/mini_v2_node

Mini v2 node Cyphal application example

Primary LanguageC++Apache License 2.0Apache-2.0

Mini v2 Cyphal/DroneCAN application template

This repo introduces a simple ready-to-use Cyphal/DroneCAN application template for RL Mini v2 node.

Please, refer Wiki for details:

1. Key features

  • Minimal recommended Cyphal features are supported out of the box (bootloader and DNA are coming next),
  • You can run the software in SITL mode (don't need to have any hardware),
  • Cyphal firmware binary is only 35.2 KB.

2. Brief hardware info

Top view Bottom view Pinout STM32CubeMX
drawing drawing drawing drawing

3. Brief Cyphal template application capabilities

By default the application is as simple as possible. It just blinks the RGB LED, subscribes to the setpoint topic to control a single PWM (PWM1) and publishes a feedback with the latest applied setpoint. It doesn't have any safety features like TTL, but you are free to extend it as you want.

The default capabilities of the node are shown on the picture below:

drawing

4. Q&A

If you are strugguling with the software building, please refer to the build workflow build.yml for a hint. If it doesn't help, you can open an issue.

5. More examples