Micro CAN Node

About

The Beyond Robotics Micro CAN node allows you to create production grade PCBs without needing to worry about the complicated bit. Put the board to board connector on your project, wire in a sensor, a connector and now you have a CAN enabled project.

We do QA and software upload, meaning you just have to screw the board down to your project.

You can purchase the Micro node here:

Specifications

• 26x20mm

• High reliability connector & mechanical fixing

• screw heads accessible from the top of the board

• STM32L431CCU6 processor, 256kB of flash

• 200mA LDO - Any high power items should not use the 3.3V output

• 750mA input fuse

• Input diode

• optional 120 ohm termination resistor via solder pad

• status LED

• AP periph firmware support

• Arduino DroneCAN support

Pinout

The Micro CAN node requires the DF40C-80DS-0.4V(51) connector to be on the carrier board.

Hirose Electric DF40C-80DS-0.4V(51)Mouser Electronics

CAN node carrier board connector

The footprint can be downloaded from the mouser page. Be sure to use this one! Pin numbers can be different on different footprints for the same part.. We learnt the hard way.

Footprint pinout mapping. 1 bottom right, 2 top right.

You'll notice our connector has far many more pins than the STM32 has outputs, we've chosen this due to stock availability, as well as we'll be able to use this same connector on future projects on STMs with higher pin counts.

Pin Number	AP_Periph function	STM/Physical
1		GND
2		GND
6		+3.3V
7		CAN_H
9		CAN_L
15		+5V
16		+5V
32		PB12
33	USART3_RX	PB11
34	SCL	PB13
35	USART3_TX	PB10
36	SDA	PB14
37	SPI1_CS2	PB2
38		PB15
39		PB1
40		PA8
41		PB0
42		PA9
43	SPI1_MOSI	PA7
44		PA10
45		PA6
46		PA11
47	SPI_SCK	PA5
48		PA11
49	SPI_CS1	PA4
50	SWD	PA13
51	USART2_RX	PA3
53	USART2_TX	PA2
55		PA1
57		PA0
59		NRST
66	SWC	PA14
68		PA15
70	SPI1_MISO	PA7
72		PB5
74	USART1_TX	PB6
76	USART1_RX	PB7
78		BOOT0
79		GND
80		PC13

Standoffs

The design requires 4x M1.6, 1.5mm standoffs.

9774015633R from Wurth electronics is valid

Wurth Elektronik 9774015633RMouser Electronics

The equivalent JLCPCB component is C2928168.

Connector position drawing

This drawing is for the hole and connector positions for the carrier board.

Software

Arduino DroneCAN.

We wrote an Arduino interface for using DroneCAN and specifically support this Node out of the box!

See X

AP_Periph

We support AP_Periph based firmware's for our CAN node. Our node is compatible with the matek L431 firmware's. We may release our own customised firmware's in future.

https://firmware.ardupilot.org/AP_Periph/stable/

We can flash a custom firmware on your request.

Contact us for custom firmware to be written at [e-mail]

We have experience integrating virtually every type of sensor into communicating with Ardupilot or PX4, including fuel flow sensors, ultrasound sensors and many more.

Environmental

Based on environmental ratings for the components and board manufacturer statements. Not a tested figure by Beyond Robotix.

The boards can be conformally coated on request. If environmental considerations are a requirement for your project, contact us at [e-mail] for further insight and options.

• Temperature > -20 °C to 85 °C ambient temperature

QA Testing

We test every board we dispatch. Our process is:

• Mount the node to a test carrier

• Upload testing firmware

• Our software checks every pin is functioning as expected

• Upload customer firmware

• Check node status can be seen through CAN interface (if applicable)

• Package for dispatch