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  • DShot code converted from STM32L5 development board to STM32L4 CAN ESC adapter board STM32 project, meaning that the CAN ESC adapter board can control an ESC with DShot.

  • efs-canard integrated with DShot code, so CAN ESC adapter board can receive throttle inputs from flight controller and mission planner through CAN (see video abovebelow).

Protocols

  • The flight controller communicates with the ESC CAN adapter through CAN (STM32L4 does not support FDCAN).

    • this is implemented with efs-canard. The board accepts throttle values from CAN messages and calls DShot functions to control the ESC.

  • The CAN ESC adapter controls the ESC over DShot.

    • implemented with memory to peripheral DMA in dshot.c

    • a complementary timer pin (e.g. TIM1 CH1N) was used for DShot output generation due to the wiring of the board. This is the same as a normal timer output except HAL_TIME_*() was replaced with HAL_TIMEx_*() function calls.

    • DShot is currently normal DShot 150 (not bidirectional).

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