Community
cancel
Showing results for 
Search instead for 
Did you mean: 
mMcEw
Novice
706 Views

I would like to access UAVCAN pins to mount an OpenGrab EPM magnet (runs like a servo) to the Aero RTF. How can I access those pins? I don't need GPS while the Open Grab is mounted, since I'll be flying indoors with Marvelmind.

When I remove the GPS antenna I get access to COMPASS, GPS, and TELEMETRY is exposed. Can I use any of these as UAVCAN? If so, which ones? I'm working with a mechanical engineer who wants to see a guide of which pins are which (of the 50 GPIO pins, which i2c, which USART and which UAVCAN). Thanks

5 Replies
Eliza_D_Intel
Employee
127 Views

Hello mMcEw, Thank you for your interest in the Intel Aero Ready to Fly drone. The Aero Flight Controller includes a TJA1051 CAN bus transceiver. You can find an example here: https://github.com/broody/Firmware/commit/55042b60480ce3dc04b5247b768087de71e68444 with the required changes to enable UAVCAN. This has been tested with Zubax Babel USB dongle. You can find more information on this matter on: https://github.com/intel-aero/meta-intel-aero/wiki/94-(References)-Sensors-GPIOs-LEDs-CAN-bus#can-bu... For PIN description you can check the Aero Compute Board Hardware guide: https://www.intel.com/content/dam/support/us/en/documents/drones/development-drones/intel-aero-compu... Thank you and best regards, Eliza
mMcEw
Novice
127 Views

Thank you very much. I thought this would be the route. I am working with a team that is rather risk averse when it comes to making firmware level changes. Would you mind sending more of a step by step protocol on how to execute this? I assume it's all from the command line? We have ubuntu loaded and have been successfully running python scripts and px4 autopilot. Thank you V. Mitch McEwen Princeton School of Architecture
JesusE_Intel
Moderator
127 Views

Hi mMcEw, The CAN Bus is not physically exposed on any of the connectors on the expansion board. You would need to create your own expansion board to connect to the 80 pin connector. Does the OpenGrab EPM magnet have any alternative methods of communication, such as serial? Regards, Jesus
mMcEw
Novice
127 Views

Thank you – it supports It supports UAVCAN , RCPWM and push button operation. V. Mitch McEwen Assistant Professor Princeton School of Architecture Founding Director of Black Box box.princeton.edu<https://box.princeton.edu/>
JesusE_Intel
Moderator
127 Views

Hi mMcEw, You may be able to modify your drone to communicate to the OpenGrab EPM magnet with UAVCAN. You will need to build the PX4 firmware from source to enable UAVCAN. Take a look at this section for additional details: https://github.com/intel-aero/meta-intel-aero/wiki/94-(References)-Sensors-GPIOs-LEDs-CAN-bus#can-bu... These are the changes that need to be made to the Px4 firmware: https://github.com/broody/Firmware/commit/55042b60480ce3dc04b5247b768087de71e68444 Solder two cables to the 80 pin connector on Pin 61 and 63 (FC_CAN_L & FC_CAN_H). If you decide to go this route, please be extra cautious to not short the pins with others near by. This would be an alternative to designing and building your own connector. Hope this helps! Regards, Jesus
Reply