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)
0x08038800: Node Config CRC (8)
0x08038808: Node Config (29k)
0x08040000: End