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nsh> #run hello world
nsh> hello
nsh> #control the onboard RGB LED
nsh> led_control breathe -c cyan
nsh> #check the actual RGB PWM driver status
nsh> rgbled_pwm status
nsh> #view the rtos processes
nsh> top
nsh> #check the hardware version and git verion
nsh> ver hw
nsh> ver git# On the receiving board:
nsh> ifup can0 # or can1 if using the can1 bus
nsh> candump can0
# On the sending board:
nsh> ifup can0
nsh> cansend can0 123#deadbeefQuick reference to connectors and pinouts for UCANS32K146. CANSIC board follows the same pinout, but includes a second RC-PWM port and connector
How to connect two UCANS32K1SIC boards in preparation to run the demo software
This GitBook provides the technical details of the NXP RDDRONE-UCANS32K1 famly of CAN-FD and CAN-SIC boards with UAVCAN protocol support, as well as reference software and examples.
Outline the differences in the two versions of the board










sudo apt-get install -y python3-pip python3-setuptools python3-wheel
sudo apt-get install -y python3-numpy python3-pyqt5 python3-pyqt5.qtsvg git-core
sudo pip3 install git+https://github.com/DroneCAN/gui_tool@master sudo ip link set can0 type can bitrate 1000000
sudo ip link set up can0ifconfig candump can0 pwm_out status dronecan_gui_tool git clone -b UCANS32K146 https://github.com/NXPHoverGames/PX4-Autopilot.git --recursive
cd PX4-Autopilotmake nxp_ucans32k146_canbootloader
// output: build/nxp_ucans32k146_canbootloader/nxp_ucans32k146_canbootloader.bin
make nxp_ucans32k146
// output: build/nxp_ucans32k146_default/deploy/34.binconnect
// specify the following:
// device: s32k146;
// target interface: s (which stands for swd);
// interface speed: 1000 khz (recommended);
loadbin <path to nxp_ucans32k146.bin> 0x0
loadbin <path to 34.bin> 0x6000
// quit jlink tools by typing 'q'.apa102mkdir -p ~/src/apache-nuttx && cd ~/src/apache-nuttxgit clone https://github.com/apache/incubator-nuttx.git nuttxgit clone https://github.com/apache/incubator-nuttx-apps.git appsgit fetch && git fetch --tagsgit checkout nuttx-9.1.0JLinkExeconnects32k146s1000loadbin nuttx.bin 0qsudo apt install gperfgit clone https://bitbucket.org/nuttx/tools.gitcd tools/kconfig-frontends./configure --enable-mconf --enable-qconf --prefix=/usrmakesudo make installcd ~/src/apache-nuttx/nuttx./tools/configure.sh rddrone-uavcan146:nshdebugmake menuconfigmake qconfig







sudo apt-get update
sudo apt-get dist-upgrade
sudo apt-get install can-utils
pip install python-can pkill python3
sudo ip link set can1 down
sudo ip link set can0 down
sudo ip link set can0 up type can bitrate 1000000 loopback off restart-ms 100
sudo ip link set can1 up type can bitrate 1000000 dbitrate 4000000 loopback off fd on fd-non-iso off restart-ms 100 mkdir -p ~/git/ros2/src
cd ~/git/ros2/src
git clone git@github.com:rudislabs/ros2_orchestrator.git colcon build --symlink-install sudo echo "source /home/$USER/git/ros2/install/setup.bash" >> ~/.bashrcsource ~/.bashrc ros2 launch ros2_orchestrator orchestrate.launch.py ros2 launch ros2_orchestrator orchestrate.launch.py ros2 run joy joy_node git clone https://github.com/PX4/PX4-Autopilotmake nxp_ucans32k146_canbootloadermake nxp_ucans32k146JLinkExeconnects32k146s1000loadbin /path/to/nxp_ucans32k146.bin 0x0# If using pre-built binary
loadbin /path/to/34-0.1.{commit}.uavcan.bin 0x6000
# If using self-built binary
loadbin /path/to/34.bin 0x6000q











