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mRo CAN Node
mRo CAN Node


 
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Our Price: $30.00

Quantity in Stock:30

Availability:: Usually Ships in 24 Hours
Product Code: MRO10042
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Description
 
mRo AP_Peripheral / CAN Converter / Prototyping module

The mRo CAN Node is a collaborative project with Ardupilot, it began with a desire to make CAN peripherals more standard in the drone community. Compared to other boards which have open-source hardware but closed source code, mRo CAN node is completely open.

mRo CAN Node uses a similar open-source code -to those closed- written by Andrew Tridge from Ardupilot, which utilizes the existing and proven Ardupilot driver library (In other words, any GPS/Compass or sensor compatible with the Ardupilot stack, can be potentially converted to CAN, without requiring you to buy new sensors). It features a CAN bootloader for "over CAN" firmware updates and an RTOS running Chibios.

Set onboard parameters to a specific CAN Node ID or set to Auto allocated CAN Node IDs (Not yet supported in stable Ardupilot). The hardware from this design is free and opensource so that anyone can contribute to the CAN peripheral world with a proven CAN / MCU interface.

With this board, you can easily utilize the Ardupilot driver library to convert from UART/I2C/SPI/GPIO to CAN using LibCanard. It is currently set to be plug-and-play as a GPS and Magnetometer by simply plugging in the 6pin GH connector from any mRo GPS and utilize it as a CANGPS.

At the moment Ardupilot CAN Node firmware is under heavy development. Only uBlox GPSs and magnetos have been ported successfully, but stay tuned for future firmware updates.

Quick configuration:

On mission planner set the following params:

CAN_P1_DRIVER - > 1
CAN_P2 _DRIVER - > 1
(Optional)
GPS_TYPE -> 9 UAVCAN
GPS_TYPE2 -> 9 UAVCAN
(Optional)

Plug your GPS board into your CAN Node module, then connect your CAN Node module into your Autopilot CAN port and power it up. If everything was set up correctly you should start saying GPS data.

Remember that X2.1 and X2.1-777 have the CAN signals H and L inverted.

You can go to Mission Planner->Initial Setup->Optional Hardware->UAVCAN-> SLCan Mode CAN1 (or 2) and you should see your board alive. From there you can access the CAN Node parameters and change the default node address.

MCU:
STM32F103 ARM Microcontroller

JST GH Plug Connections:
GPS Port (UART and I2C)
I2C Port
2 x CAN Ports

Solder Pad Connections:
1 x SPI (2 Chip Selects)
2 x ADC lines
3 x GPIO lines
2 x UART
1 x I2C

$5 from each board sale will be donated to Ardupilot.org.

Schematic: https://github.com/mRoboticsIO/CANNode/tree/master/Schematic
Design Files: https://github.com/mRoboticsIO/CANNode/tree/master/Altium

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