107-Arduino-UAVCAN
Arduino library for providing a convenient C++ interface for accessing UAVCAN (v1.0-beta) utilizing libcanard.
This library works for
- ArduinoCore-samd:
Arduino Zero,MKR 1000,MKR WiFi 1010,Nano 33 IoT,MKR GSM 1400,MKR NB 1500,MKR WAN 1300/1310✔️ - ArduinoCore-mbed:
Portenta H7,Nano 33 BLE,Nano RP2040 Connect,Edge Control✔️ - arduino-esp32:
ESP32 Dev Module,ESP32 Wrover Module, ...✔️ - arduino-pico:
Raspberry Pi Pico,Adafruit Feather RP2040, ...✔️
Reference-Implementation UAVCAN on Arduino
- UAVCAN-GNSS-Node: A UAVCAN node with a GNSS sensor providing location data.
- UAVCAN-ToF-Distance-Sensor-Node: Demo firmware for UAVCAN ToF Distance Sensor Node utilizing 107-Arduino-UAVCAN.
Example
Note: Please be advised that the examples shipped with this library are to be considered minimal examples to get you started working with UAVCAN. They are known to violate section 2.1.2.2 Regulation of the UAVCAN Specification due to their reliance on hard-coded port identifiers. A compliant implementation would instead provide configurable port-IDs and support the Register Interface (section 5.3 Application-layer functions). Fully compliant examples that implement reconfigurable port-IDs are shipped separately; e.g., UAVCAN-GNSS-Node.
#include <ArduinoUAVCAN.h>
/* ... */
ArduinoUAVCAN uavcan(13, transmitCanFrame);
Heartbeat_1_0 hb;
/* ... */
void loop() {
/* Update the heartbeat object */
hb.uptime(millis() / 1000);
hb.mode = Heartbeat_1_0::Mode::OPERATIONAL;
/* Publish the heartbeat once/second */
static unsigned long prev = 0;
unsigned long const now = millis();
if(now - prev > 1000) {
uavcan.publish(hb);
prev = now;
}
/* Transmit all enqeued CAN frames */
while(uavcan.transmitCanFrame()) { }
}
/* ... */
bool transmitCanFrame(CanardFrame const & frame) {
/* ... */
}
Contribution
How to add missing wrappers
Step 1) Generate C header files from DSDL
Option A) Use nunavut/nnvg
- Install nunavut:
pip install nunavut(you will need a functional Python installation) - Get some DSDL
git clone https://github.com/UAVCAN/public_regulated_data_types
- Generate C header files from DSDL
nnvg --target-language c \
--pp-max-emptylines=1 \
--pp-trim-trailing-whitespace \
--target-endianness=any \
--enable-serialization-asserts \
--outdir public_regulated_data_types/uavcan-header \
public_regulated_data_types/uavcan
nnvg --target-language c \
--pp-max-emptylines=1 \
--pp-trim-trailing-whitespace \
--target-endianness=any \
--enable-serialization-asserts \
--lookup public_regulated_data_types/uavcan \
--outdir public_regulated_data_types/reg-header \
public_regulated_data_types/reg
Option B) Use nunaweb
Step 2) Copy generated C header files to src/types
types/reg/drone/physics/electricity/
├── Power_0_1.h
├── PowerTs_0_1.h
├── Source_0_1.h
└── SourceTs_0_1.h
Step 3) Fix include path in generated C header files by prefixing it with <types/
-#include <uavcan/file/Path_1_0.h>
+#include <types/uavcan/file/Path_1_0.h>
...
-#include <reg/drone/physics/electricity/Power_0_1.h>
+#include <types/reg/drone/physics/electricity/Power_0_1.h>
Step 4) Manually implement wrapper classes in src/wrappers
wrappers/reg/drone/physics/electricity/
├── Power_0_1.hpp
├── PowerTs_0_1.hpp
├── Source_0_1.hpp
└── SourceTs_0_1.hpp
Step 5) Add the wrapper clases to src/ArduinoUAVCANTypes.h
+#include "wrappers/reg/drone/physics/electricity/Power_0_1.hpp"
+#include "wrappers/reg/drone/physics/electricity/PowerTs_0_1.hpp"
+#include "wrappers/reg/drone/physics/electricity/Source_0_1.hpp"
+#include "wrappers/reg/drone/physics/electricity/SourceTs_0_1.hpp"
Step 6) Create PR to mainline your changes
Note: Only UAVCAN types listed in public_regulated_data_types:master will be accepted into this repository.
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