DroneCAN: Fix H7 FDCAN and F7 bxCAN driver configuration

src/main/drivers/dronecan/dronecan.h

@@ -14,7 +14,9 @@ typedef enum {
 typedef enum {
     STATE_DRONECAN_INIT,
     STATE_DRONECAN_NORMAL,
-    STATE_DRONECAN_BUS_OFF
+    STATE_DRONECAN_BUS_OFF,
+    STATE_DRONECAN_FAILED,
+    STATE_DRONECAN_COUNT
 } dronecanState_e;
 
 #define DRONECAN_MAX_NODES 32 // Reasonably expected number of devices on the bus.  If this is regularly hit, we could go higher but it consumes more ram.

src/main/drivers/dronecan/libcanard/canard_sitl_driver.c

@@ -106,18 +106,12 @@ static int16_t sitlCANTransmitStub(const CanardCANFrame* const tx_frame) {
 }
 
 static void sitlCANGetStatsStub(canardProtocolStatus_t *pProtocolStat) {
-    pProtocolStat->BusOff = 0;
-    pProtocolStat->ErrorPassive = 0;
+    memset(pProtocolStat, 0, sizeof(*pProtocolStat));
 }
 
 #ifdef __linux__
 // SocketCAN implementations
 
-/**
- * @brief Initialize SocketCAN interface
- * @param bitrate CAN bitrate in bps (for logging, actual rate set via ip link)
- * @retval 0 on success, negative on error
- */
 static int16_t sitlCANInitSocketCAN(uint32_t bitrate) {
     struct sockaddr_can addr;
     struct ifreq ifr;
@@ -163,9 +157,6 @@ static int16_t sitlCANInitSocketCAN(uint32_t bitrate) {
     return 0;
 }
 
-/**
- * @brief Convert libcanard frame to Linux CAN frame
- */
 static void sitlCANFrameToLinux(const CanardCANFrame *const src, struct can_frame *const dst) {
     memset(dst, 0, sizeof(struct can_frame));
 
@@ -183,9 +174,6 @@ static void sitlCANFrameToLinux(const CanardCANFrame *const src, struct can_fram
     }
 }
 
-/**
- * @brief Convert Linux CAN frame to libcanard frame
- */
 static void sitlCANFrameFromLinux(const struct can_frame *const src, CanardCANFrame *const dst) {
     memset(dst, 0, sizeof(CanardCANFrame));
 
@@ -203,11 +191,6 @@ static void sitlCANFrameFromLinux(const struct can_frame *const src, CanardCANFr
     }
 }
 
-/**
- * @brief Receive a CAN frame via SocketCAN
- * @param rx_frame Pointer to frame structure to fill
- * @retval 0 if no frame available, 1 if frame received, negative on error
- */
 static int16_t sitlCANReceiveSocketCAN(CanardCANFrame *const rx_frame) {
     struct can_frame frame;
     ssize_t nbytes;
@@ -235,11 +218,6 @@ static int16_t sitlCANReceiveSocketCAN(CanardCANFrame *const rx_frame) {
     return 1;
 }
 
-/**
- * @brief Transmit a CAN frame via SocketCAN
- * @param tx_frame Pointer to frame to transmit
- * @retval 1 on success, 0 if busy, negative on error
- */
 static int16_t sitlCANTransmitSocketCAN(const CanardCANFrame* const tx_frame) {
     struct can_frame frame;
     ssize_t nbytes;
@@ -262,16 +240,9 @@ static int16_t sitlCANTransmitSocketCAN(const CanardCANFrame* const tx_frame) {
     return 1; // Success
 }
 
-/**
- * @brief Get CAN protocol status from SocketCAN
- * @param pProtocolStat Pointer to status structure to fill
- */
+/* Always returns zeroes — SocketCAN provides no per-frame error counters via raw sockets. */
 static void sitlCANGetStatsSocketCAN(canardProtocolStatus_t *pProtocolStat) {
-    // SocketCAN doesn't expose bus-off/error-passive directly
-    // We could check interface flags via netlink, but for SITL testing
-    // we assume the virtual CAN is always healthy
-    pProtocolStat->BusOff = 0;
-    pProtocolStat->ErrorPassive = 0;
+    memset(pProtocolStat, 0, sizeof(*pProtocolStat));
 }
 #endif // __linux__
 
@@ -280,7 +251,7 @@ static void sitlCANGetStatsSocketCAN(canardProtocolStatus_t *pProtocolStat) {
  * @param rx_frame Pointer to frame structure to fill
  * @retval 0 if no frame available, 1 if frame received, negative on error
  */
-int16_t canardSTM32Recieve(CanardCANFrame *const rx_frame) {
+int16_t canardSTM32Receive(CanardCANFrame *const rx_frame) {
     if (rx_frame == NULL) {
         return -CANARD_ERROR_INVALID_ARGUMENT;
     }
@@ -357,6 +328,10 @@ int32_t canardSTM32GetRxFifoFillLevel(void) {
     return 0;
 }
 
+int32_t canardSTM32GetTxQueueFillLevel(void) {
+    return 0;
+}
+
 /**
  * @brief Recover from bus-off condition
  */

src/main/drivers/dronecan/libcanard/canard_stm32_driver.h

@@ -12,15 +12,19 @@
 typedef struct {
     uint32_t BusOff;
     uint32_t ErrorPassive;
+    uint8_t  tec;
+    uint8_t  rec;
+    uint8_t  lec;
 } canardProtocolStatus_t;
 
 #ifdef USE_DRONECAN
 
 int16_t canardSTM32CAN1_Init(uint32_t bitrate);
 
-int16_t canardSTM32Recieve(CanardCANFrame *const rx_frame);
+int16_t canardSTM32Receive(CanardCANFrame *const rx_frame);
 int16_t canardSTM32Transmit(const CanardCANFrame* const tx_frame);
 void canardSTM32GetProtocolStatus(canardProtocolStatus_t *pProtocolStat);
+int32_t canardSTM32GetTxQueueFillLevel(void);
 int32_t canardSTM32GetRxFifoFillLevel(void);
 void canardSTM32RecoverFromBusOff(void);
 void canardSTM32GetUniqueID(uint8_t id[16]);