# ARK CANnode
ARK CANnode (opens new window) 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.
# Where to Buy
Order this module from:
# Hardware Specifications
- Open Source Schematic and BOM (opens new window)
- 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
- Current dependent on connected peripherals
# Hardware Setup
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.
# Firmware Setup
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.
- Firmware target:
- Bootloader target:
# 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 to
2 for dynamic node allocation (or
3 if using DroneCAN ESCs).
The steps are:
- In QGroundControl set the parameter UAVCAN_ENABLE to
3and reboot (see Finding/Updating Parameters).
- 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.
# Enable Sensors
You will need to enable the subscriber appropriate for each of the sensors that are connected to the ARK CANnode.
# Ark CANNode Configuration
On the ARK CANnode, you may need to configure the following parameters:
|CANNODE_TERM||CAN built-in bus termination.|
# 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_canbootloaderinstalled prior to flashing
- Remove binaries from the root and ufw directories of the SD card and try to build and flash again.