mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
105 lines
5.1 KiB
Markdown
105 lines
5.1 KiB
Markdown
# ARK CANnode
|
|
|
|
[ARK CANnode](https://arkelectron.com/product/ark-cannode/) is an open source generic [DroneCAN](../dronecan/index.md) 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.
|
|
|
|
|
|
|
|
## 구매처
|
|
|
|
Order this module from:
|
|
|
|
- [ARK Electronics](https://arkelectron.com/product/ark-cannode/) (US)
|
|
|
|
## Hardware Specifications
|
|
|
|
- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_CANNODE)
|
|
- 센서
|
|
- 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 JST
|
|
- 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
|
|
|
|
## 하드웨어 설정
|
|
|
|
### 배선
|
|
|
|
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](../can/index.md#wiring) instructions.
|
|
|
|
## Firmware Setup
|
|
|
|
ARK CANnode runs the [PX4 DroneCAN Firmware](px4_cannode_fw.md).
|
|
As such, it supports firmware update over the CAN bus and [dynamic node allocation](index.md#node-id-allocation).
|
|
|
|
ARK CANnode boards ship with recent firmware pre-installed, but if you want to build and flash the latest firmware yourself see [PX4 DroneCAN Firmware > Building the Firmware](px4_cannode_fw.md#building-the-firmware).
|
|
|
|
- Firmware target: `ark_cannode_default`
|
|
- Bootloader target: `ark_cannode_canbootloader`
|
|
|
|
## Flight Controller Configuration
|
|
|
|
### Enable DroneCAN
|
|
|
|
In order to use the ARK CANnode board, connect it to the Pixhawk CAN bus and enable the DroneCAN driver by setting parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` for dynamic node allocation (or `3` if using [DroneCAN ESCs](../dronecan/escs.md)).
|
|
|
|
단계는 다음과 같습니다:
|
|
|
|
- In _QGroundControl_ set the parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` or `3` and reboot (see [Finding/Updating Parameters](../advanced_config/parameters.md)).
|
|
- Connect ARK CANnode CAN to the Pixhawk CAN.
|
|
|
|
Once enabled, the module will be detected on boot.
|
|
|
|
DroneCAN configuration in PX4 is explained in more detail in [DroneCAN > Enabling DroneCAN](../dronecan/index.md#enabling-dronecan).
|
|
|
|
### Enable Sensors
|
|
|
|
You will need to enable the subscriber appropriate for each of the sensors that are connected to the ARK CANnode.
|
|
|
|
This is done using the the parameters named like `UAVCAN_SUB_*` in the parameter reference (such as [UAVCAN_SUB_ASPD](../advanced_config/parameter_reference.md#UAVCAN_SUB_ASPD), [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO) etc.).
|
|
|
|
## Ark CANNode Configuration
|
|
|
|
On the ARK CANnode, you may need to configure the following parameters:
|
|
|
|
| 매개변수 | 설명 |
|
|
| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
|
|
| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
|
|
| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. |
|
|
|
|
## LED 신호의 의미
|
|
|
|
- Blinking green is normal operation
|
|
- Rapid blinking blue and red is firmware update
|
|
|
|
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.
|
|
|
|
## See Also
|
|
|
|
- [ARK CANnode Documentation](https://arkelectron.gitbook.io/ark-documentation/sensors/ark-cannode) (ARK Docs)
|