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iNavFlight / inav Public

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DroneCAN: Fix H7 FDCAN and F7 bxCAN driver configuration#11607

Open

daijoubu wants to merge 53 commits into

iNavFlight:maintenance-10.xiNavFlight/inav:maintenance-10.xfrom

daijoubu:fix/h7-dronecan-driverdaijoubu/inav:fix/h7-dronecan-driverCopy head branch name to clipboard

Conversation Commits53 (53)Checks Files changed

Open

DroneCAN: Fix H7 FDCAN and F7 bxCAN driver configuration#11607
daijoubu wants to merge 53 commits into
iNavFlight:maintenance-10.xfrom
daijoubu:fix/h7-dronecan-driver

Commits

Commits on Jul 1, 2026

dronecan/h7: reduce FDCAN SJW from 8 to 3
daijoubu
committed
dronecan/h7: extend PLL2 block to cover USE_DRONECAN, fix PLL2Q for FDCAN
daijoubu
committed
dronecan/h7: use system PLL2 clock for FDCAN; add KAKUTEH7WING CAN support
daijoubu
committed
dronecan/h7: remove BusOff/ErrorPassive LOG_DEBUG spam from GetProtocolStatus
daijoubu
committed
dronecan/h7: fix FDCAN timing clock source and restore SJW=3
daijoubu
committed
dronecan/h7: remove LOG_DEBUG spam and fix PLL2 VCI range
daijoubu
committed
dronecan: remove LOG_DEBUG spam from H7/F7 drivers and dronecan.c
daijoubu
committed
dronecan/h7: set SJW=1 for ISO 11898-1 conformance and verified 1Mbps operation
daijoubu
committed
dronecan: set SJW=1 in F7 driver; clean up stale comments in H7/F7 drivers
daijoubu
committed
dronecan: gate GPS fix handlers on GPS_DRONECAN provider
daijoubu
committed
dronecan/f7: restore SJW=3 (hardware 4 tq); document register encoding difference
daijoubu
committed
dronecan: add STATE_DRONECAN_FAILED; set on CAN peripheral init failure
daijoubu
committed
dronecan: add FAILED to CLI state name array
daijoubu
committed
dronecan/h7: flush TX FIFO before clearing CCCR.INIT on bus-off recovery
daijoubu
committed
dronecan: disable AutoRetransmission on H7/F7 to prevent TX FIFO stall
daijoubu
committed
dronecan/f7: check canardSTM32ComputeTimings return value
daijoubu
committed
dronecan: increase bus-off recovery delay from 1ms to 20ms
daijoubu
committed
dronecan: move GPS provider guard to dispatch layer in dronecan.c
daijoubu
committed
dronecan: rate-limit protocol status check to 1Hz in NORMAL state
daijoubu
committed
dronecan/f7: implement RecoverFromBusOff to clear sticky ESR.BOFF flag
daijoubu
committed
dronecan/h7: fix static_assert comment for PLL2M HSE divisibility check
daijoubu
committed
dronecan: rate-limit protocol status check in BUS_OFF state to 20ms cadence
daijoubu
committed
dronecan/f7: revert RecoverFromBusOff HAL_CAN_Stop/Start — causes lockup
daijoubu
committed
dronecan: only log CAN status when BusOff or ErrorPassive is non-zero
daijoubu
committed
dronecan/f7: remove TX failure log spam
daijoubu
committed
dronecan/gps: guard GNSSAuxiliary DOP fields against NaN and overflow
daijoubu
committed
dronecan/gps: remove lastVDOP — no vdop field in gpsSol and not EPV-compatible
daijoubu
committed
dronecan: add STATE_DRONECAN_COUNT sentinel and assert dronecanStateNames size
daijoubu
committed
dronecan: handle STATE_DRONECAN_COUNT in switch to satisfy -Werror=switch
daijoubu
committed
dronecan: fix ARRAYLEN macro name in dronecanStateNames assert
daijoubu
committed
dronecan: clamp state index before dronecanStateNames lookup in CLI
daijoubu
committed
dronecan/f7: document why RecoverFromBusOff is a no-op
daijoubu
committed
dronecan: fix sign-compare in CLI state name clamp
daijoubu
committed
dronecan: fix %lu format specifier for uint32_t fields
daijoubu
committed
fix: use PRIu32 for uint32_t format specifiers in dronecan LOG_DEBUG
daijoubu
committed
fix(dronecan): send elapsed ms since last seen in MSP2_INAV_DRONECAN_NODES
daijoubu
committed
fix(dronecan): send elapsed ms since last seen in MSP2_INAV_DRONECAN_NODE_INFO
daijoubu
committed
dronecan/h7: TX queue mode, depth 3, ISR pump, NVIC masking
daijoubu
committed
dronecan: F7 ISR-driven TX, NVIC masking, TEC/REC/LEC counters, cliDronecan
daijoubu
committed
dronecan: fix H7 ISR pump, ECR TEC field, narrow TX mask window
daijoubu
committed
dronecan: reorder driver files to public API before private helpers
daijoubu
committed
dronecan: address code review findings
daijoubu
committed
dronecan: address third code review findings
daijoubu
committed
dronecan: address fourth code review findings
daijoubu
committed
dronecan: address fifth code review findings
daijoubu
committed
dronecan: address sixth code review findings
daijoubu
committed
dronecan: fix H7 FDCAN filter type to accept all extended IDs
daijoubu
committed
Enforce FIFO ordering to prevent spin errors in multi frame messages on bxCan (F7) targets. Set max quanta per bit to 18 unconditionally to fix 1MBps on bxCan.
daijoubu
committed
Allow FDCAN targets to use 18 quanta per bit solution as well at 1 MBps.
daijoubu
committed
test(dronecan): add bxCAN timing unit tests for max_quanta=18 change
daijoubu
committed
dronecan: reduce flash waste, improve GPIO config, add diagnostics
daijoubu
committed
dronecan: guard STM32 CAN drivers with USE_DRONECAN
daijoubu
committed
Set max_quanta_per_bit back to 10 for H7 targets as well
daijoubu
committed

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