UAVCAN: Difference between revisions
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''The information on this page refers to firmware v2.30 and higher.'' | ''The information on this page refers to firmware v2.30 and higher.'' | ||
The STorM32 gimbal controller supports [http://uavcan.org/ UAVCAN]. This allows communicating with the STorM32 board via a [https://de.wikipedia.org/wiki/Controller_Area_Network CAN] bus, very similar to the communication through the [[Serial_Communication|serial interfaces]] or [[Using_a_ESP8266_Wifi_Module|Wifi]]. | |||
<div class="toclimit-2">__TOC__</div> | |||
== Uavcan Messages == | |||
In Uavcan speach this are "data types" | |||
== Configuration == | |||
The Uavcan related parameters are split into the "normal" and the "Uavcan" parameter sections. The parameters in the normal section are accessible like any other parameter, e.g. via the GUI. The parameters in the Uavcan section are however accessible only by using Uavcan's mechanism for [http://uavcan.org/Specification/6._Application_level_functions/#node-configuration Node configuration]. The two sections are exclusive, that is, a parameter is found in one or the other section, but not in both. The single exception is the {{PARAMNAME|Uavcan Node ID}} parameter, which can be configured by both mechanisms. | |||
=== GUI Parameters === | |||
The parameters in the normal section are found in the {{GUI|Interfaces Tool}} window, which is accessible via the {{GUI|Tools}} menu. | |||
* {{PARAMNAME|Uavcan Configuration}}: Set to {{PARAMVALUE|normal}} to activate the Uavcan communication. The STorM32 boards needs to be reset for a change to become active. | |||
* {{PARAMNAME|Uavcan Node ID}}: Sets the node ID of the STorM32 controller (default = 71). | |||
=== Uavcan Parameters === | |||
The parameters in the Uavcan section can be accessed e.g. using the [http://uavcan.org/GUI_Tool/Overview/ UAVCAN GUI Tool], and a SLCAN adapter. A uc4h SLCAN adapter provides probably the cheapest solution. | |||
Revision as of 07:40, 29 July 2017
The information on this page refers to firmware v2.30 and higher.
The STorM32 gimbal controller supports UAVCAN. This allows communicating with the STorM32 board via a CAN bus, very similar to the communication through the serial interfaces or Wifi.
Uavcan Messages
In Uavcan speach this are "data types"
Configuration
The Uavcan related parameters are split into the "normal" and the "Uavcan" parameter sections. The parameters in the normal section are accessible like any other parameter, e.g. via the GUI. The parameters in the Uavcan section are however accessible only by using Uavcan's mechanism for Node configuration. The two sections are exclusive, that is, a parameter is found in one or the other section, but not in both. The single exception is the Uavcan Node ID parameter, which can be configured by both mechanisms.
GUI Parameters
The parameters in the normal section are found in the [GUI:Interfaces Tool] window, which is accessible via the [GUI:Tools] menu.
- Uavcan Configuration: Set to “normal” to activate the Uavcan communication. The STorM32 boards needs to be reset for a change to become active.
- Uavcan Node ID: Sets the node ID of the STorM32 controller (default = 71).
Uavcan Parameters
The parameters in the Uavcan section can be accessed e.g. using the UAVCAN GUI Tool, and a SLCAN adapter. A uc4h SLCAN adapter provides probably the cheapest solution.