Libuavcan S32K1 Driver over CAN-FD: For the UAVCAN Communication Protocol
●Libuavcan is a lightweight C++ library for implementing the UAVCAN communication protocol in embedded systems. This application note covers the driver for the transport layer of the protocol over CAN-FD, which utilizes the FlexCAN peripheral available in the S32K1 family of microcontrollers, running at 1 Mbit/s and 4 Mbit/s in nominal and data phases, respectively.
●The library is completely statically defined, all the parameters of an application are determined at compile time, avoiding dynamic memory allocation and reducing possible points of failure, and making verification of the system easier.
●The last top layers of the protocol implementation for the latest specification, UAVCAN V1.0, are under development at the time this document was written.
●The goal of this document is to demonstrate a programming example of the FlexCAN peripheral in particular implementation of the UAVCAN protocol. This for serving as a code reference for custom applications that wish to integrate the CAN-FD capabilities of the module.
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Application note & Design Guide |
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Please see the document for details |
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English Chinese Chinese and English Japanese |
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June, 2020 |
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Rev. 0 |
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AN12842 |
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584 KB |
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