This repo introduces a simple ready-to-use Cyphal/DroneCAN application template for RL Mini v2 node.
Please, refer Wiki for details:
- Minimal recommended Cyphal features are supported out of the box (bootloader and DNA are coming next),
- You can run the software in SITL mode (don't need to have any hardware),
- Cyphal firmware binary is only 35.2 KB.
Top view | Bottom view | Pinout | STM32CubeMX |
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By default the application is as simple as possible. It just blinks the RGB LED, subscribes to the setpoint topic to control a single PWM (PWM1) and publishes a feedback with the latest applied setpoint. It doesn't have any safety features like TTL, but you are free to extend it as you want.
The default capabilities of the node are shown on the picture below:
The application subscribes on a message configured in pwm.cmd_type
. It supports: esc.RawCommand, actuator.ArrayCommand, hardpoint.Command. It controls the PWM and sends back esc.Status, actuator.Status, hardpoint.Status as feedback. It also sends power.CircuitStatus with the circuit state (5v voltage, vin voltage, current) and device.Temperature with stm32 internal measured temperature.
If you are strugguling with the software building, please refer to the build workflow build.yml for a hint. If it doesn't help, you can open an issue.
Consider the following projects based on this template examples: