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Made a mistake in the the layout drawing on an earlier post. Do "NOT" cross rx/tx on CANbus.

Teensy 4.1 SDcard bringup in Rust - Ubuntu 24

Thanks Bill, that means a lot. I am still feeling my way through Rust on the embedded side, but access to registers has been one of the parts I have really enjoyed. Once the register layout is understood, the code can stay pretty direct and readable. Your SD card work sounds familiar in spirit...

Quick progress update on a Teensy 4.0 DroneCAN node experiment written in close-to-bare-metal Rust. The node now shows up in the DroneCAN GUI, responds to GetNodeInfo, publishes NodeStatus, and exposes parameters through uavcan.protocol.param.GetSet. The screenshots show the node being...

There isn’t really anything unique or custom about my development environment. I’m mostly using a normal Rust embedded workflow: cargo, rustup, the ARM embedded target, and the existing Teensy / i.MX RT Rust crates where they fit. The style is mostly no_std bare-metal Rust. I’m not using...

Application is on a Survey drone - Drones are not too big, they use 17" propellers. X frame configuration so I have about 60cm from the motor to the flight controller, therefore the CANbus solution for clean signals. T4 for each smartnode is overkill for what the nodes do but I originally tested...

5 Teensy's (Smart nodes are T4.0) on CANbus - everything written in Rust Everything but the flight controller written in Rust. Dashboard is Work in Progress - Flight Controller over UART in this screenshot - CANbus monitoring 1 motor. Teensy Rust Programming :)

Working on some Teensy 4.1 firmware in bare-metal Rust. The Teensy 4.x boards have been really nice targets for this kind of low-level work, and the project structure has stayed pretty straightforward. This setup is running without an OS or RTOS, but with USB mass storage, CDC serial status...

Good find (arm scheduler) - thanks for the link:)

Teensy 4.0 Rust bare-metal - CANbus node

Also Rust bare-metal - this runs on Teensy4.1 as a companion computer to a drone flight controller Nueral Net and inference also hand written in bare Rust. Snow Owl: standard flight controller stack plus an external AI shadow brain watching, learning, comparing, and preparing for supervised...

Rust bare-metal

Rust bare-metal works great. I use Rust embedded regularly across MCU firmware and bootloader work, and no OS is required. No Zephyr, no RTOS, no scheduler layer is needed unless the project specifically benefits from one. Rust can sit right at the register level just like C: startup code...

I’m still early in the learning curve too, but my experience so far has been encouraging. I’ve been doing mostly close-to-the-metal Rust bring-up work rather than high-level application work. On Teensy 4.x I’ve been working directly with the FlexCAN registers and have classical CAN running...

Thanks Collin, that lines up with what I’m seeing too. I’ve been doing some Teensy 4.x Rust bring-up work around FlexCAN, mostly at the register level rather than through a full driver abstraction. I haven’t enabled or claimed CAN FD yet because I don’t currently have FD-capable transceiver...

My t41 firmware - no repo for this at the moment - its work in progress

Vaishnav at ComChan was starting to tweak the code for his T41 tests yesterday https://github.com/Vaishnav-Sabari-Girish/teensy-can-bringup

I have not tested that firmware on a Teensy 4.1 yet - my 4.1 runs different firmware because it brings up the SD card and other stuff. But the FlexCAN engine between them is the same - so 40 to 41 CANbus works perfect - testing it now.

https://github.com/OIEIEIO/teensy-can-bringup

I wanted to share a small Teensy 4.0 test rig I’ve been working on using Rust instead of the usual Arduino / Teensyduino environment. The setup is a Teensy 4.0 running Rust firmware, with CAN1 transmitting through one external CAN transceiver, across a short CANH/CANL twisted pair, into a...

The drone itself does not have a project page yet. I do have a splash page up for my drone work - its basic - I run R&D --https://arc.oieieio.ca/-- Here is my current Teensy 4.1 trainer Runs a MicoAir (stmH743) flight stack with a Teensy 4.1 connected to uart 5 on the flight controller...

That makes a lot of sense. That carrier-board split is exactly why I’m interested from the drone side. We’ve been building Snow Owl as an embedded companion layer for ArduPilot-style drones: MAVLink (drone sensors info) telemetry in, local odometry / sensor state, lightweight Rust MLP policy...

I would order a bunch :) I like the direction of this board. I’m using the Teensy 4.1 as a companion processor alongside ArduPilot flight controllers, experimenting with DroneCAN/CAN sensors and richer sensor integration. The additions that would make it especially useful for small drone...