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,

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.