UAVCAN Adapter Node

These allow existing ArduPilot supported peripheral to be adapted to the CAN bus as UAVCAN devices.

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They utilize the AP_Periph library to remotely locate existing ArduPilot drivers onto an STMF103 or STMF303 based device, translating UART,SPI, I2C, or GPIO-based peripheral devices supported by ArduPilot into UAVCAN devices on the CAN bus.

GPS adapted to UAVCAN

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This provides an easy method to develop integrated UAVCAN peripherals which can be used with ArduPilot or other UAVCAN systems.

Firmware

Firmware is provided in the AP_Periph folder for several UAVCAN devices based on this concept including versions for a typical UAVCAN Adapter Node itself, manufactured by mRobotics.

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The f103-GPS firmware enables its UART interface for GPS and provides I2C compass interface detection. The f103-ADSB firmware enables its UART for ADS-B Receiver attachment instead of GPS. The f103-RangeFinder firmware enables its UART for connection to a Rangefinder.

Schematic