Vimdrones DroneCAN Adapter

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Vimdrones CAN Adapter

Specification

Parameter Value
Power Supply 5V
Software Interface MAVCAN SocketCAN SLCAN
CAN Ports 1
CAN Termination 120Ω with Mechanical switch, default OFF
CAN Port Connector Pixhawk Standard 4P CAN Port
Board Outline 40mm × 20mm
Board Thickness 1.2mm
Mount Hole 4 * M2.5 (35mm × 15mm)
3D Model STL | STEP

Firmware

  • MAVCAN Bridge (New Feature)
    With MAVCAN Bridge the adapter shows up as a serial device, bridging MAVLink and CAN frames from USB and CAN bus. macOS, Linux, and Windows are all supported.

  • candleLight_fw (Stock Firmware)
    With candleLight_fw the adapter shows up as a native CAN interface. Only Linux with the socketcan module is supported (excludes WSL default Ubuntu distro).

  • canable-fw
    With canable-fw the adapter shows up as a serial interface; use the slcan command to bring it up as a CAN interface. macOS, Linux, and Windows are all supported.

Pinout

vimdrones CAN adapter pinout

Getting Started

Interface Setup

Linux

  • candleLight_fw (stock firmware)

    • Compile and flash from source 
      git clone https://github.com/VimDrones/candleLight_fw.git
cd candleLight_fw
# Enter DFU mode: press boot button then connect USB cable
make flash-CANable_VIMDRONES_fw
    • Setup 
      sudo ip link set can0 up type can bitrate 1000000
candump can0  # monitor CAN messages

  • canable-fw

    • Compile and flash from source 
      git clone https://github.com/VimDrones/canable-fw.git
cd canable-fw
make
# Enter DFU mode: press boot button then connect USB cable
make flash
    • Setup 
      ls /dev/ttyACM*
# -s0=10k  -s1=20k  -s2=50k  -s3=100k
# -s4=125k -s5=250k -s6=500k -s7=750k -s8=1M
sudo slcand -o -c -s8 /dev/ttyACM0 slcan0  # adjust port as needed
sudo ifconfig slcan0 up
candump slcan0  # monitor CAN messages

DroneCAN Web Tool

DroneCAN GUI Tool

  • Install DroneCAN GUI Tool
  • Select interface (can0 for candleLight_fw, slcan0 for canable-fw)

dronecan GUI tool select vimdrones CAN adapter interface

  • Monitor DroneCAN Node Status — Pixhawk4 (ArduPilot firmware) connected

dronecan GUI tool monitor DroneCAN node status