Hey
if one gets stuck with a project, it’s sometimes not a bad idea to let it rest for a while. So it is with this project. I also regained interest because I could free quite some substantial resources in the STorM32 gimbal controller, which gives it now the muscles to handle UAVCAN, and because I have seen that EShamaev’s big PR is getting closer to be merged (and in fact had been merged now, congrats!).
Earlier I gave up, because of all sorts of “instabilities”. I can’t say for sure what THE solutions was, but I believe (strongly) that my previous issues were because I was using the SN65HVD230 CAN transceivers. These are so-called 3.3V transceivers, and on the osci I just saw “ugly” CAN signals. So, I watched out for alternatives, and I finally settled for the TJA1051 (which I really like a lot). These give signals as seen in the textbook. Moreover, what I found was that it is sufficient to have only one TJA in the system, and the signals would look good (i.e. even if the other transceivers in the line are SN65HVD230). So, I equipped my AUAV-X2 with a TJA instead of a SN65, and since when I do not appear to have any of the previous issues. I further looked on the web, and I noticed that the pixracer is also equipped with a TJA (and I think also PH2), which might explain why others might not have seen issues like me, even then using SN65-equipped nodes (such as the Zubax gps). I also noted that the TJA is a ■■■■■■■■■ recommendation (but not the SN65). I perfectly understand that Pavel does NOT support that conclusion, that the SN65HVD23x can cause issues, and I accept that. However, the above is a truthful report of what I did and saw, whatever the correct conclusion is.
Although not of much importance, I also niced up my hardware, i.e. designed pcb’s for the uc4h-slcan-adapter and the uc4h-node bridge, pictures below. All bench tests ran very well. So, I think I can start again with out-door test.
Chears, Olli
Node:
SLCAN-adapter:
Bench test setup:
