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AP Periph CAN Node, CAN-G474
Brand: Matek
Product Code: CAN-G474
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AP Periph CAN Node, CAN-G474
Description
1. Product Summary
1.1. Product Description
The Matek Systems AP Periph CAN Node (CAN-G474) is a versatile and high-performance DroneCAN peripheral node designed for ArduPilot AP_Periph firmware. It allows multiple sensors and devices — including GNSS, barometers, compasses, PWM outputs, and more — to be connected to the DroneCAN network for simplified wiring and reliable communication. Built around the STM32G474CE microcontroller, the CAN-G474 supports multiple interfaces, making it ideal for UAVs, drones, and robotic systems.
1.2. Product Features
- Powered by STM32G474CE MCU (512 kB Flash, high-speed processing).
- Dual CAN buses supporting up to 5 Mbit/s (CANFD compatible).
- Multiple peripheral interfaces: 4 × UART, 2 × I²C, 1 × SPI, 11 × PWM outputs.
- Fully compatible with AP_Periph firmware for ArduPilot DroneCAN ecosystem.
- Provides flexible configuration as GNSS node, sensor hub, or servo output board.
- Stable 5 V operation, low current draw (~62 mA typical).
- Compact 36 × 36 mm design with 30.5 mm mounting hole spacing.
- Ideal for drones, UAVs, and robotics with modular CAN architectures.
1.3. Applications
- UAVs / Drones: CAN-based peripheral controller for sensors, servos, and autopilot integration.
- Robotics: Distributed control systems with unified communication over CAN bus.
- Autonomous vehicles: Multi-interface node for environmental sensors and control functions.
- Research & Development: Custom peripheral testing within DroneCAN ecosystems.
2. Technical Specifications
Table 2-1. CAN-G474 Specifications
| Manufacturer | Matek Systems |
| Model | AP Periph CAN Node (CAN-G474) |
| Microcontroller | STM32G474CE, 512 kB Flash memory |
| CAN Interfaces | 2 × CAN bus (5 Mbit/s max, CANFD support) |
| UART Ports | 4 × UART for GNSS, Receivers, Telemetry etc. |
| I²C Buses | 2 × I²C interfaces for sensors (barometer, compass etc.) |
| SPI Interface | 1 × SPI (bottom pads) |
| PWM Outputs | 11 × PWM outputs (DMA / DShot support) |
| Power Supply Voltage | 4.5 V – 5.5 V DC |
| Typical Current Draw | ≈ 62 mA |
| Operating Temperature | –30 °C ~ +85 °C |
| Board Dimensions | 36 mm × 36 mm × 6 mm |
| Mounting Holes | 4 × Ø3 mm (30.5 mm spacing) |
| Weight | ≈ 5.2 g |
3. Electrical Characteristics
Table 3-1. Electrical Parameters
| Parameter | Min | Typ | Max | Unit |
|---|---|---|---|---|
| Input Voltage | 4.5 | 5.0 | 5.5 | V |
| Operating Current | – | 62 | 80 | mA |
| CAN Bus Speed | – | 2.0 | 5.0 | Mbit/s |
| Logic Level Voltage | 3.3 | – | 5.0 | V |
| Operating Temperature Range | –30 | 25 | 85 | °C |
4. Mechanical Characteristics
Table 4-1. Physical Parameters
| Board Dimensions (L × W × H) | 36 × 36 × 6 mm |
| Weight | ≈ 5.2 g |
| Mounting Hole Pattern | 30.5 mm square (4 × Ø3 mm holes) |
| Connector Type | GH 1.25 / JST headers for CAN and Power |
NOTE: Ensure secure mounting and maintain proper spacing from power electronics to minimize CAN bus noise and EMI.
5. Integration and Usage
5.1. Integration Guidelines
- Flash the board with the latest AP_Periph firmware via CAN or DFU mode.
- Connect CAN-H and CAN-L lines to the main flight controller’s CAN port (twisted pair recommended).
- Ensure CAN bus termination (120 Ω at each end) for stable communication.
- Power the board via 5 V pad or CAN power input (4.5 – 5.5 V).
- Use “AP_Periph – MatekG474-DShot” firmware when configuring for PWM or ESC outputs.
5.2. Typical Applications
- CAN sensor hub for GNSS, barometer, compass, and rangefinders.
- Servo controller board for UAV flight control systems.
- CAN-FD telemetry expansion for ArduPilot and PX4 autopilots.
- Research projects requiring modular CAN nodes and multi-interface peripherals.
6. Environmental Conditions
Table 6-1. Operating and Storage Environment
| Operating Temperature | –30 °C ~ +85 °C |
| Storage Temperature | –40 °C ~ +90 °C |
| Humidity | 5 % – 95 % (non-condensing) |
7. Precautions
- Use twisted pair for CAN-H/L lines and keep cable lengths as short as practical.
- Verify 120 Ω termination at both ends of the CAN bus.
- Avoid mounting the board near ESCs or high-current power lines.
- Ensure clean, regulated 5 V supply to avoid data errors.
- Update firmware to the latest version for full compatibility with ArduPilot stacks.
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