Get the UAVCAN messages with the UCAN board

First make sure the BMS is connected to the UCAN board

Connect the UAVCAN device (like the RDDRONE-UCANS32K146) to the BMS using JST GH 4 pin connectors with 1 on 1 wires. End the CAN bus with a 120Ω terminator resistor between CAN high and CAN low.

Get the BMS draft using the UCAN board in linux:

1. Connect the UCAN board with a USB-TTL-3V3 cable to the laptop.

2. Install the can utils with the following terminal command:

   • sudo apt install can-utils

3. Install python 3.7 with the following terminal command:

   • sudo apt install python3.7

4. Install pyuavcan with the following terminal command:

   • python3.7 -m pip install pyuavcan

5. Start the deamon on UART <-> SLCAN to use SLCAN0 use the command (for ttyUSB1):

   • sudo slcand -o -s8 -t sw -S 115200 /dev/ttyUSB1

1. Enable the interface (up)(same as ifup can0 in nuttx) write the following command:

   • sudo ip link set up slcan0

2. Clone the cannode v1 tools:

   • git clone https://github.com/PetervdPerk-NXP/cannode-v1-tools

3. Make sure the sub modules are in the git repository write the following command in the cannode-v1_tools directory:

   • git submodule update --init

4. Find this line in print_bmsstatus_topic.py:

   • media = pyuavcan.transport.can.media.socketcan.SocketCANMedia('can0', mtu=8)

5. Change it to the right can device, for example:

   • media = pyuavcan.transport.can.media.socketcan.SocketCANMedia('slcan0', mtu=8)

6. Run the pyuavcan tool by typing the following in a terminal where the print_bmsstatus_topic.py file is located:

   • python3.7 print_bmsstatus_topic