sl-firmware a8816d4226 feat: CAN bus driver for BLDC motor controllers (Issue #597) ...

- Add can_driver.h / can_driver.c: CAN2 on PB12/PB13 (AF9) at 500 kbps
  APB1=54 MHz, PSC=6, BS1=13tq, BS2=4tq, SJW=1tq → 18tq/bit, SP 77.8%
  Filter bank 14 (SlaveStartFilterBank=14); 32-bit mask; FIFO0
  Accept std IDs 0x200–0x21F (left/right feedback frames)
  TX: velocity+torque cmd (0x100+nid, DLC=4) at 100 Hz via main loop
  RX: velocity/current/position/temp/fault feedback (0x200+nid, DLC=8)
  AutoBusOff=ENABLE for HW recovery; can_driver_process() drains FIFO0
- Add JLINK_TLM_CAN_STATS (0x89, 16 bytes) + JLINK_CMD_CAN_STATS_GET (0x10)
  Also add JLINK_TLM_SLOPE (0x88) + jlink_tlm_slope_t missing from Issue #600
- Wire into main.c: init after jlink_init; 100Hz TX loop (differential drive
  speed_rpm ± steer_rpm/2); CAN enable follows arm state; 1Hz stats telemetry
- Add CAN_RPM_SCALE=10 and CAN_TLM_HZ=1 to config.h

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

2026-03-14 15:15:41 -04:00

..

audio.h

feat(audio): I2S3 audio amplifier driver — Issue #143

2026-03-02 10:34:35 -05:00

balance.h

feat(imu): MPU6000 sensor fusion with complementary filter

2026-02-28 13:09:18 -05:00

battery_adc.h

feat: Battery voltage ADC driver with DMA sampling (Issue #533)

2026-03-07 10:01:02 -05:00

battery.h

feat: battery coulomb counter (Issue #325)

2026-03-03 17:35:34 -05:00

bmp280.h

feat: BME280 full readout — temp, humidity, pressure telemetry (#30)

2026-02-28 19:43:48 -05:00

bno055.h

feat(firmware): BNO055 NDOF IMU driver on I2C1 (Issue #135)

2026-03-02 09:40:18 -05:00

buzzer.h

feat: Add piezo buzzer melody driver (Issue #253)

2026-03-02 12:51:42 -05:00

can_driver.h

feat: CAN bus driver for BLDC motor controllers (Issue #597)

2026-03-14 15:15:41 -04:00

config.h

feat: CAN bus driver for BLDC motor controllers (Issue #597)

2026-03-14 15:15:41 -04:00

coulomb_counter.h

feat: battery coulomb counter (Issue #325)

2026-03-03 17:35:34 -05:00

crsf.h

feat: battery coulomb counter (Issue #325)

2026-03-03 17:35:34 -05:00

esc_backend.h

refactor: ESC abstraction layer with pluggable backends (Issue #388)

2026-03-04 10:36:35 -05:00

face_animation.h

feat: Add Issue #507 - Face display animations on STM32 LCD

2026-03-06 10:27:36 -05:00

face_lcd.h

feat: Add Issue #507 - Face display animations on STM32 LCD

2026-03-06 10:27:36 -05:00

face_uart.h

feat: Add Issue #507 - Face display animations on STM32 LCD

2026-03-06 10:27:36 -05:00

fan.h

feat: Add cooling fan PWM speed controller (Issue #263)

2026-03-02 13:29:18 -05:00

fault_handler.h

feat: STM32 watchdog and fault recovery handler (Issue #565)

2026-03-14 13:37:14 -04:00

gimbal.h

feat: Pan/tilt gimbal servo driver for ST3215 bus servos (Issue #547)

2026-03-14 10:38:06 -04:00

hoverboard.h

feat: motor bench test working — UART5 ESC + USART6 Jetson + W command

2026-03-06 22:35:24 -05:00

i2c1.h

feat: Auto-detect magnetometer + barometer (#24)

2026-02-28 17:48:53 -05:00

icm42688.h

Balance firmware + USB CDC bug

2026-02-28 11:58:23 -05:00

ina219.h

feat: Add INA219 dual motor current monitor driver (Issue #214)

2026-03-02 11:51:26 -05:00

jetson_cmd.h

feat: Jetson→STM32 command protocol — /cmd_vel to serial (Phase 2)

2026-02-28 21:07:15 -05:00

jetson_uart.h

feat: motor bench test working — UART5 ESC + USART6 Jetson + W command

2026-03-06 22:35:24 -05:00

jlink.h

feat: CAN bus driver for BLDC motor controllers (Issue #597)

2026-03-14 15:15:41 -04:00

led.h

feat(firmware): WS2812B NeoPixel LED status indicator driver (Issue #193)

2026-03-02 11:06:13 -05:00

mag.h

feat: Auto-detect magnetometer + barometer (#24)

2026-02-28 17:48:53 -05:00

mode_manager.h

feat: RC/autonomous mode manager with smooth handoff

2026-02-28 21:06:26 -05:00

motor_current.h

feat: Motor current monitoring and overload protection (Issue #584)

2026-03-14 12:25:29 -04:00

motor_driver.h

feat: motor driver layer — differential drive, steer ramp, estop

2026-02-28 17:15:40 -05:00

mpu6000.h

feat: gyro bias calibration on boot — fixes yaw drift (issues #21, #23)

2026-02-28 17:42:24 -05:00

ota.h

feat(firmware): OTA DFU entry via JLink command and Python flash script (Issue #124)

2026-03-02 09:56:18 -05:00

pid_flash.h

feat: Motor current monitoring and overload protection (Issue #584)

2026-03-14 12:25:29 -04:00

pid_schedule.h

feat: PID gain scheduling for speed-dependent balance (Issue #550)

2026-03-14 11:51:11 -04:00

power_mgmt.h

feat: Battery voltage ADC driver with DMA sampling (Issue #533)

2026-03-07 10:01:02 -05:00

rgb_fsm.h

feat: Add RGB status LED state machine (Issue #290)

2026-03-02 20:49:26 -05:00

safety.h

feat(safety): remote e-stop over 4G MQTT (Issue #63)

2026-03-01 04:55:54 -05:00

servo_bus.h

feat: Pan/tilt gimbal servo driver for ST3215 bus servos (Issue #547)

2026-03-14 10:38:06 -04:00

servo.h

fix: Resolve all compile and linker errors (Issue #337)

2026-03-03 19:00:12 -05:00

status.h

feat(safety): remote e-stop over 4G MQTT (Issue #63)

2026-03-01 04:55:54 -05:00

ultrasonic.h

feat: Add HC-SR04 ultrasonic distance sensor driver (Issue #243)

2026-03-02 12:22:09 -05:00

watchdog.h

feat(webui): motor current live graph (Issue #297)

2026-03-02 21:09:17 -05:00