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| − | == Why CAN? ==
| + | [[Category:Deleted]] |
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| − | CAN bus uses differential signaling to provide noise resistant communication between nodes.
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| − | This is a critical requirement for our applications as they may use high power motor drivers
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| − | and motors producing lots of EMI. The other reason is the availability of the CAN peripheral
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| − | on STM32 ARM MCUs which means only adding CAN transceiver like SN65HV is necessary.
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| − | == Why CANOpen? ==
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| − | Rather than reinventing our custom protocol we're using [[CANOpen]] protocol which is designed
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| − | for industrial applications. This also allows us to stay compatible with wide range of already
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| − | existing manufacturers.
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| − | | |
| − | == Why Ivory Tower? ==
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| − | Due to Ivory being embedded in Haskell it reduces a lot of headache associated
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| − | with maintaining larger codebase as it allows to share code between various firmwares
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| − | and catch most errors during compilation time. Additional safety provided by Ivory
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| − | also helps in mission critical deployments such as robotics applications.
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| − | Tower allows us to compose code on even higher level and allows us to write
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| − | concurrently safe programs by providing communication channels which are used
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| − | to exchange data between various components called "towers".
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| − | On the backend side of things Ivory/Tower supports GCC ARM toolchain with either
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| − | FreeRTOS or EChronos realtime operating system. POSIX backend allows us to
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| − | run similar code on POSIX and MCU which is quite handy for testing or development
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| − | without actually using MCU itself (especially handy for protocols related development).
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| − | Additional backends for verification tools are also provided allowing
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| − | for verification of critical parts of the code.
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| − | == Why STM32? ==
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| − | * natively supported by ivory-tower-stm32
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| − | * supported by EChronos
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| − | * CAN peripheral
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| − | Also core clock speeds, high amounts of flash (1Mb quite common on F4 MCUs),
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| − | advanced timers for 3 phase PWM generation, hardware encoder interfaces, multiple ADCs
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| − | for simultaneous sampling or sampling of large number of channels in sequence,
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| − | checksummed parts of SRAM, battery backed parts of SRAM. Good toolchain support and
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| − | debugging options as well - possibility to use GCC ARM toolchain and
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| − | GDB directly with Black Magic probe enabled programmer.
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