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

Abstract

DroneCAN is a lightweight, open communication protocol widely used in UAV and robotics systems for reliable data exchange between nodes over a CAN bus. This application note provides a practical guide to implementing DroneCAN on the TI AM13E230x microcontroller, using the on-chip MCAN peripheral and the Libcanard protocol stack. This document explains the hardware setup, software integration, a working example, and common issues to help developers build DroneCAN-enabled nodes on AM13x-family devices. This application note applies to all the TI MCUs that have the same MCAN peripheral.