L431 "Plain" CAN node
A standard L431 CAN node which lets you convert sensors to DroneCAN
Overview
This is a standard formfactor varient of our Micro CAN node for projects which require less customisability but still with lots of features accessible and the handy debug port for developing Arduino DroneCAN applications!
With it's mounting holes & 2.54mm header it can be integrated robustly into your projects.
Debug interface for easy Arduino DroneCAN development (Serial+SWD)
M2 18x20mm mounting holes
LED indicators
JST-GH connector interfaces
1x CAN interface with two CAN connectors for daisy chaining
1x Serial
1x i2c
2.54mm pitch general breakouts including:
CAN (same interface as the JST-GH)
Additional serial
5 ADCs
5 PWMs
i2c (same interface as JST-GH)
5v
3.3v
Power input dioded + fused
Mechanical
CAD
Full CAD including connectors can be found here:
Mounting holes & Board dimensions
Mounting holes are M2 (2.2mm diameter cutout)
Dimensions in mm:
Pinout / Interfaces
CAN
The Micro Node has 1 available CAN interface, which is pinned out to 2 JST-GH CAN ports, to allow CAN device chaining.
1
Vcc (5V)
2
CANH
3
CANL
4
GND
I2C
The Plain Node has 1 available I2C interface exposed to a JST-GH port.
The plain Node V1.0 has no i2c pullups on board. I2C sensors attached to this interface will need pullups to function.
1
5V
2
SCL
3
SDA
4
GND
Serial
The Plain CAN node has 1 serial interface exposed as a JST-GH. Another interface is availible through the debug port and one other through the 2.54mm header pins.
Serial 3
1
Vcc (5V)
2
UART3_TX
3
UART3_RX
4
N/C
5
N/C
6
GND
2.54mm Header
More interfaces can be accessed through the 2.54mm header. Wires could be directly soldered to these pads, or header pins could be added.
The CAN interface is accessible through this header, as well as power input, allowing the board to be purely used through the header without needing the JST-GH connectors if desired.
Apart from general GPIO described after the image the following is availible:
1 CAN interface (C_L, C_H)
3v3
5V
3x GND pads
TX1/RX1
I2C interface (same pins as the JST-GH)
PWM
PWMs:
A0
A1
A8
A10
A11
ADC
A0
A1
B0
B1
A4
These pins can be read in ArduinoDroneCAN like:
analogRead(PA0);The maximum voltage of the ADC pins is 3.3V.
Programming the board
ST-LINK
STM32 allows the ability to easily debug programs over SWDIO. This allows live variable inspection, breakpoints and more - which makes program development much easier!
The "STLINKV3" header is directly compatible with the STLINK-V3MINIE. To upload code to the Micro node, simply:
Connect the node to the STLINKV3
Click upload or debug in VS-Code!
The pins on the ST-LINK header could also be used with normal Arduino jumpers so a STLINKV2, or another SWD based debugger could be used. The pins are as follows:
1
NC
2
NC
3
5V in
4
SWD
5
GND
6
SWC
7
GND
8
NC
9
NC
10
GND
11
NC
12
NC
13
UART2_TX
14
UART2_RX
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