libArduinoDroneCAN

DroneCAN library for Arduino on STM32, bundling everything needed to send and receive DroneCAN messages from an STM32-based Beyond Robotix node (or any STM32 Arduino target).

Contents

• src/ — Beyond Robotix DroneCAN wrapper: the DroneCAN class, parameter storage, firmware update, and board-specific CAN drivers (L4 bxCAN, H7 FDCAN).
• dronecan/ — DSDL-generated message types (uavcan.protocol.*, uavcan.equipment.*, dronecan.*). Regenerate via tools/dronecan/ in the mono workspace.
• libcanard/ — upstream libcanard CAN transport.
• acanfd-stm32/ — FDCAN driver for H7, vendored from pierremolinaro/acanfd-stm32. Examples and extras dropped; source + license retained.

Usage

Add to your platformio.ini:

lib_deps = https://github.com/BeyondRobotix/libArduinoDroneCAN.git#v1.0.0

Pin to a specific tag for reproducible builds. To track main, drop the #vX.Y.Z. After bumping the pin, force a refresh with pio pkg uninstall --library libArduinoDroneCAN -e <env> or delete the project's .pio/libdeps/.

Supported targets

• MicroNode (STM32L431, bxCAN) — -DCANL431
• CoreNode (STM32H743, FDCAN) — -DCANH7 -DACANFD
• MicroNodePlus (STM32H723, FDCAN) — -DACANFD plus the H723 variant identifiers

The Beyond Robotix br-stm32 platform sets these defines automatically per board.

Consumers

• Arduino-DroneCAN — reference application + HIL test suite.
• BR_bootloader — PlatformIO + Arduino bootloader; uses this library for the DroneCAN firmware-update server.

Releases

Manual cut-a-tag: edit, commit, git tag vX.Y.Z, push tags. Consumers bump their lib_deps pin.