AC3.6-dev 4.July2017: How to enable CAN

Development Team
1

Hey

I’ve seen that few days ago EShamaevs big UAVCAN stuff got merged (finally, YEAH), so I’ve flashed AC3.6-dev of today, to play with it.

But I can’t figure out how to enable Uavcan. I’m using MP. In the InitialSetup->UAVCAN pane the Enable Uavcan field is deactivated, I can’t do anything with it. In the Full Parameter list the BRD parameters are cleared of any CAN related stuff. I do see the CAN parameters CAN_D1/2_PROTOCOL and CAN_P1/2_DRIVER, but have no idea what they do.

I would be most thankful if I could get some brief instructions.

Thx, Olli

2

I believe UAVCAN can only be enabled on v3 firmwares because those are the ones that run on the STM32 cpu’s that don’t have the 1MB CPU bug. Also these require a reboot after enabling to expose the parameters.

but just tested on a v4 firmware and also doesn’t come up. I’m reporting it.

3

I managed to get this to work on a Pixhawk 2.1 (Cube) by setting:

CAN_D1_PROTOCOL and CAN_D2_PROTOCOL to 1,
CAN_P1_DRIVER and CAN_P2_DRIVER to 1

The BRD_CAN_* parameters have been removed since this PR has been merged.

4

Thanks. So on a v3 it works, but curious to recheck on a v4.

And those parameters are only related to the 2 exposed UAVCAN ports of the Cube

5

so the guess would be
CAN_P1_DRIVER = 1
CAN_P2_DRIVER = 0
?

what is about v2 boards?

(I have a AUAV-X2)

6

You’ll have to check if the STM32 CPU is affected by the 1MB bug. That was the reason to create 2 images, v2 and v3, for the PixHawk style boards like the AUAV-X2. You can search here for a easy way to check which CPU you have.

7

PX is setup for physical port (CAN1, CAN2) and the number is the virtual driver that the port gets connected to.
DX is driver type (protocol), currently 0 - disabled, 1 - UAVCAN.

So for most users it will be: P1, P2 = 1, D1 = 1, D2 = 0

8

Luis:
ähm, I know which cpu is on my boards (< rev3, so, affected)

the question was rather if the new UAVCAN stuff in master also works for v2

EShamaev:
many thx
clarifications also on v2,v3,v4?