openmotordrive/framework is a framework for embedded applications, primarily targeted at drone accessories that connect via CAN bus and the UAVCAN protocol.
Feature set
- RTOS-based (ChibiOS)
- Minimizes boilerplate code in application
- Modular architecture
- Supports STM32F3 targets, ready to support many others
- Includes startup code and ld scripts for supported MCUs
- UAVCAN bootloader provided
- Makefile-based build system provided
- Flash-based configuration parameter store
- UAVCAN support, including auto-bauding, dynamic node id allocation, parameter interface, firmware update
- Internal publish-subscribe messaging system
- Worker threads with API for creating tasks that run on an interval and tasks that handle pubsub messages
- HAL for SPI devices
- HAL for I2C devices
- Includes some device drivers
Included modules
| Name | Description |
|---|---|
| app_descriptor | Provides app descriptor in flash, which is used by openmotordrive/bootloader to identify a valid application |
| boot_msg | Provides support for boot messages in SRAM, which are used to pass messages from bootloader->app and app->bootloader |
| can | Wraps ChibiOS CAN driver |
| can_auto_init | Uses constructor functions to initialize CAN bus. Obtains baud rate setting from boot message, app descriptor, or performs auto baud detection |
| chibios_hal_init | Uses constructor functions to initialize ChibiOS HAL |
| chibios_sys_init | Uses constructor functions to initialize ChibiOS |
| dw1000 | Driver for DecaWave DW1000 |
| flash | Provides HAL for flash write and erase |
| lpwork_thread | Provides a standard worker thread for low-priority tasks |
| param | Provides flash parameter support |
| profiLED | Driver for 2-wire SPI LEDs |
| pubsub | Provides internal publish-subscribe messaging |
| spi_device | Provides spi device abstraction |
| system | Provides misc system functions, e.g. reboot |
| timing | Provides Arduino-compatible millis(), micros() functions |
| uavcan | Provides uavcan transmit and receive functionality, includes uavcan standard message definitions |
| uavcan_allocatee | Provides dynamic node id allocation |
| uavcan_beginfirmwareupdate_server | Provides a uavcan.protocol.file.BeginFirmwareUpdate server. Uses boot_msg to command bootloader to enter software update mode |
| uavcan_getnodeinfo_server | Provides a uavcan.protocol.GetNodeInfo server |
| uavcan_nodestatus_publisher | Provides a uavcan.protocol.NodeStatus publisher |
| uavcan_param_interface | Provides a uavcan interface for param |
| uavcan_restart | Provides a uavcan.protocol.RestartNode server |
| worker_thread | Provides worker threads that can process timer tasks, which run after a delay, or listener tasks, which listen to pubsub messages |