The 3DR CAN Node F303 is a fully open-source solution developed in collaboration with Ardupilot to establish CAN peripherals as a standard in the drone community. This second iteration of the CAN Node provides increased flash space and features AP_Periph firmware for seamless updates through the CAN port. The CAN Node F303 simplifies the integration of CAN peripherals into UAV systems with its built-in CAN bootloader, enabling users to configure parameters with specific CAN Node IDs or opt for auto-allocated IDs.

Designed for easy conversion of UART/I2C/SPI/GPIO to CAN, the 3DR CAN Node F303 allows for plug-and-play compatibility with GPS and magnetometer systems. By connecting the 6-pin GH connector from any mRo GPS, you can effortlessly transform it into a CAN-GPS. This versatile and reliable CAN peripheral is fully open-source, allowing contributions from the community to enhance and develop the CAN/MCU interface further. Ideal for developers and UAV enthusiasts, the CAN Node F303 provides a powerful tool for advancing drone technology

[Quickstart]

Make sure you are using the latest version of Mission Planner. With the following firmware versions or newer:

ArduPlane >= V4.0.5
ArduCopter >= V4.0.3
ArduRover >= V4.0.0

Go to Full Parameter Tree on Mission Planner and verify the following parameters are enabled (in some firmware versions these are enabled by default).

CAN_P1_DRIVER -> 1
GPS_TYPE -> 9 UAVCAN

Then, make sure the UAVCAN compass driver is not disabled (UAVCAN should be unchecked). If your controller has more than 3 internal compasses, you should disable the least important one:

COMPASS_TYPEMASK -> UAVCAN (Unchecked).

Connect your mRo Location One to your controller via CAN and Restart.

NTF_LED_TYPE -> UAVCAN -> Checked (Only if you want the RGB enabled).

If you want to enable the I2C airspeed, on the autopilot/controller parameters via Mission Planner set:

ARSP_TYPE -> 8 UAVCAN

Then, you must access your mRo Location One CAN parameters and follow these steps:

Mission Planner -> Initial Setup -> Optional Hardware -> UAVCAN -> SLCan Mode CAN1 -> Parameters

1 min later inside the CAN Parameters, change the following:

ARSP_TYPE -> 1
For mRo I2C Airspeed Sensor JST-GH MS4525DO

ARSP_TYPE -> 4
For mRo Next-Gen MS5525 Airspeed Sensor


Write and reboot. Enjoy!

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 among other parameters.

MCU:
STM32F303 ARM Microcontroller

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

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

A portion of sales of this product 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

The measurements below are shipping related: