sl-firmware
8bc2f9eeac
- 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>