Matek CAN Node-G474 is anAdapter 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.

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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_PeriphMatekG474-Periphfor peripheral sensors
• ArduPilot AP_PeriphMatekG474-DShotfor DroneCAN-PWM output
• Update via DroneCAN GUI Tool or Mission PlannerDroneCAN 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 doesnt 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