example revamp and #include adjustments

examples/CPU_Temp/README.md

@@ -0,0 +1,13 @@
+# CPU Temperature Example
+
+This is the simplest example and a good starting point for a new node. It reads the STM32's internal temperature sensor and ADC pins, then broadcasts a DroneCAN `BatteryInfo` message at 10Hz containing:
+
+- `voltage` — raw ADC reading from PA1
+- `current` — raw ADC reading from PA0
+- `temperature` — MCU core temperature in degrees Celsius
+
+It also demonstrates reading and writing parameters via `dronecan.getParameter()` and `dronecan.setParameter()`.
+
+## Dependencies
+
+No extra libraries required. Uses the STM32 internal ADC (`AVREF`, `ATEMP`) which is available on all supported boards.

examples/CPU_Temp/main.cpp

@@ -1,14 +1,5 @@
-
-/*
-API version v1.3
-*/
-
 #include <Arduino.h>
 #include <dronecan.h>
-#include <IWatchdog.h>
-#include <app.h>
-#include <vector>
-#include <simple_dronecanmessages.h>
 
 // set up your parameters here with default values. NODEID should be kept
 std::vector<DroneCAN::parameter> custom_parameters = {
@@ -20,40 +11,13 @@ DroneCAN dronecan;
 
 uint32_t looptime = 0;
 
-/*
-This function is called when we receive a CAN message, and it's accepted by the shouldAcceptTransfer function.
-We need to do boiler plate code in here to handle parameter updates and so on, but you can also write code to interact with sent messages here.
-*/
-static void onTransferReceived(CanardInstance *ins, CanardRxTransfer *transfer)
-{
-    DroneCANonTransferReceived(dronecan, ins, transfer);
-}
-
-/*
-For this function, we need to make sure any messages we want to receive follow the following format with
-UAVCAN_EQUIPMENT_AHRS_MAGNETICFIELDSTRENGTH_ID as an example
- */
-static bool shouldAcceptTransfer(const CanardInstance *ins,
-                                 uint64_t *out_data_type_signature,
-                                 uint16_t data_type_id,
-                                 CanardTransferType transfer_type,
-                                 uint8_t source_node_id)
-
-{
-    return false || DroneCANshouldAcceptTransfer(ins, out_data_type_signature, data_type_id, transfer_type, source_node_id);
-}
-
 void setup()
 {
     // the following block of code should always run first. Adjust it at your own peril!
     app_setup();
-    IWatchdog.begin(2000000); 
+    IWatchdog.begin(2000000);
     Serial.begin(115200);
-    dronecan.version_major = 1;
-    dronecan.version_minor = 0;
     dronecan.init(
-        onTransferReceived, 
-        shouldAcceptTransfer, 
         custom_parameters,
         "Beyond Robotix Node"
     );

examples/HC_SR04/README.md

@@ -1,6 +1,16 @@
-# HC SR04 Rangefinder
+# HC-SR04 Rangefinder
 
-Uses this library:
+Reads distance from an HC-SR04 ultrasonic sensor and broadcasts it as a DroneCAN `RangeSensor` measurement at 10Hz.
+
+The sensor is wired to:
+- Trigger: PA8
+- Echo: PA9
+
+## Dependencies
+
+Install the HC-SR04 Arduino library by Martinsos:
 https://github.com/Martinsos/arduino-lib-hc-sr04
 
+Download the zip and place the unzipped folder in the `lib` directory of your project. Make sure there are no nested folders inside (this can happen when unzipping from GitHub).
 
+Alternatively, install it via the PlatformIO library manager.

examples/HC_SR04/main.cpp

@@ -1,13 +1,5 @@
-
-/*
-API version v1.3
-*/
-
 #include <Arduino.h>
 #include <dronecan.h>
-#include <IWatchdog.h>
-#include <app.h>
-#include <vector>
 #include <HCSR04.h>
 
 std::vector<DroneCAN::parameter> custom_parameters = {
@@ -18,29 +10,6 @@ DroneCAN dronecan;
 
 uint32_t looptime = 0;
 
-/*
-This function is called when we receive a CAN message, and it's accepted by the shouldAcceptTransfer function.
-We need to do boiler plate code in here to handle parameter updates and so on, but you can also write code to interact with sent messages here.
-*/
-static void onTransferReceived(CanardInstance *ins, CanardRxTransfer *transfer)
-{
-    DroneCANonTransferReceived(dronecan, ins, transfer);
-}
-
-/*
-For this function, we need to make sure any messages we want to receive follow the following format with
-UAVCAN_EQUIPMENT_AHRS_MAGNETICFIELDSTRENGTH_ID as an example
- */
-static bool shouldAcceptTransfer(const CanardInstance *ins,
-                                 uint64_t *out_data_type_signature,
-                                 uint16_t data_type_id,
-                                 CanardTransferType transfer_type,
-                                 uint8_t source_node_id)
-
-{
-    return false || DroneCANshouldAcceptTransfer(ins, out_data_type_signature, data_type_id, transfer_type, source_node_id);
-}
-
 const byte triggerPin = PA8;
 const byte echoPin = PA9;
 UltraSonicDistanceSensor distanceSensor(triggerPin, echoPin);
@@ -50,13 +19,9 @@ void setup()
 {
     // the following block of code should always run first. Adjust it at your own peril!
     app_setup();
-    IWatchdog.begin(2000000); 
+    IWatchdog.begin(2000000);
     Serial.begin(115200);
-    dronecan.version_major = 1;
-    dronecan.version_minor = 0;
     dronecan.init(
-        onTransferReceived, 
-        shouldAcceptTransfer, 
         custom_parameters,
         "Beyond Robotix Node"
     );

examples/INA_current_sensor/README.md

@@ -1,5 +1,16 @@
-# INA current sensor example
+# INA239 Current Sensor
 
-This example illustrates how an already availible library can be used to easily integrate a new sensor into dronecan.
+Reads voltage, current, and temperature from an INA239 SPI current/power monitor and broadcasts them as a DroneCAN `BatteryInfo` message at 10Hz.
 
-**this is untested code currently** I'll be able to test it at some point when I get an INA to hand.
+The INA239 is initialised with a 10A max current range and a 15mΩ shunt resistor — adjust the `INA.setMaxCurrentShunt()` call in `main.cpp` to match your hardware.
+
+> **Note:** This example is untested. It is provided as an illustration of how to integrate an SPI sensor with the DroneCAN library.
+
+## Dependencies
+
+Install the INA239 library by RobTillaart:
+https://github.com/RobTillaart/INA239
+
+Download the zip and place the unzipped folder in the `lib` directory of your project. Make sure there are no nested folders inside (this can happen when unzipping from GitHub).
+
+Alternatively, install it via the PlatformIO library manager.

examples/INA_current_sensor/main.cpp

@@ -7,11 +7,7 @@
 
 #include <Arduino.h>
 #include <dronecan.h>
-#include <IWatchdog.h>
-#include <app.h>
-#include <vector>
 #include "INA239.h"
-#include <simple_dronecanmessages.h>
 
 INA239 INA(5, &SPI);
 
@@ -22,32 +18,13 @@ DroneCAN dronecan;
 
 uint32_t looptime = 0;
 
-static void onTransferReceived(CanardInstance *ins, CanardRxTransfer *transfer)
-{
-    DroneCANonTransferReceived(dronecan, ins, transfer);
-}
-
-static bool shouldAcceptTransfer(const CanardInstance *ins,
-                                 uint64_t *out_data_type_signature,
-                                 uint16_t data_type_id,
-                                 CanardTransferType transfer_type,
-                                 uint8_t source_node_id)
-
-{
-    return false || DroneCANshouldAcceptTransfer(ins, out_data_type_signature, data_type_id, transfer_type, source_node_id);
-}
-
 void setup()
 {
     // the following block of code should always run first. Adjust it at your own peril!
     app_setup();
-    IWatchdog.begin(2000000); 
+    IWatchdog.begin(2000000);
     Serial.begin(115200);
-    dronecan.version_major = 1;
-    dronecan.version_minor = 0;
     dronecan.init(
-        onTransferReceived, 
-        shouldAcceptTransfer, 
         custom_parameters,
         "Beyond Robotix Node"
     );

examples/Magnetometer_listener/README.md

@@ -0,0 +1,15 @@
+# Magnetometer Listener
+
+Demonstrates how to receive DroneCAN messages using the full callback API (`onTransferReceived` / `shouldAcceptTransfer`).
+
+Listens for `MagneticFieldStrength` broadcast messages on the bus and prints the X, Y, Z field values in Gauss to Serial.
+
+Use this as a template when you need to receive any DroneCAN message type — copy the pattern in `onTransferReceived` and `shouldAcceptTransfer`, substituting the message ID, signature, struct, and decode call for your target message.
+
+## When to use the callback API
+
+The simplified `dronecan.init(parameters, name)` used in most examples handles everything internally. Use the 4-argument form shown here when your node needs to **receive** messages from other nodes on the bus.
+
+## Dependencies
+
+No extra libraries required.

examples/Magnetometer_listener/main.cpp

@@ -0,0 +1,84 @@
+/*
+Demonstrates receiving DroneCAN messages using the full callback API.
+
+Listens for MagneticFieldStrength broadcast messages and prints the X, Y, Z
+field values (in Gauss) to Serial at whatever rate the sender transmits them.
+
+Use this as a template when you need to receive any DroneCAN message type —
+copy the pattern in onTransferReceived and shouldAcceptTransfer, substituting
+the message ID, signature, struct, and decode call for your target message.
+*/
+
+#include <Arduino.h>
+#include <dronecan.h>
+
+std::vector<DroneCAN::parameter> custom_parameters = {
+    { "NODEID", DroneCAN::INT, 100, 0, 127 },
+};
+
+DroneCAN dronecan;
+
+static void onTransferReceived(CanardInstance *ins, CanardRxTransfer *transfer)
+{
+    switch (transfer->data_type_id)
+    {
+    case UAVCAN_EQUIPMENT_AHRS_MAGNETICFIELDSTRENGTH_ID:
+    {
+        uavcan_equipment_ahrs_MagneticFieldStrength pkt{};
+        uavcan_equipment_ahrs_MagneticFieldStrength_decode(transfer, &pkt);
+
+        Serial.print("Mag X: "); Serial.print(pkt.magnetic_field_ga[0]);
+        Serial.print("  Y: ");   Serial.print(pkt.magnetic_field_ga[1]);
+        Serial.print("  Z: ");   Serial.println(pkt.magnetic_field_ga[2]);
+        break;
+    }
+    }
+
+    DroneCANonTransferReceived(dronecan, ins, transfer);
+}
+
+static bool shouldAcceptTransfer(const CanardInstance *ins,
+                                 uint64_t *out_data_type_signature,
+                                 uint16_t data_type_id,
+                                 CanardTransferType transfer_type,
+                                 uint8_t source_node_id)
+{
+    if (transfer_type == CanardTransferTypeBroadcast)
+    {
+        switch (data_type_id)
+        {
+        case UAVCAN_EQUIPMENT_AHRS_MAGNETICFIELDSTRENGTH_ID:
+            *out_data_type_signature = UAVCAN_EQUIPMENT_AHRS_MAGNETICFIELDSTRENGTH_SIGNATURE;
+            return true;
+        }
+    }
+
+    return false || DroneCANshouldAcceptTransfer(ins, out_data_type_signature, data_type_id, transfer_type, source_node_id);
+}
+
+void setup()
+{
+    // the following block of code should always run first. Adjust it at your own peril!
+    app_setup();
+    IWatchdog.begin(2000000);
+    Serial.begin(115200);
+    dronecan.init(
+        onTransferReceived,
+        shouldAcceptTransfer,
+        custom_parameters,
+        "Beyond Robotix Listener"
+    );
+    // end of important starting code
+
+    // we use a while true loop instead of the arduino "loop" function since that causes issues.
+    while (true)
+    {
+        dronecan.cycle();
+        IWatchdog.reload();
+    }
+}
+
+void loop()
+{
+    // Doesn't work coming from bootloader ? use while loop in setup
+}

examples/Servo_test/README.md

@@ -0,0 +1,11 @@
+# Servo Test
+
+Listens for DroneCAN `ArrayCommand` messages and drives a servo on PA8 to the commanded position. This also demonstrates how to use the callback API (`onTransferReceived` / `shouldAcceptTransfer`) to receive DroneCAN messages.
+
+The actuator ID this node responds to is configured via the `ACTUATOR_ID` parameter (default `0`), which can be changed at runtime via a ground station.
+
+`command_value` is expected in the range `-1.0` to `1.0`, which maps to `0`–`180` degrees. This matches the range sent by ArduPilot for servo outputs over DroneCAN.
+
+## Dependencies
+
+No extra libraries required. The `Servo` library is included with the STM32 Arduino core.