m_can: enable automatic transceiver delay compensation

Author: marckleinebudde

src/can/m_can.c

@@ -138,6 +138,12 @@ void can_enable(can_data_t *channel, uint32_t mode)
 	HAL_FDCAN_Init(&channel->channel);
 	HAL_FDCAN_EnableISOMode(&channel->channel);
 
+	/* Enable automatic transceiver delay compensation */
+	HAL_FDCAN_ConfigTxDelayCompensation(&channel->channel,
+										channel->channel.Init.DataTimeSeg1 * channel->channel.Init.DataPrescaler,
+										0U);
+	HAL_FDCAN_EnableTxDelayCompensation(&channel->channel);
+
 	/* Configure reception filter to Rx FIFO 0 on both FDCAN instances */
 	FDCAN_FilterTypeDef sFilterConfig = {
 		.IdType = FDCAN_STANDARD_ID,