# [Matek] 마텍 AP_Periph CAN Node (CAN-G474)

- 상품번호: 100092093
- 주소: https://www.falconshop.co.kr/shop/goods/goods_view.php?goodsno=100092093
- 가격: 36,500원
- 재고: 있음
- 브랜드: Matek

## 분류

- 드론 (멀티콥터) > 드론 비행 컨트롤러 > 픽스호크 산업/연구용 비행 컨트롤러 > 마텍 Matek

## 설명

**Matek **  **AP_Periph CAN Node CAN-G474**

구성

CAN-G474 보드 1개

JST-GH-4P ~ JST-H-4P 20cm 실리콘 와이어 2개

JST-GH-6P ~ JST-GH-6P 20cm 실리콘 와이어 1개

- 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,

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.

| **AP_Periph fw MatekG474-Periph** | **AP_Periph fw MatekG474-Periph** | **AP_Periph fw MatekG474-Periph** | **AP_Periph fw MatekG474-Periph** | **AP_Periph fw MatekG474-Periph** | **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 | RM3100 | RM3100 | RM3100 |
| Disable GPS | Disable GPS | Disable GPS | Disable GPS | GPS_PORT | -1 |
| Disable compass | Disable compass | Disable compass | Disable compass | COMPASS_ENABLE | 0 |
| Disable Battery monitor | Disable Battery monitor | Disable Battery monitor | Disable Battery monitor | BATT_MONITOR | 0 |
| Disable MSP | Disable MSP | Disable MSP | Disable MSP | MSP_PORT | -1 |
| * | * | * | * | * | * |
| **AP_Periph fw MatekG474-Dshot** | **AP_Periph fw MatekG474-Dshot** | **AP_Periph fw MatekG474-Dshot** | **AP_Periph fw MatekG474-Dshot** | **AP_Periph fw MatekG474-Dshot** | **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
CA
...

## 이미지

- https://www.falconshop.co.kr/shop/data/goods/1755729472329.jpg
- https://www.susungrc.com/web/upload/NNEditor/20250807/CAN-G474_3.jpg
- https://www.susungrc.com/web/upload/NNEditor/20250807/CAN-G474_4.jpg