A serial port now works as an adapter to the CAN bus
InformationBoard, internal errors, CAN, scripting
What ArduPilot says:
- CANManager: Starting SLCAN Passthrough on Serial N with CANN
The ground station's DroneCAN tools talk to the CAN devices through the flight controller: they set CAN_SLCAN_CPORT (which CAN bus) and CAN_SLCAN_SERNUM (which serial port), and that port switches from MAVLink to SLCAN, a protocol that carries CAN frames over a serial line. The line says it has started. The port returns to its normal work after CAN_SLCAN_TIMOUT seconds without traffic, or at the next reboot.
Parameters to look at
| Parameter | What it is |
|---|---|
CAN_SLCAN_CPORT | SLCAN Route |
CAN_SLCAN_SERNUM | SLCAN Serial Port |
CAN_SLCAN_TIMOUT | SLCAN Timeout |
Where to do it:Board & Wiring Planner
The code that sends it
CANManager: Starting SLCAN Passthrough on Serial N with CANN
libraries/AP_CANManager/AP_SLCANIface.cpp SLCAN::CANIface::update_slcan_port() · Open in ArduPilot Copter-4.7.1