Project add uavcan
UAVCAN on Paparazzi
Outcome
Be able to simply connect UAVCAN devices to Paparazzi suppoted Autopilot board which have a CAN connector
Why
To have the benefits of CAN by using 3rd party UAVCAN sensors in Paparazzi enabled autopilots
Into
RFC
Yes, this is a living document so RFC, ideas and whatever helps to move forward very welcome.
Version
UAVCAN specification exist in various version For now the solution is for UAVCAN specs Beta V1 only since V0 support is diminishing fast
Path
The step to take to get to a solution
Research
See what usable is already available
- libcanard
- PPRZ ABI messages
- Chibios CAN
- Baremetal can support
Choices
Lets start of by using libcanard and Chibios and later add baremetal. If done well this shoul be possible
ABI
a UAVCAN abi.xml bridge
DSDL
As an example on could take Hereflow and implement a driver for it
Generate code from DSDL=
There are already tools even online https://nunaweb.uavcan.org/
Timestamps
Relevant https://forum.uavcan.org/t/rtos-can-api-requirements/706
Tools
A Pixhawk as CANDEbugger
CANAble
An opensource CAN to PC adapter usable for debuggin purposes https://canable.io/
Wireshark
Using wireshark as UAVCAN packet sniffer
Other CAN on same bus=
If there are no collision one should be able to use CAN with other protocolstack as well (OpenCAN, CANAerospace etc.)
C99
MISRA
Links
Links relevant to get UAVCAN into PPRZ