CAN-G474

Artikelnr.: PM-6449 | HAN: CAN-G474

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Matek AP_PERIPH CAN NODE G474 für Ardupilot AP Periph - CAN-G474

Matek AP_PERIPH CAN NODE G474 für Ardupilot AP Periph - CAN-G474

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-G474 is an Adapter Node based on ArudPilot AP_Periph firmware.

• with 5Mbit/s CAN transceiver and STM32G474 MCU, CAN-G474 is capable of CANFD.

• With this board, you can easily utilize the ArduPilot driver library to convert ArduPilot supported GNSS, Compass, Barometer, Airspeed sensor, Rangefinder, Proximity sensor, Electronic Fuel Injectors and GPIO based (PWM, LED notify) peripherals to DroneCAN bus peripherals.

Specifications

• MCU: STM32G474CE, 512KB Flash

• CAN transceiver data rates up to 5Mbit/s

• 2x CAN bus

• 4x UARTs

• for peripheral GNSS, Rangefinder, Proximity, EFI, RC input(receiver)

• support GNSS, Compass, Barometer sensors over MSP protocol. MSP is enable on TX3 by default.

• 2x I2C bus

• for peripheral I2C Airspeed sensor, Barometer, Compass

• 1x SPI

• for peripheral RM3100

• SPI pads for RM3100 are on bottom side, with “CS, MOSI, MISO, SCK” silkprint

• 11x PWM outputs

• for Servos and ESC, all PWMs support DMA/DShot

• PWM1-10 on DuPont 2.54mm holes

• PWM11 pad is on bottom side, with “11” silkprint

• ST debug, SWC & SWD(on bottom side)

• UART1(TX1,RX1) support firmware update in DFU mode

• LED

• Blue, Fast blinking, Booting

• Blue, Slow blinking, communicating with flight controller

• Red, 3.3V indicator

• Input voltage range: 4.5~5.5V @5V pad/pin

• Power consumption: 62mA

• Operating Temperatures: -30~85 °C

Physical

• 5x JST-GH-4P(SM04B-GHS-TB) for CAN1, CAN2, I2C1, UART1 and UART4

• 1x JST-GH-6P(SM06B-GHS-TB) for UART3+I2C2

• 18x DuPont 2.54mm holes

• Board Size: 36mm*36mm*6mm. 5.2g,

• Mounting: 30.5mm 4x Dia.3mm

• 3D file : CAN-G474_STEP.zip

Packing

• 1x CAN-G474 board

• 2x JST-GH-4P to JST-GH-4P 20cm silicon wire

• 1x JST-GH-6P to JST-GH-6P 20cm silicon wire

Firmware

• ArduPilot AP_Periph MatekG474-Periph for peripheral sensors

• ArduPilot AP_Periph MatekG474-DShot for DroneCAN-PWM output

• Update via DroneCAN GUI Tool or Mission Planner–DroneCAN Tab, load “AP_Periph.bin“

• Update via STM32CubeProgrammer in DFU mode, connect USB-TTL module to UART1, Plug USB while holding the DFU button in, load “AP_Periph_with_bl.hex“.

Note

• Just need to connect either one CAN bus to flight controller, or connect both to FC for redundancy.

• SWC/SWD share MCU pins with SDA1/SCL1

• Other MCU pins not specified are useless for now.

• CAN-G474 support 1Mbit ~ 5Mbit CAN/CANFD, CAN-L431 works with 1Mbit CAN.

MatekG474-Periph

MatekG474-DShot

CAN Node parameters

AP_Periph fw MatekG474-Periph
CAN	CAN1-H / CAN1-L	CAN1		CAN1_PROTOCOL	1
CAN2-H / CAN2-L	CAN2		CAN2_PROTOCOL	1
UART	TX1 / RX1	USART1 DMA	Serial PORT 1	RC_PORT	1
TX2 / RX2	USART2 DMA	Serial PORT 2	GPS_PORT	2
TX3 / RX3	USART3 NODMA	Serial PORT 3	MSP_PORT	3
TX4 / RX4	UART4 DMA	Serial PORT 4	RNGFND_PORT	4
			PRX_PORT	-1
			EFI_PORT	-1
I2C	CL1 / DA1 CL2 / DA2	I2C1 I2C2	BUS0 BUS1	BATT_MONITOR BATT_I2C_BUS	21 0
ARSPD_TYPE	0 (none) 1 (MS4525) 9 (I2C-DLVR-10)
COMPASS_ENABLE COMPASS_DISBLMSK	1 0
SPI	CS /MOSI /MISO /SCK	RM3100
Disable GPS				GPS_PORT	-1
Disable compass				COMPASS_ENABLE	0
Disable Battery monitor				BATT_MONITOR	0
Disable MSP				MSP_PORT	-1
*	*	*	*	*	*
AP_Periph fw MatekG474-Dshot
PWM	1	Group 1	TIM2_CH1	OUT1_FUNCTION	33
2	TIM2_CH2	OUT2_FUNCTION	34
3	TIM2_CH3	OUT3_FUNCTION	35
4	TIM2_CH4	OUT4_FUNCTION	36
5	Group 2	TIM3_CH1	OUT5_FUNCTION	51
6	TIM3_CH2	OUT6_FUNCTION	52
7	TIM3_CH3	OUT7_FUNCTION	53
8	TIM3_CH4	OUT8_FUNCTION	54
9	Group 3	TIM8_CH1	OUT9_FUNCTION	55
10	TIM8_CH2	OUT10_FUNCTION	56
11	Group 4	TIM5_CH1	OUT11_FUNCTION	57
			ESC_TELEM_PORT	3
			ESC_PWM_TYPE	7
			OUT_BLH_OTYPE	6
			OUT_BLH_MAS	15

Flight controller Parameters for sensors

• CAN_D*_PROTOCOL = 1

• CAN_P*_DRIVER = 1

• GPS*_TYPE = 9 DroneCAN

• COMPASS_TYPEMASK = 0 (DroneCAN Unchecked)

• ARSPD*_TYPE = 8 (DroneCAN)

• BATT*_MONITOR = 8 (DroneCAN)

• RNGFND*_TYPE = 24 (DroneCAN)

• EFI*_TYPE = 5 (DroneCAN)

• PRX*_TYPE = 14 (DroneCAN)

Flight controller Parameters for PWM

• CAN_D*_PROTOCOL = 1

• CAN_P*_DRIVER = 1

• CAN_D*_UC_ESC_OF = 4 (Plane 4.2.1 or newer)

• CAN_D*_UC_ESC_BM = x

• CAN_D*_UC_SRV_BM = x

• BRD_SAFETYENABLE = 0 (if your flight controller doesn’t have safety pin)

• Tutorial ? Using MatekL431 adapters for PWM and DShot

Resellers

• Aliexpress