Re: [Paparazzi-devel] CANbus driver

[Miguel Torres]

I'm starting to work with CAN bus, so right now I'm just playing with  
bit timing and sending dummy messages to test all nodes. I have 3  
nodes connected: one Lisa/M, one LPCXpresso board (LPC11C24 MCU with  
integrated can controller and transceiver) and one microchip can bus  
analyzer. I will add the ESC32 once I got the can transceiver mounted  
on it.

To start with, i would like to have the existing driver code up and  
running. It looks like a simple driver but as far as it seems it  
should work. Once the basic communications are working I will focus on  
the communications protocol and messages. I'm not sure if it's a good  
idea to continue with the actual driver or if it's better to redesign  
a new one. At least the CAN bus timing settings should be configurable  
by the user.

Regarding the tests, I've got the LPCXpresso and the can bus analyzer  
send and receive messages, but with Lisa/M I haven't managed to  
perform any communication at all. I've tried with different bitrates  
but without luck. I don't have a jtag debugger so I'm only sending  
some telemetry messages and blinking some leds for debugging. I am  
using master branch and fixedwing firmware. Searching for can bus in  
the paparazzi code I only found the "Beth" airframe to work with  
canbus, and since it's a custom code for a bench test, I am wondering  
if the can bus driver conficts with other elements of the fixedwing  
firmare. I have written a small module to test the canbus driver that  
periodically sends a message, and also i have written a receive  
callback to "echo" the received messages back.

Regards

Miguel.



__________________________________________________________________________________________________

Miquel Ángel Torres Gil
Instituto Tecnológico y de Energías Renovables, S.A. (ITER, S.A.)
Polígono Industrial de Granadilla, s/n 38600 - Granadilla de Abona 
Santa Cruz de Tenerife - España (Spain)
TEL: + 34 922-747-700; FAX: +34 922-747-701

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