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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

NameDescription
app_descriptorProvides app descriptor in flash, which is used by openmotordrive/bootloader to identify a valid application
boot_msgProvides support for boot messages in SRAM, which are used to pass messages from bootloader->app and app->bootloader
canWraps ChibiOS CAN driver
can_auto_initUses constructor functions to initialize CAN bus. Obtains baud rate setting from boot message, app descriptor, or performs auto baud detection
chibios_hal_initUses constructor functions to initialize ChibiOS HAL
chibios_sys_initUses constructor functions to initialize ChibiOS
dw1000Driver for DecaWave DW1000
flashProvides HAL for flash write and erase
lpwork_threadProvides a standard worker thread for low-priority tasks
paramProvides flash parameter support
profiLEDDriver for 2-wire SPI LEDs
pubsubProvides internal publish-subscribe messaging
spi_deviceProvides spi device abstraction
systemProvides misc system functions, e.g. reboot
timingProvides Arduino-compatible millis(), micros() functions
uavcanProvides uavcan transmit and receive functionality, includes uavcan standard message definitions
uavcan_allocateeProvides dynamic node id allocation
uavcan_beginfirmwareupdate_serverProvides a uavcan.protocol.file.BeginFirmwareUpdate server. Uses boot_msg to command bootloader to enter software update mode
uavcan_getnodeinfo_serverProvides a uavcan.protocol.GetNodeInfo server
uavcan_nodestatus_publisherProvides a uavcan.protocol.NodeStatus publisher
uavcan_param_interfaceProvides a uavcan interface for param
uavcan_restartProvides a uavcan.protocol.RestartNode server
worker_threadProvides worker threads that can process timer tasks, which run after a delay, or listener tasks, which listen to pubsub messages

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