uavcan_iwr6843aop (WIP)

This is a work in progress project. Integrating uavcan protocol to TI mmwave software.

Hardware

• IWR6843AOPEVM

IMPORTANT: You must set the S2.1 switch to ON position in order to enable CAN0 output.

Tools

UNIFLASH

• UniFlash flash programming tool

dronecan_gui_tool

• DroneCAN GUI Tool

QGroundControl

• QGroundControl

You can see the distance_sensor messages.

Ardupilot Copter DroneCAN

• DroneCAN Setup

ccs 20.2.0

• Code Composer Studio™ integrated development environment (IDE)

Radar Toolbox CAN Integration

• CAN Integration Example 6843

Dependencies

• XDCtools 3.50.8.24_core
• SYS/BIOS 6.73.1.01
• mmWave SDK 3.6.0.00-LTS
• Radar Toolbox 3.20.0.04
• SysConfig 1.24.0

Compiler

• TI ARM-CGT v20.2.7-LTS
• gcc 11.4.0

References

• https://github.com/ArduPilot/ardupilot
• https://github.com/dronecan/DSDL
• https://github.com/dronecan/dronecan_dsdlc
• https://github.com/dronecan/libcanard
• https://github.com/dronecan/pydronecan
• https://www.ti.com/lit/ug/swru546e/swru546e.pdf
• CAN Integration User Guide