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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