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README.md

libcanard examples

These are simple examples of DroneCAN nodes using libcanard and the dronecan_dsdlc DSDL compiler

For more a more complete firmware framework please see the ArduPilot AP_Periph firmware framework

Building Examples

To build each of the examples cd to the subdirectory of the example and type 'make'

You may need to install the following before building:

  sudo pip install empy pydronecan pexpect

Running Examples

Before you run the examples you need to start socketcan on Linux. See the setup_socketcan.sh script in this directory for starting socketcan

setup_socketcan.sh

After socketcan is setup you can run an example like this:

 ./esc_node vcan0

Then connect to vcan0 with the DroneCAN GUI Tool.

gui_connect_vcan0

After starting the GUI tool you need to assign a node ID to the GUI tool itself by ticking the local node ID selection

gui_tick

For the esc_node and servo_node you will need a dynamic node allocation server, which you can start within the DroneCAN GUI tool using the rocket icon in the bottom right corner

gui_DNA

This will result in a CAN node ID being allocated and the node showing up on the bus.

gui_ID_allocated

Your new CAN node will now show up in the GUI tool.

gui_running