Product Details
Matek CAN Node-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, and GPIO based (PWM, Buzzer/LED notify) peripherals to DroneCAN bus peripherals.
Check out our all our Receivers and the rest of our Matek products!
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
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.
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
Package Includes:
- 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
