ARK CANnode

ARK CANnode is an open source generic DroneCAN node that includes a 6 degree of freedom IMU. Its main purpose is to enable the use of non-CAN sensors (I2C, SPI, UART) on the CAN bus. It also has PWM outputs to expand a vehicle's control outputs in quantity and physical distance.

ARK CANnode

Find 3D models and case files at https://github.com/ARK-Electronics/ARK_CANNODE

Hardware Specifications

• Open Source Schematic and BOM

• Sensors

  • Bosch BMI088 6-Axis IMU or Invensense ICM-42688-P 6-Axis IMU

• STM32F412CGU6 MCU

  • 1MB Flash

• Two Pixhawk Standard CAN Connectors

  • 4 Pin JST GH

• Pixhawk Standard I2C Connector

  • 4 Pin JST GH

• Pixhawk Standard UART/I2C Connector (Basic GPS Port)

  • 6 Pin JST GH

• Pixhawk Standard SPI Connector

  • 7 Pin JST GH

• PWM Connector

  • 10 Pin JST GH

  • 8 PWM Outputs

  • Matches Pixhawk 4 PWM Connector Pinout

• Pixhawk Standard Debug Connector

  • 6 Pin JST SH

• Small Form Factor

  • 3cm x 3cm x 1.3cm

• LED Indicators

• USA Built

• Power Requirements

  • 5V

  • Current dependent on connected peripherals

Hardware Setup

Wiring

The ARK CANnode is connected to the CAN bus using a Pixhawk standard 4 pin JST GH cable. For more information, refer to the CAN Wiring instructions.

LED Meanings

You will see both red and blue LEDs on the ARK CANnode when it is being flashed, and a solid blue LED if it is running properly.

If you see a solid red LED there is an error and you should check the following:

• Make sure the flight controller has an SD card installed.

• Make sure the ARK CANnode has ark_cannode_canbootloader installed prior to flashing ark_cannode_default.

• Remove binaries from the root and ufw directories of the SD card and try to build and flash again.

Ark CANNode Configuration

On the ARK CANnode, you may need to configure the following parameters:

Parameter	Description
CANNODE_TERM	CAN built-in bus termination.

Pinout

CAN - 4 Pin JST-GH

Pin Number	Signal Name	Voltage
1	5V	5.0V
2	CAN_P	5.0V
3	CAN_N	5.0V
4	GND	GND

CAN - 4 Pin JST-GH

Pin Number	Signal Name	Voltage
1	5V	5.0V
2	CAN_P	5.0V
3	CAN_N	5.0V
4	GND	GND

UART1/I2C1 - 6 Pin JST-GH

Pin Number	Signal Name	Voltage
1	5.0V Out (500mA)	5.0V
2	USART1_TX	3.3V
3	USART1_RX	3.3V
4	I2C1_SCL	3.3V
5	I2C1_SDA	3.3V
6	GND	GND

I2C1 - 4 Pin JST-GH

Pin Number	Signal Name	Voltage
1	5.0V Out (500mA)	5.0V
2	I2C1_SCL	3.3V
3	I2C1_SDA	3.3V
4	GND	GND

SPI - 7 Pin JST-GH

Pin Number	Signal Name	Voltage
1	5.0V	5.0V
2	SPI2_SCK	3.3V
3	SPI2_MISO	3.3V
4	SPI2_MOSI	3.3V
5	SPI2_CS_1	3.3V
6	SPI2_CS_2	3.3V
7	GND	GND

PWM - 10 Pin JST-GH

Pin Number	Signal Name	Voltage
1	Pulled up to 3.3V through a 1.5kΩ resistor	3.3V
2	TIM2_CH1_PWM1	3.3V
3	TIM2_CH2_PWM2	3.3V
4	TIM2_CH3_PWM3	3.3V
5	TIM3_CH1_PWM4	3.3V
6	TIM3_CH2_PWM5	3.3V
7	TIM3_CH3_PWM6	3.3V
8	TIM3_CH4_PWM7	3.3V
9	TIM4_CH2_PWM8	3.3V
10	GND	GND

Debug - 6 Pin JST-SH

Pin Number	Signal Name	Voltage
1	3.3V	3.3V
2	USART2_TX	3.3V
3	USART2_RX	3.3V
4	FMU_SWDIO	3.3V
5	FMU_SWCLK	3.3V
6	GND	GND