FDCAN ABH Controller

This repository is example code for an FDCAN-based controller for the PSYONIC Ability Hand. It interfaces with an FDCAN to UART interface controller device over DARTT. The main purpose of this example code is to detail Dartt Sync API usage, to accelerate Ability Hand application development using the FDCAN to UART interface controller.

DARTT Synchronization

DARTT maintains two local copies of the peripheral's memory structure: dp_controller (desired state) and dp_peripheral (shadow copy of actual state). This dual-copy model enables differential updates and write verification.

Core Functions

dartt_sync

Synchronizes the entire control structure bidirectionally - writes controller state to the peripheral and reads back peripheral state in a single transaction.

dartt_write_multi

Writes multiple controller parameters to the peripheral without reading back state. Used for one-way control updates.

dartt_read_multi

Reads multiple peripheral parameters into the controller without writing state. Used for one-way status polling.

For detailed API usage and the two-copy synchronization model, see the Dartt Sync documentation.

Getting Started

Clone

git clone --recursive https://github.com/yourusername/fdcan-abh-controller.git

If already cloned without --recursive:

git submodule update --init --recursive

Build

1. Open STM32CubeIDE
2. File -> Import -> Existing Projects into Workspace
3. Select the repository root directory
4. Build the project (Project -> Build All)