# CAN-G474 **Artikelnr.:** PM-6449 | **HAN:** CAN-G474 [Zum Premium-Modellbau Shop](https://www.premium-modellbau.de/search?sSearch=PM-6449) ![Matek AP\_PERIPH CAN NODE G474 für Ardupilot AP Periph - CAN-G474](https://www.mateksys.com/wp-content/uploads/2024/05/CAN-G474_W.jpg) 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: ## **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](https://github.com/Premium-Modellbau/premium-modellbau-docs/blob/main/matek/matek-systems-ubersicht/Downloads/other/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](https://firmware.ardupilot.org/AP_Periph/) **MatekG474-Periph** for peripheral sensors * [ArduPilot AP\_Periph](https://firmware.ardupilot.org/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 ![](https://www.mateksys.com/wp-content/uploads/2024/05/CAN-G474_W.jpg) MatekG474-DShot ![](https://www.mateksys.com/wp-content/uploads/2024/05/CAN-G474_pwm.jpg) 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](https://discuss.ardupilot.org/t/using-matekl431-adapters-for-pwm-and-dshot/85781) Resellers * [Aliexpress](https://www.aliexpress.com/item/3256806825898927.html)