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Re: [Paparazzi-devel] CAN on Lisa

From: Piotr Esden-Tempski
Subject: Re: [Paparazzi-devel] CAN on Lisa
Date: Fri, 10 Aug 2012 11:35:28 -0700

Hi Tilman,

I did not port the CAN driver to libopencm3 yet. There is a CAN example in 
libopencm3 itself as well as in open-bldc codebase. It was a while since I 
tested it the last time.

I want to bring the CSC functionality back to paparazzi using lisa/m instead of 
dedicated hardware. I will have to work on that in not so far future. It will 
be awesome if you want to help with that effort of course! :)

Also as Felix said it is a good idea to look at the old CSC code and maybe 
reuse at least the high level protocol parts?

Cheers Esden

Transition Robotics Inc.
the makers of the Quadshot
Co-Founder, Embedded systems Engineer
Mobile: +1 831 440 7454
Skype: esdentem

On Aug 10, 2012, at 11:17 AM, Felix Ruess wrote:

> Hi Tilman,
> definitely a good idea!
> There already was the the CSC (CanServoController) that did stuff like that 
> (never used it myself though).
> But we deleted it, as it was not used and maintained anymore and needed to be 
> done in libopencm3 now anyway.
> But 4.0 is not converted to libopencm3. So if you want to work on this, use 
> the master branch, where everything is converted to libopencm3.
> Also see the issues for the libopencm3 milestone: 
> Cheers, Felix
> On Fri, Aug 10, 2012 at 6:13 PM, Tilman Baumann <address@hidden> wrote:
> Hi,
> I'm fooling around with can at the moment. A friend and I want to modularize 
> UAV components a bit more.
> The easiest and lowest hanging fruit seems to be to just pass telemetry 
> messages on the bus first. (probably inspired by one of the data logging 
> modules)
> But anyway. I'm not there yet. First I like to play around with CAN raw. I 
> thought the code is now based on libopencm3. But 
> ./sw/airborne/arch/stm32/mcu_periph/can_arch.c is totally different.
> Eventually I don't care really what I use. But what is it that is being used 
> there and how can I learn about it?
> Has anyone already used that stuff? I suppose the code is there for a reason?
> Would it perhaps be a better idea to scrap that and use the libopencm3 
> functions? Would they work?
> And while this is not my concern yet, I would not mind starting some kind of 
> conversation about this before I start hacking.
> My current idea is basically to just dump ppz format messages on the bus with 
> a prefix to make them filterable. Later additions would be a message type for 
> actuators. (Have not quite grokked if or how I can have multiple Actuators 
> like CAN servos and PWM servos)
> And then of course telemetry receive via CAN and sensor values receive 
> (remote virtual ADC would be cool).
> I guess conversation topics could be the message format. I think the ppz 
> format is the easiest way right now. But perhaps there are better ideas.
> Grand vision is to have little can modules (NXP Cortex M0 based processor 
> probably) which drive servos, run actuators and read sensor. Connector could 
> be RJ45.
> This would make wiring much less crazy and planes become more maintainable. 
> Imagine having just one JR45 connector going to each detachable wing and your 
> camera subsystem and what not.
> Also telemetry could become more flexible, radios could be placed where ever 
> is most convenient.
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