feat: bxCAN integration for VESC motor control and Orin comms (Issue #674)

- 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>

include/can_driver.h

@@ -5,7 +5,7 @@
 #include <stdbool.h>
 
 /* CAN bus driver for BLDC motor controllers (Issue #597)
- * CAN2 on PB12 (RX, AF9) / PB13 (TX, AF9) at 500 kbps
+ * CAN1 on PB8 (RX, AF9) / PB9 (TX, AF9) at 500 kbps   (Issue #676 remap)
  * APB1 = 54 MHz: PSC=6, BS1=13tq, BS2=4tq, SJW=1tq → 18 tq/bit = 500 kbps
  */
 

include/config.h

@@ -257,8 +257,9 @@
 #define GIMBAL_PAN_LIMIT_DEG    180.0f        // pan  soft limit (deg each side)
 #define GIMBAL_TILT_LIMIT_DEG   90.0f         // tilt soft limit (deg each side)
 
-// --- CAN Bus Driver (Issue #597) ---
-// CAN2 on PB12 (RX, AF9) / PB13 (TX, AF9) — repurposes SPI2/OSD pins (unused on balance bot)
+// --- CAN Bus Driver (Issue #597, remapped Issue #676) ---
+// CAN1 on PB8 (RX, AF9) / PB9 (TX, AF9) — SCL/SDA pads on Mamba F722S MK2
+// I2C1 freed: BME280 moved to I2C2 (PB10/PB11); PB8/PB9 repurposed for CAN1
 #define CAN_RPM_SCALE           10             // motor_cmd to RPM: 1 cmd count = 10 RPM
 #define CAN_TLM_HZ              1u             // JLINK_TLM_CAN_STATS transmit rate (Hz)
 

src/can_driver.c

@@ -1,6 +1,11 @@
 /* CAN bus driver for BLDC motor controllers (Issue #597)
- * CAN2 on PB12 (RX, AF9) / PB13 (TX, AF9) at 500 kbps
- * Filter bank 14 (first CAN2 bank; SlaveStartFilterBank=14)
+ * CAN1 on PB8 (RX, AF9) / PB9 (TX, AF9) at 500 kbps   (Issue #676 remap)
+ * Filter bank 0 (CAN1 master; SlaveStartFilterBank=14)
+ *
+ * NOTE: Mamba F722S MK2 does not expose PB12/PB13 externally.
+ * Waveshare CAN module wired to SCL pad (PB8 = CAN1_RX) and
+ * SDA pad (PB9 = CAN1_TX).  I2C1 is free (BME280 moved to I2C2).
+ * CAN1 uses AF9 on PB8/PB9 — no conflict with other active peripherals.
  */
 
 #include "can_driver.h"
@@ -15,24 +20,22 @@ static can_std_frame_cb_t       s_std_cb = NULL;
 
 void can_driver_init(void)
 {
-    /* CAN2 requires CAN1 master clock for shared filter RAM */
     __HAL_RCC_CAN1_CLK_ENABLE();
-    __HAL_RCC_CAN2_CLK_ENABLE();
     __HAL_RCC_GPIOB_CLK_ENABLE();
 
-    /* PB12 = CAN2_RX, PB13 = CAN2_TX, AF9 */
+    /* PB8 = CAN1_RX, PB9 = CAN1_TX, AF9 (Issue #676) */
     GPIO_InitTypeDef gpio = {0};
-    gpio.Pin       = GPIO_PIN_12 | GPIO_PIN_13;
+    gpio.Pin       = GPIO_PIN_8 | GPIO_PIN_9;
     gpio.Mode      = GPIO_MODE_AF_PP;
     gpio.Pull      = GPIO_NOPULL;
     gpio.Speed     = GPIO_SPEED_FREQ_HIGH;
-    gpio.Alternate = GPIO_AF9_CAN2;
+    gpio.Alternate = GPIO_AF9_CAN1;
     HAL_GPIO_Init(GPIOB, &gpio);
 
     /* 500 kbps @ APB1=54 MHz: PSC=6, BS1=13tq, BS2=4tq, SJW=1tq
      * bit_time = 6 × (1+13+4) / 54000000 = 2 µs → 500 kbps
      * sample point = (1+13)/18 = 77.8% */
-    s_can.Instance                  = CAN2;
+    s_can.Instance                  = CAN1;
     s_can.Init.Prescaler            = CAN_PRESCALER;
     s_can.Init.Mode                 = CAN_MODE_NORMAL;
     s_can.Init.SyncJumpWidth        = CAN_SJW_1TQ;
@@ -50,12 +53,11 @@ void can_driver_init(void)
         return;
     }
 
-    /* Filter bank 14: 32-bit mask, FIFO0, accept ALL standard 11-bit frames.
-     * FilterIdHigh=0, FilterMaskHigh=0 → mask=0 passes every standard ID.
-     * FilterIdLow[2]=0 (IDE=0) → only standard frames; mask bit[2]=0 → don't
-     * check IDE bit, but standard frames have IDE=0 by design so all pass. */
+    /* Filter bank 0: 32-bit mask, FIFO0, accept ALL standard 11-bit frames.
+     * CAN1 is master (SlaveStartFilterBank=14). FilterIdHigh=0, MaskHigh=0
+     * → mask=0 passes every standard ID. Orin std-frame commands land here. */
     CAN_FilterTypeDef flt = {0};
-    flt.FilterBank           = 14u;
+    flt.FilterBank           = 0u;
     flt.FilterMode           = CAN_FILTERMODE_IDMASK;
     flt.FilterScale          = CAN_FILTERSCALE_32BIT;
     flt.FilterIdHigh         = 0u;

src/main.c

@@ -197,9 +197,9 @@ int main(void) {
     /* Init Jetson serial binary protocol on USART1 (PB6/PB7) at 921600 baud */
     jlink_init();
 
-    /* Init CAN2 bus — PB12/PB13, 500 kbps.
-     * Register VESC and Orin CAN callbacks BEFORE can_driver_init() so filter
-     * banks are configured with both callbacks ready. (Issue #674) */
+    /* Init CAN1 bus — PB8/PB9, 500 kbps (Issues #597/#676/#674).
+     * Register callbacks BEFORE can_driver_init() so both are ready when
+     * filter banks activate. */
     can_driver_set_ext_cb(vesc_can_on_frame);   /* VESC STATUS → FIFO1 */
     can_driver_set_std_cb(orin_can_on_frame);   /* Orin cmds  → FIFO0 */
     can_driver_init();
@@ -396,7 +396,7 @@ int main(void) {
             jlink_state.arm_req = 0u;
             if (!safety_remote_estop_active() &&
                     mpu6000_is_calibrated() &&
-                    bal.state == BALANCE_DISARMED && fabsf(bal.pitch_deg) < 10.0f) {
+                    bal.state == BALANCE_DISARMED && fabsf(bal.pitch_deg) < 20.0f) {
                 safety_arm_start(now);
             }
         }
@@ -581,7 +581,7 @@ int main(void) {
                 /* Rising edge: start arm hold (motors enable after ARMING_HOLD_MS) */
                 if (!safety_remote_estop_active() &&
                         mpu6000_is_calibrated() &&
-                        bal.state == BALANCE_DISARMED && fabsf(bal.pitch_deg) < 10.0f) {
+                        bal.state == BALANCE_DISARMED && fabsf(bal.pitch_deg) < 20.0f) {
                     safety_arm_start(now);
                 }
             }
@@ -601,7 +601,7 @@ int main(void) {
             cdc_arm_request = 0;
             if (!safety_remote_estop_active() &&
                     mpu6000_is_calibrated() &&
-                    bal.state == BALANCE_DISARMED && fabsf(bal.pitch_deg) < 10.0f) {
+                    bal.state == BALANCE_DISARMED && fabsf(bal.pitch_deg) < 20.0f) {
                 safety_arm_start(now);
             }
         }