как настроить скорость CAN Опции

[zkrvova]

Подскажите пожалуйста как настроить скрость CAN в at90can128
Читаю в доке про 3 регистра CANBT1,CANBT2,CANBT3 - но немогу понять.

Пожалуйста помогите!

[pitt]

Код

typedef enum { f100kbps, f125kbps, f200kbps, f250kbps, f500kbps, f1000kbps } baudrate_e;

bool can_bt_init ( baudrate_e br ) {
#ifdef F_CPU
  #if F_CPU == 16000000ul
    switch ( br ){
      case  f100kbps: { CANBT1 = 0x26; CANBT2 = 0x04; CANBT3 = 0x13; break; }
      case  f125kbps: { CANBT1 = 0x1E; CANBT2 = 0x04; CANBT3 = 0x13; break; }
      case  f200kbps: { CANBT1 = 0x12; CANBT2 = 0x04; CANBT3 = 0x13; break; }
      case  f250kbps: { CANBT1 = 0x0E; CANBT2 = 0x04; CANBT3 = 0x13; break; }
      case  f500kbps: { CANBT1 = 0x06; CANBT2 = 0x04; CANBT3 = 0x13; break; }
      case f1000kbps: { CANBT1 = 0x02; CANBT2 = 0x04; CANBT3 = 0x13; break; }
      default       : return FALSE;
    }
  #elif F_CPU == 14745600ul
    switch ( br ){
      case  f100kbps: { CANBT1 = 0x0C; CANBT2 = 0x0E; CANBT3 = 0x5A; break; } //100.3kbps
      case  f125kbps: { CANBT1 = 0x0C; CANBT2 = 0x0E; CANBT3 = 0x36; break; } //123.913kbps
      case  f200kbps: { CANBT1 = 0x06; CANBT2 = 0x0E; CANBT3 = 0x46; break; } //204.8kbps
      case  f250kbps: { CANBT1 = 0x04; CANBT2 = 0x0E; CANBT3 = 0x4A; break; } //245.760kbps
      case  f500kbps: { CANBT1 = 0x02; CANBT2 = 0x0E; CANBT3 = 0x24; break; } //491.52kbps
      case f1000kbps: { CANBT1 = 0x00; CANBT2 = 0x0E; CANBT3 = 0x24; break; } //983kbps
      default       : return FALSE;
    }
  #elif F_CPU == 12000000ul
    switch ( br ){
      case  f100kbps: { CANBT1 = 0x12; CANBT2 = 0x08; CANBT3 = 0x25; break; }
      case  f125kbps: { CANBT1 = 0x16; CANBT2 = 0x04; CANBT3 = 0x13; break; }
      case  f200kbps: { CANBT1 = 0x08; CANBT2 = 0x08; CANBT3 = 0x25; break; }
      case  f250kbps: { CANBT1 = 0x0A; CANBT2 = 0x04; CANBT3 = 0x13; break; }
      case  f500kbps: { CANBT1 = 0x04; CANBT2 = 0x04; CANBT3 = 0x13; break; }
      case f1000kbps: { CANBT1 = 0x00; CANBT2 = 0x08; CANBT3 = 0x25; break; }
      default       : return FALSE;
    }
  #elif F_CPU == 8000000ul
    switch ( br ){
      case  f100kbps: { CANBT1 = 0x12; CANBT2 = 0x04; CANBT3 = 0x13; break; }
      case  f125kbps: { CANBT1 = 0x0E; CANBT2 = 0x04; CANBT3 = 0x13; break; }
      case  f200kbps: { CANBT1 = 0x08; CANBT2 = 0x04; CANBT3 = 0x13; break; }
      case  f250kbps: { CANBT1 = 0x06; CANBT2 = 0x04; CANBT3 = 0x13; break; }
      case  f500kbps: { CANBT1 = 0x02; CANBT2 = 0x04; CANBT3 = 0x13; break; }
      case f1000kbps: { CANBT1 = 0x00; CANBT2 = 0x04; CANBT3 = 0x13; break; }
      default       : return FALSE;
    }
  #elif F_CPU == 6000000ul
    switch ( br ){
      case  f100kbps: { CANBT1 = 0x08; CANBT2 = 0x08; CANBT3 = 0x25; break; }
      case  f125kbps: { CANBT1 = 0x0A; CANBT2 = 0x04; CANBT3 = 0x13; break; }
      case  f200kbps: { CANBT1 = 0x04; CANBT2 = 0x06; CANBT3 = 0x23; break; }
      case  f250kbps: { CANBT1 = 0x04; CANBT2 = 0x04; CANBT3 = 0x13; break; }
      case  f500kbps: { CANBT1 = 0x00; CANBT2 = 0x08; CANBT3 = 0x25; break; }
      default       : return FALSE;
    }
  #elif F_CPU == 4000000ul
    switch ( br ){
      case  f100kbps: { CANBT1 = 0x08; CANBT2 = 0x04; CANBT3 = 0x13; break; }
      case  f125kbps: { CANBT1 = 0x06; CANBT2 = 0x04; CANBT3 = 0x13; break; }
      case  f200kbps: { CANBT1 = 0x00; CANBT2 = 0x0E; CANBT3 = 0x4B; break; }
      case  f250kbps: { CANBT1 = 0x02; CANBT2 = 0x04; CANBT3 = 0x13; break; }
      case  f500kbps: { CANBT1 = 0x00; CANBT2 = 0x04; CANBT3 = 0x13; break; }
      default       : return FALSE;
    }
  #else
    return FALSE;
  #endif
  CANTCON = 0x00;
  return TRUE;
#else
  # error "Macro F_CPU must be defined"
  return FALSE;
#endif
}