From f1dadd7e6e3932235ba7294f7a2b4ea05ed7467a Mon Sep 17 00:00:00 2001
From: Empire Phoenix <empirephoenix@yahoo.de>
Date: Tue, 31 Mar 2026 18:24:23 +0200
Subject: [PATCH] massivly reduce canbus speed

---
 Software/CAN_Sensor/src/main.rs           | 2 +-
 Software/MainBoard/rust/src/hal/v4_hal.rs | 8 +++++++-
 2 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/Software/CAN_Sensor/src/main.rs b/Software/CAN_Sensor/src/main.rs
index e3349fc..c98b172 100644
--- a/Software/CAN_Sensor/src/main.rs
+++ b/Software/CAN_Sensor/src/main.rs
@@ -241,7 +241,7 @@ async fn main(spawner: Spawner) {
             p.PB9,
             CanFifo::Fifo0,
             CanMode::Normal,
-            125_000,
+            20_000,
             config,
         )
         .expect("Valid");
diff --git a/Software/MainBoard/rust/src/hal/v4_hal.rs b/Software/MainBoard/rust/src/hal/v4_hal.rs
index 6551340..588fc12 100644
--- a/Software/MainBoard/rust/src/hal/v4_hal.rs
+++ b/Software/MainBoard/rust/src/hal/v4_hal.rs
@@ -33,7 +33,13 @@ use measurements::{Current, Voltage};
 use pca9535::{GPIOBank, Pca9535Immediate, StandardExpanderInterface};
 
 const MPPT_CURRENT_SHUNT_OHMS: f64 = 0.05_f64;
-const TWAI_BAUDRATE: twai::BaudRate = twai::BaudRate::B125K;
+const TWAI_BAUDRATE: twai::BaudRate = twai::BaudRate::Custom(twai::TimingConfig {
+    baud_rate_prescaler: 200, // 40MHz / 200 * 2 = 100 on C6, 100 * 20 = 2000 divisor, 40MHz / 2000 = 20kHz
+    sync_jump_width: 3,       // 4 TQ
+    tseg_1: 15,
+    tseg_2: 4,
+    triple_sample: true,
+});
 
 pub enum Charger<'a> {
     SolarMpptV1 {