CANable 2.0 Firmware compatible with DroneCAN GUI

This repository contains sources for the slcan CANable 2.0 firmware. This firmware implements non-standard slcan commands to support CANFD messaging alongside a LAWICEL-style command set. Initial firmware was updated to be compatible with DroneCAN GUI tool.

Supported Commands

• O - Open channel

• C - Close channel

• S0 - Set nominal bitrate to 10k

• S1 - Set nominal bitrate to 20k

• S2 - Set nominal bitrate to 50k

• S3 - Set nominal bitrate to 100k

• S4 - Set nominal bitrate to 125k

• S5 - Set nominal bitrate to 250k

• S6 - Set nominal bitrate to 500k

• S7 - Set nominal bitrate to 750k

• S8 - Set nominal bitrate to 1M

• S9 - Set nominal bitrate to 83.3k

• Y2 - Set data bitrate to 2M (CANFD only) (default)

• Y5 - Set data bitrate to 5M (CANFD only)

• M0 - Set mode to normal mode (default)

• M1 - Set mode to silent mode

• A0 - Disable automatic retransmission

• A1 - Enable automatic retransmission (default)

• tIIILDD... - Transmit data frame (Standard ID) [ID, length, data]

• TIIIIIIIILDD... - Transmit data frame (Extended ID) [ID, length, data]

• RIIIIIIIIL - Transmit remote frame (Extended ID) [ID, length]

• rIIIL - Transmit remote frame (Standard ID) [ID, length]

• dIIILDD... - Transmit CAN FD standard ID (no BRS) [ID, length]

• DIIIIIIIILDD... - Transmit CAN FD extended ID (no BRS) [ID, length]

• bIIILDD... - Transmit CAN FD BRS standard ID [ID, length]

• BIIIIIIIILDD... - Transmit CAN FD extended ID [ID, length]

• V - Returns firmware version and remote path as a string

• E - Returns error register

Note: CANFD message lengths are as follows (expressed in hexadecimal):

• 0-8: Same as standard CAN
• 9: Length = 12
• A: Length = 16
• B: Length = 20
• C: Length = 24
• D: Length = 32
• E: Length = 48
• F: Length = 64

Note: Channel configuration commands must be sent before opening the channel. The channel must be opened before transmitting frames.

This firmware currently DOES provide ACK/NACK feedback for following serial commands: O/C/Sx.

Building

Firmware builds with GCC. Specifically, you will need gcc-arm-none-eabi, which is packaged for Windows, OS X, and Linux on Launchpad. Download for your system and add the bin folder to your PATH.

Your Linux distribution may also have a prebuilt package for arm-none-eabi-gcc, check your distro's repositories to see if a build exists. Simply compile by running make.

If you prefer CMake, a script is generated and added to the project. Usage (Windows):

cmake -G "MinGW Makefiles" . -Bbuild

cmake --build ./build

Flashing with the Bootloader (Linux only)

Plug in your CANable2 while pressing down the BOOT button. The blue LED should be dimly illuminated. Next, type make flash and your CANable will be updated to the latest firwmare. Unplug/replug the device after moving the boot jumper back, and your CANable will be up and running.

License

See LICENSE.md