Common: add AM32 page

common/source/docs/common-am32-escs.rst

@@ -0,0 +1,54 @@
+.. _common-am32-escs:
+
+===================
+AM32 Drone CAN ESCs
+===================
+
+.. image:: ../../../images/am32-dronecan-escs-title.jpg
+    :width: 450px
+
+The `AM32 ESC firmware <https://github.com/am32-firmware/AM32>`__ is open source ESC firmware for use on multicopters and rovers.  DroneCAN support was added in late 2024
+
+Where to Buy
+------------
+
+AM32 ESCs that support DroneCAN
+
+- `VimDrones ESC Nano <https://dev.vimdrones.com/products/vimdrones_esc_nano/>`__
+- `VimDrones ESC Development Board <https://dev.vimdrones.com/products/vimdrones_esc_dev/>`__
+
+More ESCs may be found from the `AM32 targets.h <https://github.com/am32-firmware/AM32/blob/main/Inc/targets.h>`__ file (seach for _CAN)
+
+ArduPilot Configuration
+=======================
+
+To enable communication with the AM32 ESCs using DroneCAN, set the following parameters
+
+- Set :ref:`CAN_P1_DRIVER <CAN_P1_DRIVER>` = 1 (First driver) to specify that the ESCs are connected to the CAN1 port
+- Set :ref:`CAN_D1_PROTOCOL <CAN_D1_PROTOCOL>` = 1 (DroneCAN)
+[site wiki="copter,rover"]
+- Set :ref:`MOT_PWM_MIN <MOT_PWM_MIN>` = 1000 and :ref:`MOT_PWM_MAX <MOT_PWM_MAX>` = 2000 so ArduPilot uses an output range that matches the ESCs input range
+[/site]
+[site wiki="plane"]
+- Set ``SERVOx_MIN`` = 1000 and ``SERVOx_MAX`` = 2000 for each ESC connected (``x`` corresponds to the ESC number) so ArduPilot uses an output range that matches the ESCs input range
+[/site]
+- Set ``SERVOx_FUNCTION`` to each motor channel (e.g. 33 - 40 for motors 1 - 8). This is automatically configured when setting frame class/type. If a motor channel isn't assigned to a servo output, commands won't be sent to the associated ESC.
+
+By default, all configured motor channels are used to send control commands to the ESCs. These control messages are transmitted by the autopilot at a default rate of 50Hz. These parameters can be modified using:
+
+- :ref:`CAN_D1_PC_ESC_BM <CAN_D1_PC_ESC_BM>` is a bitmask that determines which ESC (motor) channels are transmitted over CAN
+- :ref:`CAN_D1_PC_ESC_RT <CAN_D1_PC_ESC_RT>` determines the rate (Hz) at which commands are sent out to the ESCs
+
+ESC Configuration
+=================
+
+The AM32 ESC can be setup using the `AM32 configurator <https://am32.ca/configurator>`__
+
+Logging and Reporting
+---------------------
+
+ESCs RPM, voltage, current and temperature are recorded in the autopilot's onboard log and reported in real-time to the ground station
+
+.. image:: ../../../images/dshot-realtime-esc-telem-in-mp.jpg
+    :target: ../_images/dshot-realtime-esc-telem-in-mp.jpg
+    :width: 450px

common/source/docs/common-escs-and-motors.rst

@@ -47,6 +47,7 @@ Protocols
     DShot ESCs <common-dshot-escs>
     KDE CAN ESCs <common-kde-can-escs>
     DroneCAN ESCs <common-uavcan-escs>
+    AM32 ESCs <common-am32-escs>
     Currawong Velocity ESCs <common-velocity-can-escs>
     Hobbywing DroneCAN ESCs <common-hobbywing-dronecan-esc>
     FETtec OneWire ESCs <common-fettec-onewire>

common/source/docs/common-uavcan-escs.rst

@@ -16,6 +16,7 @@ List of DroneCAN ESCs
 =====================
 
 
+- :ref:`AM32 ESCs <common-am32-escs>`
 - :ref:`Currawong Velocity ESC <common-velocity-can-escs>`
 - :ref:`Hargrave Technologies DroneCAN ESCs <common-hargrave-dronecan-escs>`
 - :ref:`Hobbywing CAN ESCs <common-hobbywing-dronecan-esc>`