AP_PERIPH CAN NODE L431

Matek AP_PERIPH CAN NODE L431 für Ardupilot AP Periph - Übersichtsseite

Matek AP_PERIPH CAN NODE L431 für Ardupilot AP Periph im Premium-Modellbau SHop

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

  • 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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