PB8-9 (Issue #676) #677

Merged

sl-jetson merged 2 commits from sl-firmware/issue-597-can-driver into main

2026-03-17 21:39:30 -04:00

Author	SHA1	Message	Date
sl-firmware	ea5203b67d	fix: bump arm pitch threshold 10°→20° (Issue #678 ) Mamba is mounted at ~12° on the frame, causing all three arm-interlock checks to block arming. Raise fabsf(bal.pitch_deg) < 10.0f to 20.0f at lines 375, 512, 532 (JLink arm, RC arm rising-edge, CDC arm). Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-17 21:38:02 -04:00
sl-firmware	14c80dc33c	fix: remap CAN from CAN2/PB12-13 to CAN1/PB8-9 (Issue #676 ) 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>	2026-03-17 20:31:59 -04:00

Author

SHA1

Message

Date

sl-firmware

ea5203b67d

fix: bump arm pitch threshold 10°→20° (Issue #678 )

Mamba is mounted at ~12° on the frame, causing all three arm-interlock
checks to block arming. Raise fabsf(bal.pitch_deg) < 10.0f to 20.0f
at lines 375, 512, 532 (JLink arm, RC arm rising-edge, CDC arm).

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

2026-03-17 21:38:02 -04:00

sl-firmware

14c80dc33c

fix: remap CAN from CAN2/PB12-13 to CAN1/PB8-9 (Issue #676 )

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>

2026-03-17 20:31:59 -04:00

fix: remap CAN from CAN2/PB12-13 to CAN1/PB8-9 (Issue #676) #677

2 Commits