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CAN bus driver for BLDC motor controllers #597

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opened 2026-03-14 14:55:22 -04:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-14 14:55:22 -04:00
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Implement a CAN bus driver layer in the STM32 firmware to communicate with BLDC motor controllers (ODrive or similar). CAN2.0B at 500kbps. TX: velocity/torque commands at 100Hz. RX: motor position, velocity, current, temperature, fault status. HAL_CAN with FIFO0/1 filter banks. Integrate with existing motor_driver.h interface so balance PID output routes through CAN. Add JLINK telemetry channel for CAN bus stats (msg/s, errors, bus-off events).

Implement a CAN bus driver layer in the STM32 firmware to communicate with BLDC motor controllers (ODrive or similar). CAN2.0B at 500kbps. TX: velocity/torque commands at 100Hz. RX: motor position, velocity, current, temperature, fault status. HAL_CAN with FIFO0/1 filter banks. Integrate with existing motor_driver.h interface so balance PID output routes through CAN. Add JLINK telemetry channel for CAN bus stats (msg/s, errors, bus-off events).
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#597
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