Get the UAVCAN messages with the UCAN board
This page will describe how to get the UAVCAN BMS messages with the UCAN board
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This page will describe how to get the UAVCAN BMS messages with the UCAN board
Last updated
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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.
Connect the UCAN board with a USB-TTL-3V3 cable to the laptop.
Install the can utils with the following terminal command:
sudo apt install can-utils
Install python 3.7 with the following terminal command:
sudo apt install python3.7
Install pyuavcan with the following terminal command:
python3.7 -m pip install pyuavcan
Start the deamon on UART <-> SLCAN to use SLCAN0 use the command (for ttyUSB1):
sudo slcand -o -s8 -t sw -S 115200 /dev/ttyUSB1
Enable the interface (up)(same as ifup can0 in nuttx) write the following command:
sudo ip link set up slcan0
Clone the cannode v1 tools:
git clone
Make sure the sub modules are in the git repository write the following command in the cannode-v1_tools directory:
git submodule update --init
Find this line in print_bmsstatus_topic.py:
media = pyuavcan.transport.can.media.socketcan.SocketCANMedia('can0', mtu=8)
Change it to the right can device, for example:
media = pyuavcan.transport.can.media.socketcan.SocketCANMedia('slcan0', mtu=8)
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