- can_driver: add filter bank 15 (all ext IDs → FIFO1) and widen bank 14
to accept all standard IDs; add can_driver_send_ext/std and ext/std
frame callbacks (can_driver_set_ext_cb / can_driver_set_std_cb)
- vesc_can: VESC 29-bit extended CAN protocol driver — send RPM to IDs 56
and 68 (FSESC 6.7 Pro Mini Dual), parse STATUS/STATUS_4/STATUS_5
big-endian payloads, alive timeout, JLINK_TLM_VESC_STATE at 1 Hz
- orin_can: Orin↔FC standard CAN protocol — HEARTBEAT/DRIVE/MODE/ESTOP
commands in, FC_STATUS + FC_VESC broadcast at 10 Hz
- jlink: add JLINK_TLM_VESC_STATE (0x8E), jlink_tlm_vesc_state_t (22 bytes),
jlink_send_vesc_state_tlm()
- main: wire vesc_can_init/orin_can_init; replace can_driver_send_cmd with
vesc_can_send_rpm; inject Orin CAN speed/steer into balance PID; add
Orin CAN estop/clear handling; add orin_can_broadcast at 10 Hz
- test: 56-test host-side suite for vesc_can; test/stubs/stm32f7xx_hal.h
minimal HAL stub for all future host-side tests
Safety: balance PID runs independently on Mamba — if Orin CAN link drops
(orin_can_is_alive() == false) the robot continues balancing in-place.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Mamba F722S MK2 does not expose PB12/PB13 externally. Waveshare CAN
module is wired to the SCL (PB8) and SDA (PB9) header pads.
Changes in can_driver_init():
- Drop __HAL_RCC_CAN2_CLK_ENABLE() — CAN1 needs no slave clock
- GPIO: GPIO_PIN_12/13 → GPIO_PIN_8/9, GPIO_AF9_CAN2 → GPIO_AF9_CAN1
- Instance: CAN2 → CAN1
- Filter bank: 14 → 0 (CAN1 master banks start at 0; bank 14 is the
CAN2 slave-start boundary, unused here)
I2C1 is free: BME280 has been moved to I2C2 (PB10/PB11), so PB8/PB9
are available for CAN1 without any peripheral conflict.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
