implement configuring transceiver delay compensation

Author: liamkinne

src/config.rs

@@ -78,12 +78,10 @@ pub struct DataBitTiming {
     pub sync_jump_width: NonZeroU8,
 }
 impl DataBitTiming {
-    // #[inline]
-    // fn tdc(&self) -> u8 {
-    //     let tsd = self.transceiver_delay_compensation as u8;
-    //     //TODO: stm32g4 does not export the TDC field
-    //     todo!()
-    // }
+    #[inline]
+    pub(crate) fn tdc(&self) -> bool {
+        self.transceiver_delay_compensation
+    }
     #[inline]
     pub(crate) fn dbrp(&self) -> u8 {
         u8::from(self.prescaler) & 0x1F

src/lib.rs

@@ -755,6 +755,10 @@ where
         self.control.config.dbtr = btr;
 
         let can = self.registers();
+        if btr.tdc() {
+            let tcdo = btr.dtseg1() * btr.dbrp();
+            can.tdcr.write(|w| unsafe { w.tdco().bits(tcdo) });
+        }
         can.dbtp.write(|w| unsafe {
             w.dbrp()
                 .bits(btr.dbrp() - 1)
@@ -764,6 +768,8 @@ where
                 .bits(btr.dtseg2() - 1)
                 .dsjw()
                 .bits(btr.dsjw() - 1)
+                .tdc()
+                .bit(btr.tdc())
         });
     }