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

Draft

daijoubu wants to merge 41 commits into

iNavFlight:maintenance-10.xfrom

daijoubu:fix/h7-dronecan-driver

Commits on May 29, 2026

dronecan/h7: reduce FDCAN SJW from 8 to 3
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dronecan/h7: fix FDCAN kernel clock ordering, SJW, auto-retransmission, and PLL2 clock source
daijoubu
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dronecan/h7: use system PLL2 clock for FDCAN; add KAKUTEH7WING CAN support
daijoubu
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dronecan/h7: remove BusOff/ErrorPassive LOG_DEBUG spam from GetProtocolStatus
daijoubu
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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
daijoubu
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dronecan: remove LOG_DEBUG spam from H7/F7 drivers and dronecan.c
daijoubu
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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: check PLL2 config return value; call Error_Handler on failure
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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/h7: add static_assert for HSE_VALUE divisibility in PLL2M calculation
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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
daijoubu
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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/h7: use STATIC_ASSERT macro instead of C11 static_assert
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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
daijoubu
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Commits on May 30, 2026

Commits on Jun 1, 2026