Hi,
I created a custom sensor with STM32G0B1 uC. It communicates with PX4 via UART for now. But I also prepared CAN connection as an alternative.
As the main software is ready, I decided to use CAN to work with PX4. From what I see, the easiest option is to make use of PX4 CAN software for the sensor and not to reinvent the wheel again. It is not a problem to rewrite the drivers for the sensor for NuttX, so it would be the best option.
The NuttX in PX4 version 1.15.4 doesn’t have support for the STM32G0B1, but NuttX itself has an update and basic support for that chip. I am ready to try and add support for FDCAN, as it should be similar to STM32C092.
But while digging in PX4 code, I can see that there is only canbootloader support for STM32F4/F7, and any board config for CAN sensor uses one of those chips.
I am a bit lost here and would appreciate some guidance:
- is it worth it to try and go on this journey and add CAN support for G0B1? or is it better to just redesign board for something like STM32F412CE?
- if I will go with my current uC, where to start? What is needed to create CAN sensor based on PX4 code?
I couldn’t find any documentation on using PX4 for CAN sensor. It would be great to get some guidance or clarification.
Thanks!