Support STM32F405/407

canard/README.md

@@ -2,9 +2,13 @@
 I forked from [here](https://github.com/geosmall/UAVCAN-for-STM32-Arduino).
 
 # Changes from the original
+
+- Communicate with other libraries   
 The original supports transmission of 8 bytes or more, but is not compatible with other libraries.   
 This example can only transfer up to 8 bytes of data, but can communicate with other libraries.   
 
+- Support STM32F405/407   
+
 # API
 - Initialize Hardware   
 transfer_id = CAN_HW_Init(uint8_t serial);

canard/example/can.c

@@ -40,6 +40,17 @@ uint32_t CAN_HW_Init(uint8_t serial) {
   HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
   return 0x303 << 8 + serial;  // 0x303XX
 
+#elif defined (STM32F405xx) || defined (STM32F415xx) || defined (STM32F407xx) || defined (STM32F417xx)
+  printstr("Board is STM32F405xx/F415xx/F407xx/417xx");
+  println();
+  GPIO_InitStruct.Pin = GPIO_PIN_11 | GPIO_PIN_12;
+  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
+  GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
+  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+  return 0x405 << 8 + serial;  // 0x303XX
+
 #else
 #error "Warning untested processor variant"
 #endif