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Important note. CAN bus in general needs termination resistors connected on both sides of the line. If the line is very short (10-20 cm) only one resistor may be sufficient. Сonveniently Zubax Babel has software-programmable termination resistor. If CAN bus seems not working for some reason - please check if termination resistor is activated (it can be activated using the UAVCAN GUI Tool itself).

Implementation

First of all hardware initialization must be performed as libcanard stm32 driver configures CAN peripheral only and avoids clocking and gpio configuration. hw_init() function is trivial and is left out of this text. However it may be found in the demo project here.

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