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# CAN
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# CAN (DroneCAN & Cyphal)
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[Мережа контролера (CAN)](https://en.wikipedia.org/wiki/CAN_bus) – це надійна дротова мережа, яка дозволяє компонентам дрона, таким як контролер польоту, ESC, датчики та інші периферійні пристрої, спілкуватися один з одним.
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Так як він розроблений, щоб бути демократичним та використовує диференційну сигналізацію, він є дуже надійним навіть на довгих кабельних ділянках (на великих транспортних засобах) і уникне виникнення однієї точки відмови.
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[Controller Area Network (CAN)](https://en.wikipedia.org/wiki/CAN_bus) is a robust wired network that allows drone components such as flight controller, ESCs, sensors, and other peripherals, to communicate with each other.
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It is particularly recommended on larger vehicles.
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## Загальний огляд
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CAN it is designed to be democratic and uses differential signaling.
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For this reason it is very robust even over longer cable lengths (on large vehicles), and avoids a single point of failure.
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CAN також дозволяє отримання зворотного зв'язку від периферійних пристроїв та зручне оновлення прошивки через шину.
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PX4 підтримує два програмні протоколи для взаємодії з пристроями CAN:
@@ -18,29 +24,36 @@ PX4 підтримує два програмні протоколи для вз
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Відмінності між цими двома протоколами описані в [Cyphal vs. DroneCAN](https://forum.opencyphal.org/t/cyphal-vs-dronecan/1814).
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:::
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:::warning
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У PX4 немає підтримки інших програмних протоколів CAN для безпілотних літальних апаратів, таких як KDECAN (на момент написання).
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:::
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## Підключення
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Проводка для мереж CAN однакова як для DroneCAN, так і для Cyphal/CAN (фактично, для всіх мереж CAN).
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Пристрої з'єднані у ланцюжку в будь-якому порядку.
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Devices within a network are connected in a _daisy-chain_ in any order (this differs from UARTs peripherals, where you attach just one component per port).
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:::warning
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Don't connect each CAN peripheral to a separate CAN port!
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Unlike UARTs, CAN peripherals are designed to be daisy chained, with additional ports such as `CAN2` used for [redundancy](redundancy).
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:::
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На обох кінцях ланцюга між двома лініями передачі даних слід під’єднати термінальний резистор 120 Ом.
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Польотні контролери та деякі модулі GNSS мають вбудовані резистори завершення для зручності, тому їх слід розміщувати на протилежних кінцях ланцюга.
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В іншому випадку, ви можете використовувати резистор завершення, наприклад, [цей від Zubax Robotics](https://shop.zubax.com/products/uavcan-micro-termination-plug?variant=6007985111069), або припаяти його самостійно, якщо у вас є доступ до затискача JST-GH.
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Наступна діаграма показує приклад шини CAN, що з'єднує автопілот з 4 контролерами ESC CAN та GNSS.
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It includes a redundant bus connected to `CAN 2`.
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На схемі не показано електропроводку.
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Для підтвердження, чи компоненти потребують окремого живлення, чи можуть бути живлені від самої шини CAN, звертайтеся до інструкцій виробника.
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:::info
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For more information, see [Cyphal/CAN device interconnection](https://wiki.zubax.com/public/cyphal/CyphalCAN-device-interconnection?pageId=2195476) (kb.zubax.com).
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Хоча стаття написана з урахуванням протоколу Cyphal, вона однаково стосується апаратного забезпечення DroneCAN і будь-яких інших налаштувань CAN.
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Для більш складних сценаріїв зверніться до розділу [Про топологію та термінацію шини CAN](https://forum.opencyphal.org/t/on-can-bus-topology-and-termination/1685).
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:::
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### З’єднання
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DroneCAN та Cyphal/CAN підтримують використання другого (резервного) інтерфейсу CAN.
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Це абсолютно необов'язково, але збільшує надійність підключення.
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Всі контролери польоту Pixhawk мають 2 інтерфейси CAN; якщо ваші пристрої також підтримують 2 інтерфейси CAN, рекомендується підключити обидва для збільшення безпеки.
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Pixhawk flight controllers come with 2 CAN interfaces; if your peripherals support 2 CAN interfaces as well, it is recommended to wire both up for increased safety.
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### Flight Controllers with Multiple CAN Ports
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[Flight Controllers](../flight_controller/index.md) may have up to three independent CAN ports, such as `CAN1`, `CAN2`, `CAN3` (neither DroneCAN or Cyphal support more than three).
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Note that you can't have both DroneCAN and Cyphal running on PX4 at the same time.
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:::tip
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You only _need_ one CAN port to support an arbitrary number of CAN devices using a particular CAN protocol.
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Don't connect each CAN peripheral to a separate CAN port!
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:::
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Generally you'll daisy all CAN peripherals off a single port, and if there is more than one CAN port, use the second one for [redundancy](redundancy).
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If three are three ports, you might use the remaining network for devices that support another CAN protocol.
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The documentation for your flight controller should indicate which ports are supported/enabled.
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At runtime you can check what DroneCAN ports are enabled and their status using the following command on the [MAVLink Shell](../debug/mavlink_shell.md) (or some other console):
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```sh
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uavcan status
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```
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Note that you can also check the number of supported CAN interfaces for a board by searching for `CONFIG_BOARD_UAVCAN_INTERFACES` in its [default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6xrt/default.px4board#) configuration file.
4 in 1 Electronic Speed Controller (ESC) that is made in the USA, NDAA compliant, and DIU Blue Framework listed.
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The ESC comes in variants without connectors that you can solder in place, and a variant that has built-in motor and battery connectors (no soldering required).
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This topic lists the main [Electronic Speed Controller (ESC)](../peripherals/esc_motors.md) protocols supported by PX4.
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## DShot
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[DShot](../peripherals/dshot.md) is a digital ESC protocol that is highly recommended for vehicles that can benefit from reduced latency, in particular racing multicopters, VTOL vehicles, and so on.
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It has reduced latency and is more robust than both [PWM](#pwm) and [OneShot](#oneshot-125).
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In addition it does not require ESC calibration, telemetry is available from some ESCs, and you can reverse motor spin directions.
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PX4 configuration is done in the [Actuator Configuration](../config/actuators.md).
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Selecting a higher rate DShot ESC in the UI results in lower latency, but lower rates are more robust (and hence more suitable for large aircraft with longer leads); some ESCs only support lower rates (see datasheets for information).
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Setup:
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-[ESC Wiring](../peripherals/pwm_escs_and_servo.md) (same as for PWM ESCs)
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-[DShot](../peripherals/dshot.md) also contains information about how to send commands etc.
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## DroneCAN
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[DroneCAN ESCs](../dronecan/escs.md) are recommended when DroneCAN is the primary bus used for your vehicle.
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The PX4 implementation is currently limited to update rates of 200 Hz.
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DroneCAN shares many similar benefits to [DShot](#dshot) including high data rates, robust connection over long leads, telemetry feedback, no need for calibration of the ESC itself.
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[DroneCAN ESCs](../dronecan/escs.md) are connected via the DroneCAN bus (setup and configuration are covered at that link).
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## PWM
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[PWM ESCs](../peripherals/pwm_escs_and_servo.md) are commonly used for fixed-wing vehicles and ground vehicles (vehicles that require a lower latency like multicopters typically use oneshot or dshot ESCs).
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PWM ESCs communicate using a periodic pulse, where the _width_ of the pulse indicates the desired speed.
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The pulse width typically ranges between 1000 μs for zero power and 2000 μs for full power.
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The periodic frame rate of the signal depends on the capability of the ESC, and commonly ranges between 50 Hz and 490 Hz (the theoretical maximum being 500 Hz for a very small "off" cycle).
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A higher rate is better for ESCs, in particular where a rapid response to setpoint changes is needed.
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For PWM servos 50 Hz is usually sufficient, and many don't support higher rates.
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In addition to being a relatively slow protocol PWM ESCs require [calibration](../advanced_config/esc_calibration.md) because the pulse widths representing low and high values can vary significantly.
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Unlike [DShot](#dshot) and [DroneCAN ESC](#dronecan) they do not have the ability to provide telemetry and feedback on ESC (or servo) state.
[OneShot 125 ESCs](../peripherals/oneshot.md) are usually much faster than PWM ESCs, and hence more responsive and easier to tune.
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They are preferred over PWM for multicopters (but not as much as [DShot ESCs](#dshot), which do not require calibration, and may provide telemetry feedback).
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There are a number of variants of the OneShot protocol, which support different rates.
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PX4 only supports OneShot 125.
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OneShot 125 is the same as PWM but uses pulse widths that are 8 times shorter (from 125 μs to 250 μs for zero to full power).
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This allows OneShot 125 ESCs to have a much shorter duty cycle/higher rate.
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For PWM the theoretical maximum is close to 500 Hz while for OneShot it approaches 4 kHz.
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The actual supported rate depends on the ESC used.
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Setup:
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-[ESC Wiring](../peripherals/pwm_escs_and_servo.md) (same as for PWM ESCs)
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