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

Name	Description
app_descriptor	Provides app descriptor in flash, which is used by openmotordrive/bootloader to identify a valid application
boot_msg	Provides support for boot messages in SRAM, which are used to pass messages from bootloader->app and app->bootloader
can	Wraps ChibiOS CAN driver
can_auto_init	Uses constructor functions to initialize CAN bus. Obtains baud rate setting from boot message, app descriptor, or performs auto baud detection
chibios_hal_init	Uses constructor functions to initialize ChibiOS HAL
chibios_sys_init	Uses constructor functions to initialize ChibiOS
dw1000	Driver for DecaWave DW1000
flash	Provides HAL for flash write and erase
lpwork_thread	Provides a standard worker thread for low-priority tasks
param	Provides flash parameter support
profiLED	Driver for 2-wire SPI LEDs
pubsub	Provides internal publish-subscribe messaging
spi_device	Provides spi device abstraction
system	Provides misc system functions, e.g. reboot
timing	Provides Arduino-compatible millis(), micros() functions
uavcan	Provides uavcan transmit and receive functionality, includes uavcan standard message definitions
uavcan_allocatee	Provides dynamic node id allocation
uavcan_beginfirmwareupdate_server	Provides a uavcan.protocol.file.BeginFirmwareUpdate server. Uses boot_msg to command bootloader to enter software update mode
uavcan_getnodeinfo_server	Provides a uavcan.protocol.GetNodeInfo server
uavcan_nodestatus_publisher	Provides a uavcan.protocol.NodeStatus publisher
uavcan_param_interface	Provides a uavcan interface for param
uavcan_restart	Provides a uavcan.protocol.RestartNode server
worker_thread	Provides worker threads that can process timer tasks, which run after a delay, or listener tasks, which listen to pubsub messages