Calculate FDCAN_clk instead of assuming fix 10MHz

 - The FDCAN_clk is calculated on runtime from the according
RCC-registers

Author: m-ecry

targets/TARGET_STM/can_api.c

@@ -57,6 +57,62 @@ int can_internal_init(can_t *obj)
     return 1;
 }
 
+
+/** Calculate the fdcan-core-clk value for accurate calculation of the quantum timing
+ *
+ * !Attention Not all bitrates can be covered with all fdcan-core-clk values. When a clk
+ * does not work for the desired bitrate, change system_clock settings for PLLQ
+ *
+ * !Attention For now, PCLK is not supported (PLLQ is selected always anyways)
+ *
+ * @returns
+ *  core_frequency when successful
+ *  -1 when error / not supported
+ */
+static int _can_get_core_frequency( void )
+{
+    int clk_sel = (RCC->CCIPR & RCC_CCIPR_FDCANSEL_Msk) >> RCC_CCIPR_FDCANSEL_Pos;
+
+    switch (clk_sel){
+    case 0: //! HSE clock selected as FDCAN clock
+    {
+        return HSE_VALUE;
+    }
+    case 1: //! PLL "Q" clock selected as FDCAN clock
+    {
+        int pll_source_clk;
+
+        int pll_source = (RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC_Msk);
+        if (pll_source == RCC_PLLCFGR_PLLSRC_HSE){
+            pll_source_clk = HSE_VALUE;
+        } else if (pll_source == RCC_PLLCFGR_PLLSRC_HSI){
+            pll_source_clk = HSI_VALUE;
+        } else {
+            MBED_ERROR(
+                    MBED_MAKE_ERROR(MBED_MODULE_DRIVER_CAN, MBED_ERROR_CODE_CONFIG_UNSUPPORTED),
+                    "PLL source must be HSI or HSE");
+            return -1;
+        }
+
+        int pllm = ((RCC->PLLCFGR & RCC_PLLCFGR_PLLM_Msk) >> RCC_PLLCFGR_PLLM_Pos) + 1;
+        int plln = (RCC->PLLCFGR & RCC_PLLCFGR_PLLN_Msk) >> RCC_PLLCFGR_PLLN_Pos;
+        int pllq = ((RCC->PLLCFGR & RCC_PLLCFGR_PLLQ_Msk) >> RCC_PLLCFGR_PLLQ_Pos) + 1;
+        pllq = pllq * 2;
+        int fdcan_freq = ((pll_source_clk / pllm) * plln) / pllq;
+
+        return fdcan_freq;
+    }
+    case 2:  //! PCLK Clk selected as FDCAN clock
+    case 3:
+    default:
+        MBED_ERROR(
+                MBED_MAKE_ERROR(MBED_MODULE_DRIVER_CAN, MBED_ERROR_CODE_CONFIG_UNSUPPORTED),
+                "Wrong clk_source configuration");
+        return -1;
+    }
+}
+
+
 #if STATIC_PINMAP_READY
 #define CAN_INIT_FREQ_DIRECT can_init_freq_direct
 void can_init_freq_direct(can_t *obj, const can_pinmap_t *pinmap, int hz)
@@ -123,7 +179,8 @@ static void _can_init_freq_direct(can_t *obj, const can_pinmap_t *pinmap, int hz
     Phase_segment_2            | 30 tq          | <nts2> = <n_tq> - 1 - <nts1>
     Synchronization_Jump_width | 30 tq          | <nsjw> = <nts2>
     */
-    int ntq = 10000000 / hz;
+
+    int ntq = _can_get_core_frequency() / hz;
 
     obj->CanHandle.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
     obj->CanHandle.Init.Mode = FDCAN_MODE_NORMAL;
@@ -254,7 +311,7 @@ int can_frequency(can_t *obj, int f)
     }
 
     /* See can_init_freq function for calculation details */
-    int ntq = 10000000 / f;
+    int ntq = _can_get_core_frequency() / f;
     obj->CanHandle.Init.NominalTimeSeg1 = ntq * 0.75;      // Phase_segment_1
     obj->CanHandle.Init.NominalTimeSeg2 = ntq - 1 - obj->CanHandle.Init.NominalTimeSeg1;      // Phase_segment_2
     obj->CanHandle.Init.NominalSyncJumpWidth = obj->CanHandle.Init.NominalTimeSeg2; // Synchronization_Jump_width