Minimal UAVCAN Node (wave-canard)

Easy "clone and go" repository for a UAVCAN v0 node based on libopencm3 and libcanard.

UAVCAN broadcast messages:

• uavcan.protocol.NodeStatus fixed at 1 Hz

UAVCAN provided services:

• uavcan.protocol.GetNodeInfo

It does nothing. Node ID 100 is hard-coded. Use it as a base to build cool stuff.

Hardware Setup

STM32F103

• PA11 CAN_RX
• PA12 CAN_TX

The code was tested on a UC4H General Purpose Node and NUCLEO-F103RB.

Instructions

1. git clone --recurse-submodules https://github.com/libopencm3/libopencm3-template.git your-project
2. cd your-project
3. make -C libopencm3 # (Only needed once)
4. make -C wave-canard

If you have an older git, or got ahead of yourself and skipped the --recurse-submodules you can fix things by running git submodule update --init (This is only needed once)

Directories

• wave-canard contains the application