Custom CAN Protocol

samscudd · November 10, 2023, 7:24pm

Hi All,

Is it possible to configure the CubePilot Orange+ to send out custom CAN messages via our own CAN protocol? Or do we need to use DroneCAN?

Thanks!

sidbh · November 12, 2023, 11:43am

yes, please refer these examples for reference if you need to develop using Lua Scripting:

github.com

ArduPilot/ardupilot/blob/master/libraries/AP_Scripting/examples/CAN_write.lua

-- This script is an example of writing to CAN bus

-- Load CAN driver, using the scripting protocol and with a buffer size of 5
local driver = CAN:get_device(5)

-- transfer ID of the message were sending
local Transfer_ID = 0

-- RGB colours in 0 - 255 range, and RGB fade speed
local red = 255
local green = 0
local blue  = 0
local fade_speed = 5


function update()

  -- send UAVCAN Light command
  -- uavcan.equipment.indication.LightsCommand
  -- note that as we don't do dynamic node allocation, the target light device must have a static node ID

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github.com

ArduPilot/ardupilot/blob/master/libraries/AP_Scripting/examples/CAN_read.lua

-- This script is an example of reading from the CAN bus

-- Load CAN driver1. The first will attach to a protocol of 10, the 2nd to a protocol of 12
-- this allows the script to distinguish packets on two CAN interfaces
local driver1 = CAN:get_device(5)
local driver2 = CAN:get_device2(5)

if not driver1 and not driver2 then
   gcs:send_text(0,"No scripting CAN interfaces found")
   return
end

function show_frame(dnum, frame)
    gcs:send_text(0,string.format("CAN[%u] msg from " .. tostring(frame:id()) .. ": %i, %i, %i, %i, %i, %i, %i, %i", dnum, frame:data(0), frame:data(1), frame:data(2), frame:data(3), frame:data(4), frame:data(5), frame:data(6), frame:data(7)))
end

function update()

   -- see if we got any frames
   if driver1 then

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