SDAA470 July   2026 AM13E23019

 

  1.   1
  2.   Abstract
  3.   Trademarks
  4. 1Introduction
    1. 1.1 DroneCAN: Protocol Overview and Key Features
    2. 1.2 AM13E230x Overview:
      1. 1.2.1 Why AM13E230x for DroneCAN
  5. 2System Architecture
    1. 2.1 Software Stack Overview
    2. 2.2 The Libcanard-MCAN Interface Layer: TX and RX Flow
      1. 2.2.1 TX Flow
      2. 2.2.2 RX Flow
  6. 3Software Application Overview
    1. 3.1 Project Structure
    2. 3.2 SysConfig Peripheral Configuration
    3. 3.3 Memory Pool Allocation
  7. 4Hardware Setup
  8. 5Running the Example and Test Results
  9. 6Key Pitfalls
  10. 7Conclusion
  11. 8Tools and Software

2.2 The Libcanard-MCAN Interface Layer: TX and RX Flow

The interface layer primarily exposes APIs that include conversion of frame format from MCAN to canard and vice-versa, initialization, filter configuration, transmission, and reception. This is directly reusable across any DroneCAN project on a device with similar MCAN peripherals. Here is the rough flow of how packets and transmitted and received in applications that are integrated with Libcanard.