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)