Please refer to the documentation page at http://pixhawk.org/modules/px4esc.

• 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 4.7+
• Python 2.7 or Python 3.2+

./tools/fetch_chibios.sh
./tools/fetch_uavcan.sh   # Or make a symlink instead
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.

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