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["Drone_GPS GPS Type-M10","Drone_GPS Type-GPS","NDAA"]
3DR - CAN 節點 F303
mRo CAN Node 是與 Ardupilot 合作的產物,源自於將 CAN 週邊建立為無人機社群標準的共同目標。與其他具有開源硬體但閉原始碼的板子不同,mRo CAN 節點是完全開放的。 CAN 節點 F303 代表了我們 CAN 節點的第二次迭代,提供了更大的快閃記憶體空間。
mRo CAN 節點採用 AP_Periph 固件,包括一個 CAN 開機載入程序,可透過相同 CAN 連接埠輕鬆更新。使用者可以使用特定的 CAN 節點 ID 來配置板載參數或選擇自動指派的 ID。硬體設計是免費且開源的,可以使用經過驗證的 CAN/MCU 介面為 CAN 週邊領域做出貢獻。
mRo CAN 節點利用 Ardupilot 驅動程式庫,可實現從 UART/I2C/SPI/GPIO 到 CAN 的無縫轉換。目前,它被設計為作為 GPS 和磁力計實現即插即用相容性,只需連接任何 mRo GPS 的 6 針 GH 連接器,將其轉換為 CAN-GPS。
[快速入門]
確保您使用的是最新版本的 Mission Planner。使用以下韌體版本或更高版本:
ArduPlane >= V4.0.5
ArduCopter >= V4.0.3
ArduRover >= V4.0.0
前往 Mission Planner 上的完整參數樹,並驗證下列參數是否已啟用(在某些韌體版本中,這些參數預設為啟用)。
CAN_P1_DRIVER -> 1
GPS_TYPE -> 9 UAVCAN
然後,確保 UAVCAN 羅盤驅動程式未停用(應取消選取 UAVCAN)。如果您的控制器有超過 3 個內部羅盤,您應該停用最不重要的一個:
COMPASS_TYPEMASK -> UAVCAN (未選取)。
透過 CAN 將您的 mRo Location One 連接到控制器並重新啟動。
NTF_LED_TYPE -> UAVCAN -> 已選中 (僅當您想要啟用 RGB 時)。
如果要啟用 I2C 空速,請透過 Mission Planner 設定自動駕駛/控制器參數:
ARSP_TYPE -> 8 UAVCAN
然後,您必須存取 mRo Location One CAN 參數並按照以下步驟操作:
任務規劃器 -> 初始設定 -> 選用硬體 -> UAVCAN -> SLCan 模式 CAN1 -> 參數
1 分鐘後,在 CAN 參數中變更以下內容:
ARSP_TYPE -> 1
為了 mRo I2C 空速感知器 JST-GH MS4525DO
ARSP_TYPE -> 4
適用於mRo 下一代 MS5525 空速感知器
寫入並重新啟動。享受!
您可以前往 Mission Planner->Initial Setup->Optional Hardware->UAVCAN-> SLCan Mode CAN1(或 2),您應該會看到您的板處於活動狀態。從那裡,您可以存取 CAN 節點參數並更改其他參數中的預設節點位址。
單晶片:
STM32F303 ARM 微控制器
JST GH 插頭連接:
GPS 埠(UART 和 I2C)
I2C連接埠
2 個 CAN 連接埠(共用)
焊盤連接(底部):
1 x SPI(2 個片選)
2 條 ADC 線
3 條 GPIO 線
2 個串口
1 個 I2C
該產品的部分銷售額將捐贈給 Ardupilot.org。
原理圖: https ://github.com/mRoboticsIO/CANNode/tree/master/Schematic
設計文件: https ://github.com/mRoboticsIO/CANNode/tree/master/Altium
下面的測量結果是 船運 有關的: