AP_PERIPH CAN NODE L431
Matek AP_PERIPH CAN NODE L431 für Ardupilot AP Periph - Übersichtsseite
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Montage und Inbetriebnahme:
Bitte beachten Sie unbedingt den angegebenen Spannungsbereich für das jeweilige Board. Eine zu hohe Spannung wird die angeschlossenen Komponenten beschädigen.
Achten Sie beim Anschluss der Kabel am Akku immer auf korrekte Polung (und isolieren Sie die Leitungen entsprechend mit Schrumpfschlauch.
CAN Node für die Integration von UART / I2C Zubehörkomponenten (Lidar, GPS, etc.) in den Ardupilot CAN BUS.
Weitere Informationen finden Sie auch hier:
https://ardupilot.org/dev/docs/ap-peripheral-landing-page.html
Ausführliche Informationen und Technische Daten:
CAN-L431 is an Adapter Node based on ArudPilot AP_Periph firmware.
With this board, you can easily utilize the ArduPilot driver library to convert ArduPilot supported GNSS, Compass, Barometer,Airspeed sensor, and GPIO based (PWM, Buzzer/LED notify) peripherals to DroneCAN bus peripherals.
Specifications
MCU: STM32L431xC, 256KB Flash
CAN transceiver data rates up to 5 Mbit/s in the CAN FD fast phase
1x CAN, DroneCAN Protocol (2x GH-4P connectors in parallel)
3x UARTs
UART1, spare
UART2, MSP default, DFU
UART3, GPS default
1x I2C
for peripheral Airspeed sensor
for peripheral Barometer
1x SPI
for peripheral RM3100
4x ADC
BATT_VOLT, PIN 5
BATT_CURR, PIN 6
BATT2_VOLT, PIN 15
BATT2_CURR, PIN 16
5x PWM outputs
1x GPIO with TIM16 for buzzer
ST debug, SWCLK & SWDIO
LED
Blue, Fast blinking, Booting
Blue, Slow blinking, working
Red, 3.3V indicator
Input voltage range: 4.5~5.5V @5V pad/pin
Power consumption: 40mA
Physical
2x JST-GH-4P(SM04B-GHS-TB) for CAN
1x JST-GH-4P(SM04B-GHS-TB) for I2C
1x JST-GH-6P(SM06B-GHS-TB) for UART3+I2C
Board Size: 26mm*26mm*6mm. 3.7g
3D file : CAN-L431_STEP.zip
Firmware
ArduPilot AP_Periph MatekL431-Periph, or MatekL431-Airspeed
Update via DroneCAN GUI Tool
Packing
1x CAN-L431 board
1x JST-GH-4P to JST-GH-4P 20cm silicon wire
1x JST-GH-6P to JST-GH-6P 20cm silicon wire
SLCan Mode CAN1 > Parameters
Parameters
UART
TX1 RX1
UART1
Serial PORT 0
USER
TX2 RX2
UART2
Serial PORT 1
MSP_PORT 1
TX3 RX3
UART3
Serial PORT 2
GPS_PORT 2
I2C
SCL/SDA GH connector
PB13/PB14
Baro SPL06
Address 0x76
QMC5883L
COMPASS_AUTODEC 1
MS4525 DLVR-L10D
ARSP_TYPE 1 ARSP_TYPE 9
SPI1
SCK, SO, S1, CS1
RM3100
ADC
Vbat pad
PA0
0~69V 1K:20K divider builtin
BATT_MONITOR 4 BATT_VOLT_PIN 5 BATT_VOLT_MULT 21
Curr pad
PA1
0~3.3V
BATT_CURR_PIN 6
VB2
PB0
0~3.3V
BATT_MONITOR 4 BATT2_VOLT_PIN 15
Curr2
PB1
0~3.3V
BATT2_CURR_PIN 16
PWM
1
PA8
TIM1_CH1
OUT1
2
PA9
TIM1_CH2
OUT2
3
PA10
TIM1_CH3
OUT3
4
PA11
TIM1_CH4
OUT4
5
PA15
TIM2_CH1
OUT5
2812 LED OUT5_FUNCTION 120 NTF_LED_TYPES 257
Buzzer
Bz-
Passive buzzer –
5V
Passive buzzer +
Disable GPS
GPS_TYPE 0 GPS_PORT -1
Disable compass
COMPASS_ENABLE 0
Disable Battery monitor
BATT_MONITOR 0 BATT2_MONITOR 0
Disable MSP
MSP_PORT -1
Parameters in Flight controller
CAN_D1_PROTOCOL = 1
CAN_P1_DRIVER = 1
GPS_TYPE = 9 DroneCAN
COMPASS_TYPEMASK DroneCAN (Unchecked)
ARSPD_TYPE = 8 (DroneCAN)
NTF_LED_TYPE -> DroneCAN (Checked)
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