ARK Documentation
  • ARK Electronics Docs
  • Embedded Computers
    • ARK Just A Jetson
      • Pinout
      • Block Diagram
      • Flashing Guide
      • 3D Model
  • Flight Controller
    • ARK FPV
      • Pinout
      • PX4 Instructions
      • ArduPilot Instructions
      • Betaflight Instructions
      • Bootloader Flashing Using DFU
      • 3D Models
    • ARKV6X
      • PX4 Instructions
      • ArduPilot Instructions
      • 3D Models
    • ARK Pixhawk Autopilot Bus Carrier
      • 3D Models and Case Files
      • Pinout
      • PX4 Instructions
    • ARK Jetson PAB Carrier
      • Getting Started
      • Block Diagram
      • Pinout
      • 3D Models and Case Files
      • Flashing Guide
      • ARK Software
        • Services
      • Autopilot Connections
      • Updating the Flight Controller Firmware
      • Micro USB Console
      • Power Cycling USB Ports
      • Mini DisplayPort
      • USB Wi-Fi Adapters
      • USB Bluetooth Adapters
    • ARK Pi6X Flow
      • Block Diagram
      • Pinout
      • 3D Models
      • Flashing Guide
        • Pi CM4 Lite with Micro SD
        • Pi CM4 with EMMC
        • After Flashing, Before Installing
        • Wi-Fi Setup
        • SSH
      • ARK Software
        • Services
      • Autopilot Connections
      • Updating the Flight Controller Firmware
    • ARK VOXL2 RTK PAB Carrier
      • Pinout
      • Connectors and Cables
      • 3D Models
      • Autopilot Connections
  • Electronic Speed Controller
    • ARK 4IN1 ESC
      • Pinout
      • Firmware
      • PWM Calibration
      • 3D Models
  • Radio
    • ARK M.2 LTE
      • OpenVPN
    • ARK Microhard DDL Carrier
      • 3D Model
  • Sensor
    • ARK Flow
      • Ardupilot Instructions
      • PX4 Instructions
      • 3D models & Case files
    • ARK Flow MR
      • Ardupilot Instructions
      • PX4 Instructions
      • 3D models & Case files
    • ARK CANnode
      • PX4 Instructions
      • 3D Models
  • GPS
    • ARK GPS
      • PX4 Instructions
      • 3D Models
    • ARK MOSAIC-X5 RTK GPS
    • ARK RTK Base
      • 3D Model
    • ARK RTK GPS
    • ARK TESEO GPS
    • ARK SAM GPS
      • PX4 Instructions
      • Ardupilot Instructions
      • Betaflight Instructions
      • 3D Model
  • Power
    • ARK PAB Power Module
      • PX4 Instructions
      • ArduPilot Instructions
      • 3D Model
    • ARK 12S PAB Power Module
      • PX4 Instructions
      • ArduPilot Instructions
      • 3D Model
  • IMU
    • ARK ADIS16507
      • PX4 Instructions
      • ArduPilot Instructions
      • 3D Model
    • ARK SCH16T
      • PX4 Instructions
      • ArduPilot Instructions
      • 3D Model
  • ROS2 & PX4
    • Mastering Precision Landing with PX4 & ROS2
    • Aruco Detectios Tutorial
    • Custom Modes Hardware Demo with PX4 & ROS2
    • Utilizing Custom Modes in PX4 with ROS2 and QGC
    • Simulated Offboard Mode
  • PX4 Log Encryption
  • Radio Integration
    • Doodle Labs Nimble Integration Guide for ARK Jetson PAB Carrier
  • Resources
    • Links
    • About
Powered by GitBook
On this page
  • Hardware Specifications
  • Hardware Setup
  • LED Meanings
  • Ark CANNode Configuration
  • Pinout
  1. Sensor

ARK CANnode

Previous3D models & Case filesNextPX4 Instructions

Last updated 6 months ago

is an open source generic 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

Hardware Specifications

  • 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 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

Hardware Setup

Wiring

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

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

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

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

Open Source Schematic and BOM
CAN Wiring
CANNODE_TERM
ARK CANnode
DroneCAN
https://github.com/ARK-Electronics/ARK_CANNODE
Page cover image