/variant_TOAD_H7.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -193,8 +193,7 @@ const uint32_t analogInputPin[] = {
140 // A31, PC3_C
};

void SystemClock_Config(void)
{
void SystemClock_Config(void) {
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

Expand Down Expand Up @@ -231,7 +230,8 @@ void SystemClock_Config(void)

/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2 | RCC_CLOCKTYPE_D3PCLK1 | RCC_CLOCKTYPE_D1PCLK1;
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2 |
RCC_CLOCKTYPE_D3PCLK1 | RCC_CLOCKTYPE_D1PCLK1;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
Expand Down
6 changes: 1 addition & 5 deletions firmware/boards/TOAD_H7/variant_TOAD_H7.h
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Original file line number Diff line number Diff line change
Expand Up @@ -296,13 +296,9 @@
#endif

// added by jhillman - do compile FDCAN HAL
#if !defined (HAL_FDCAN_MODULE_ENABLED)
#if !defined(HAL_FDCAN_MODULE_ENABLED)
#define HAL_FDCAN_MODULE_ENABLED
#endif
#if !defined (USE_HAL_FDCAN_REGISTER_CALLBACKS)
#define USE_HAL_FDCAN_REGISTER_CALLBACKS 1
#endif


#if !defined(HSE_VALUE)
// our HSE is 8MHz
Expand Down
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