how to test uavcan communication with libcanard on STM32

[liub...@gmail.com]

Hi Pavel,

I am trying to create a node for bare metal on STM32F103 platform with libcanard.I referenced the basic tutorial project on https://kb.zubax.com/display/MAINKB/1.+Basic+tutorial, but I do not have a USB-CAN cable on the hand,can I test the UAVCAN communication like the CAN_Mode_LoopBack?Just send a message and receive it automation.

Can a common USB-CAN cable  compatible the  UAVCAN protocol? Or I need a special cable for UAVCAN?

Thanks.

bin

[Pavel Kirienko]

Hello,

> can I test the UAVCAN communication like the CAN_Mode_LoopBack?Just send a message and receive it automation.

Yes.

> Can a common USB-CAN cable  compatible the  UAVCAN protocol?

Yes.

> Or I need a special cable for UAVCAN?

UAVCAN is just a high-level protocol that works on top of CAN, just like CANopen, CANaerospace, DeviceNet, and so on.

Pavel.

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[Pavel Kirienko]

The STM32 driver shipped with Libcanard does not support loopback mode out of the box. You will need to modify the initialization of this register here: https://github.com/UAVCAN/libcanard/blob/636795f4bc395f56af8d2c61d3757b5e762bb9e5/drivers/stm32/canard_stm32.c#L226-L230. The Reference Manual on your STM32 chip will tell you the rest of the story.

Pavel. 

On Fri, Mar 23, 2018 at 2:33 PM, <liub...@gmail.com> wrote:

Hi Pavel,

Thank you for your reply.

To enable the  CAN_Mode_LoopBack mode, Which parameter should I config during the initial process of libcanard? follows is my sw&hw initial code:

static void swInit(void)

{

    int result = 0;

    CanardSTM32CANTimings timings;

    result = canardSTM32ComputeCANTimings(RCC_Clocks.PCLK1_Frequency, 1000000, &timings);

    if(result)

    {

        __ASM volatile("BKPT #01"); 

    }

    result = canardSTM32Init(&timings, CanardSTM32IfaceModeNormal);

    if(result)

    {

        __ASM volatile("BKPT #01"); 

    }

  

    canardInit(&g_canard,                           // Uninitialized library instance

               g_canard_memory_pool,                // Raw memory chunk used for dynamic allocation

               sizeof(g_canard_memory_pool),        // Size of the above, in bytes

               onTransferReceived,                // Callback, see CanardOnTransferReception

               shouldAcceptTransfer,              // Callback, see CanardShouldAcceptTransfer

               NULL); 

    

    canardSetLocalNodeID(&g_canard, 100);

}

static void hwInit(void)

{

  RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA, ENABLE);

  RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);

 

  GPIO_InitTypeDef GPIO_InitStructure;

  

  GPIO_PinAFConfig(CAN_GPIO_PORT, CAN_RX_SOURCE, CAN_AF_PORT);

  GPIO_PinAFConfig(CAN_GPIO_PORT, CAN_TX_SOURCE, CAN_AF_PORT); 

  GPIO_InitStructure.GPIO_Pin = CAN_RX_PIN | CAN_TX_PIN;

  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;

  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

  GPIO_Init(CAN_GPIO_PORT, &GPIO_InitStructure);

}

bin

在 2018年3月23日星期五 UTC+8下午5:13:45，Pavel Kirienko写道：

Hello,

> can I test the UAVCAN communication like the CAN_Mode_LoopBack?Just send a message and receive it automation.

Yes.

> Can a common USB-CAN cable  compatible the  UAVCAN protocol?

Yes.

> Or I need a special cable for UAVCAN?

UAVCAN is just a high-level protocol that works on top of CAN, just like CANopen, CANaerospace, DeviceNet, and so on.

Pavel.

On Thu, Mar 22, 2018 at 2:47 PM, <liub...@gmail.com> wrote:

Hi Pavel,

I am trying to create a node for bare metal on STM32F103 platform with libcanard.I referenced the basic tutorial project on https://kb.zubax.com/display/MAINKB/1.+Basic+tutorial, but I do not have a USB-CAN cable on the hand,can I test the UAVCAN communication like the CAN_Mode_LoopBack?Just send a message and receive it automation.

Can a common USB-CAN cable  compatible the  UAVCAN protocol? Or I need a special cable for UAVCAN?

Thanks.

bin

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