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

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sl-jetson merged 2 commits from sl-firmware/issue-597-can-driver into main 2026-03-17 21:39:30 -04:00
Conversation 0 Commits 2 Files Changed 4 +3 -3
1 changed files with 3 additions and 3 deletions
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src/main.c
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@ -372,7 +372,7 @@ int main(void) {
jlink_state.arm_req = 0u; jlink_state.arm_req = 0u;
if (!safety_remote_estop_active() && if (!safety_remote_estop_active() &&
mpu6000_is_calibrated() && 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); safety_arm_start(now);
} }
} }
@ -509,7 +509,7 @@ int main(void) {
/* Rising edge: start arm hold (motors enable after ARMING_HOLD_MS) */ /* Rising edge: start arm hold (motors enable after ARMING_HOLD_MS) */
if (!safety_remote_estop_active() && if (!safety_remote_estop_active() &&
mpu6000_is_calibrated() && 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); safety_arm_start(now);
} }
} }
@ -529,7 +529,7 @@ int main(void) {
cdc_arm_request = 0; cdc_arm_request = 0;
if (!safety_remote_estop_active() && if (!safety_remote_estop_active() &&
mpu6000_is_calibrated() && 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); safety_arm_start(now);
} }
} }