Matek H743-xxx UAVCAN doesn´t start properly and no device detection #19828
Description
Describe the bug
the current code doesn´t start uavcan properly
To Reproduce
Steps to reproduce the behavior:
- connect uavcan device(s) (all pins double checked)
- no device detection
- after uavcan stop and start sometimes it´s detected but no continuous function
in board.h:
STM32_BOARD_XTAL is only 8MHz on this board maybe this is too less for STM32_FDCANCLK, all other boards use a 24 MHz crystal for it
don´t know how to set CANCLK to 24Mhz
Expected behavior
UAVCAN works like expected
(Hereflow is the only small enough device for Whoop sized vehicles)
Log Files and Screenshots
uavcan status
Pool allocator status:
Capacity hard/soft: 500/250 blocks
Reserved: 2 blocks
Allocated: 2 blocks
UAVCAN node status:
Internal failures: 0
Transfer errors: 0
RX transfers: 0
TX transfers: 1
CAN1 status:
HW errors: 31
IO errors: 31
RX frames: 0
TX frames: 1
ESC outputs:
..
Channel 7: value: 0, failsafe: 0, disarmed: 0, min: 0, max: 0
Sensor 'flow':
name: uavcan_flow
Sensor 'rangefinder':
name: uavcan_rangefinder
Online nodes (Node ID, Health, Mode):
uavcan: cycle time: 13145 events, 156821us elapsed, 11.93us avg, min 7us max 760us 23.199us rms
uavcan: cycle interval: 13145 events, 3002.73us avg, min 64us max 32936us 659.800us rms
nsh> uavcan stop
nsh> uavcan start
INFO [uavcan] Node ID 1, bitrate 1000000
nsh> uavcan status
Pool allocator status:
Capacity hard/soft: 500/250 blocks
Reserved: 12 blocks
Allocated: 12 blocks
UAVCAN node status:
Internal failures: 0
Transfer errors: 6
RX transfers: 14
TX transfers: 4
CAN1 status:
HW errors: 31
IO errors: 31
RX frames: 372
TX frames: 8
ESC outputs:
..
Channel 7: value: 0, failsafe: 0, disarmed: 0, min: 0, max: 0
Sensor 'flow':
name: uavcan_flow
channel 0: node id 125 --> instance 0
Sensor 'rangefinder':
name: uavcan_rangefinder
channel 0: node id 125 --> instance 0
Online nodes (Node ID, Health, Mode):
125 OK OPERAT
uavcan: cycle time: 2322 events, 87012us elapsed, 37.47us avg, min 6us max 18543us 615.891us rms
uavcan: cycle interval: 2322 events, 2581.36us avg, min 16us max 18548us 1220.597us rms
Drone (please complete the following information):
- Describe the type of drone.
- Photo of the IMU / autopilot setup if possible.
Additional context
Add any other context about the problem here.