Uavcan v0 and STM32H7

frantof · October 12, 2021, 12:10pm

Hi, can you tell me if it is possible to run uavcan v0 on stm32h7 with fdcan or only uavcan v1?

pavel.kirienko · October 12, 2021, 12:12pm

UAVCAN v0 does not support CAN FD. There is currently no work underway to change this.

You can still use UAVCAN v0 with your chip though as long as you configure its CAN controller to use the Classic CAN mode.

frantof · October 12, 2021, 12:15pm

Do you know if there are ready-made drivers for this series of processors?

pavel.kirienko · October 12, 2021, 12:17pm

There are no official drivers for FDCAN but you can find some third-party ones on GitHub, like this:

github.com

HongHeeJung/mavros_ws/blob/4ea8a0c577bb9d5dc0b838898d41f113b8cdc180/src/Firmware/src/drivers/uavcan/uavcan_drivers/stm32h7/driver/src/uc_stm32h7_can.cpp

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frantof · October 12, 2021, 12:26pm

And for use outside the PX4 system?

pavel.kirienko · October 12, 2021, 12:27pm

As I said, we don’t provide drivers for this platform yet.

auturgy · October 12, 2021, 7:52pm

This draft PR, along with the two PR’s it’s linked to, adds FD support to v0
https://github.com/ArduPilot/ardupilot/pull/17336 and has been tested on H7.