FluxGrip: Quickstart Guide

[maksim.drachov]

Register configuration

“Cyberimplantation is like buying shoes - everyone needs somethin’ different.”

This post will document how to use yakut commands to configure FluxGrip through the Registers interface. This feature is available from firmware version v1.1 and onwards.

Before we start:

1. Connect FluxGrip using CANFace
2. sudo setup_slcan --remove-all -r /dev/serial/by-id/usb-*Zubax*Babel*
3. source ./my_env.sh
4. yakut monitor --plug-and-play=pnp.db (leave this one running)

For detailed instruction regarding setup, please see “Preparation” section in the previous post.

Note that after setting the CAN-related registers you’ll need to restart the FluxGrip for the change to take effect.

• call to uavcan.node.ExecuteCommand
  • Restart
    yakut call <NODE_ID> uavcan.node.ExecuteCommand '{'command': 65535, 'parameter': '1'}'
  • Factory Reset
    yakut call <NODE_ID> uavcan.node.ExecuteCommand '{'command': 65532, 'parameter': '1'}'

Registers

• write to uavcan.node.id

  yakut register-access <NODE_ID> uavcan.node.id <NEW_NODE_ID>
  # Enable plug-and-play
  yakut register-access <NODE_ID> uavcan.node.id 65535
  

• read/write to uavcan.node.description

  # Read
  yakut register-access <NODE_ID> uavcan.node.description
  # Write
  yakut register-access <NODE_ID> uavcan.node.description "New description"
  

• read/write to uavcan.can.mtu

  # Read
  yakut register-access <NODE_ID> uavcan.can.mtu
  # Write
  yakut register-access <NODE_ID> uavcan.can.mtu 8
  

• read/write to uavcan.can.bitrate

  # Read
  yakut register-access <NODE_ID> uavcan.can.bitrate
  # Write
  yakut register-access 113 uavcan.can.bitrate '1000000 1000000'
  

• read/write to uavcan.can.count

  # Read
  yakut register-access <NODE_ID> uavcan.can.count
  # Write
  yakut register-access <NODE_ID> uavcan.can.count 1
  

• read/write to uavcan.pub.feedback.id

  # Read
  yakut register-access <NODE_ID> uavcan.pub.feedback.id
  # Write
  yakut register-access <NODE_ID> uavcan.pub.feedback.id 1001
  

• read/write to uavcan.pub.feedback.prio

  # Read
  yakut register-access <NODE_ID> uavcan.pub.feedback.prio
  # Write
  yakut register-access <NODE_ID> uavcan.pub.feedback.prio 4
  

• read/write to uavcan.sub.command.id

  # Read
  yakut register-access <NODE_ID> uavcan.sub.command.id
  # Write
  yakut register-access <NODE_ID> uavcan.sub.command.id 1000