Please refer to the documentation page at https://docs.zubax.com/sapog.

• TIM1 - 3-phase FET bridge PWM
• TIM2 - ADC synchronization, works in lockstep with TIM1
• TIM3 - RGB LED PWM
• TIM4 - Hard real time callout interface for motor control logic (preempts the kernel)
• TIM5 - RC PWM input capture
• TIM6 - High precision timestamping for motor control logic (sub-microsecond resolution, never overflows)
• TIM7 - General purpose timestamping

Prerequisites:

• GCC ARM 4.9
• Python 2.7 or Python 3.2+

git submodule update --init --recursive
cd firmware
make RELEASE=1 # RELEASE is optional; omit to build the debug version

Execute ./blackmagic_flash.sh [portname] from the tools directory to flash the firmware with a Black Magic Debug Probe.

Consider using the UAVCAN GUI Tool instead.

This step is optional. Works only for Linux.

Make sure the libuavcan is installed in the system. If not yet:

cd firmware/uavcan
mkdir build
cd build
cmake ..
make
sudo make install

Build the UAVCAN testing tool:

cd tools/uavcan_tool
mkdir build
cd build
cmake ..
make

Known compatible hardware designs are listed below.

• Zubax Orel 20