From 10b71175ebbb608f66d16a11fd1c4566607f599c Mon Sep 17 00:00:00 2001
From: zuozuojia <2674928186@qq.com>
Date: Wed, 5 Jan 2022 20:07:56 +0800
Subject: [PATCH] [stm32F4] adapt 168M frequency of 1M can baud, remember to
 add the define of BSP_USING_CAN168M in kconfig while using 168M frequency

---
 bsp/stm32/libraries/HAL_Drivers/drv_can.c | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/bsp/stm32/libraries/HAL_Drivers/drv_can.c b/bsp/stm32/libraries/HAL_Drivers/drv_can.c
index 7d35ee1096..4e58b4015d 100644
--- a/bsp/stm32/libraries/HAL_Drivers/drv_can.c
+++ b/bsp/stm32/libraries/HAL_Drivers/drv_can.c
@@ -54,7 +54,11 @@ static const struct stm32_baud_rate_tab can_baud_rate_tab[] =
 #else  /* APB1 45MHz(max) */
 static const struct stm32_baud_rate_tab can_baud_rate_tab[] =
 {
+#ifdef BSP_USING_CAN168M
+    {CAN1MBaud, (CAN_SJW_1TQ | CAN_BS1_3TQ  | CAN_BS2_3TQ | 6)},
+#else
     {CAN1MBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_5TQ | 3)},
+#endif
     {CAN800kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ  | CAN_BS2_5TQ | 4)},
     {CAN500kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_5TQ | 6)},
     {CAN250kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_5TQ | 12)},