TU Delft UAVCAN modules

This repository contains the UAVCAN modules used by the TU Delft.

Compile

• git submodule update --init --recursive --force
• cd firmware
• Compile message definitions and protocol: DSDLC/generated: make protocol
• firmware: make

Start CAN-UAV (configure CAN Nodes)

• find the device name of your CAN-USB
• if you don't have them yet, install the sudo apt-get install can-utils
• sudo slcand -o -c -f -s8 /dev/ttyACM0 can0
• sudo ifconfig can0 up
• uavcan_gui_tool
• dronecan

CAN-tunnel for BLHeli devices

• reboot devices ?
• install pip3 install git+https://github.com/UAVCAN/pyuavcan@master
• or pip3 install pyuavcan_v0 ??
• ./tools/test.py

BLHeli configure

• BLHeliSuite32XL: https://github.com/bitdump/BLHeli/tree/master/BLHeli_32%20ARM#readme

Flash overview:

STM32F105RC with 256k total memory (0x08000000 - 0x8040000)

• 0x08000000: Bootloader (32k)
• 0x08008000: Node (194k)
• 0x0803F000: Node Config CRC 1 (4)
• 0x0803F004: Node Config CRC 2 (4)
• 0x0803F008: Node Config (4k - 8 bytes)
• 0x08040000: End