Add JetFleet JFBMS slave hardware target - #97
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This was referenced May 14, 2026
Adds an optional hwconf macro that lets a board opt out of the COMM_PING_CAN broadcast scan. The default in main/hwconf/hw.h is 1 to preserve the existing behavior; a hwconf header can override it to 0 to skip the scan loop in commands.c. Useful for headless variants that share a CAN bus with a master and should never participate in VESC ping discovery.
Adds an optional hwconf macro that switches the TWAI driver into TWAI_MODE_NO_ACK at init. The default in main/hwconf/hw.h is 0, so the existing TWAI_MODE_NORMAL behavior is preserved unless a hwconf header opts in. Useful for bench / diagnostic builds that need to observe a live CAN bus without generating ACKs.
Adds HW_CAN_FILTER_CONFIG in main/hwconf/hw.h so a hwconf header can override the default TWAI acceptance filter. The default expands to false, so behavior remains TWAI_FILTER_CONFIG_ACCEPT_ALL() when no hardware provides an override. The filter is re-applied on both initial CAN bring-up and after comm_can_update_baudrate() so a hwconf override survives baud changes. f_config is made non-const so update_filter() can replace it. Also dispatches an optional weak hw_can_rx_hook() from the CAN process task after Lisp CAN processing and before the normal VESC/BMS decoder path. Hardware variants such as JFBMS_SLAVE can use this to consume custom 11-bit protocol frames without changing generic CAN decoding. Matches the existing HW_INIT_HOOK() / HW_POST_LISPIF_HOOK() pattern: a hwconf header declares its hardware-specific function and wires it through a small macro or weak-symbol implementation.
Adds a hwconf-defined HW_IS_SLAVE flag that suppresses two pieces of boot-time behavior in main.c: - BLE and WiFi initialization. A slave variant has no user-facing radios; running these only wastes RAM and adds attack surface. - main_store_backup_data() copying controller_id and can_baud_rate from the live config into the persisted backup. Headless slave builds use their own slave-specific config and should not mirror these shared VESC Express compatibility fields back into backup storage. When HW_IS_SLAVE is not defined, behavior is unchanged. The flag is expected to be set in a hwconf header alongside HW_NAME and the other HW_* macros.
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Draft while the dependency PR is reviewed.
Depends on:
This PR adds the JetFleet JFBMS slave hardware target and documents the private master/slave BMS CAN protocol.
Changes:
JFBMS_SLAVEhardware target.Scope note:
Hosted Lisp application scripts are intentionally not included here because those are kept in a separate repository.
Protocol summary:
Motivation:
This target supports pack expansion beyond the cells directly handled by the master BMS controller while keeping the protocol documented and reviewable.
Testing:
cleanup/upstream-readybranch..lispfiles or private local artifacts are included.