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

Draft

daijoubu wants to merge 47 commits into

iNavFlight:maintenance-10.xfrom

daijoubu:fix/h7-dronecan-driver

Commits on Jun 12, 2026

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