GPS-aided Inertial Navigation System Module (In Progress)

• MCU: STM32F103C8T6
• Communication Protocol: CAN
• Features: Pitch, Roll, Yaw, Direction, Latitude, Longitude, Temperature, Altitude, Pressure

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CAN Frame

(Based on CANopen)

Upper 6 bits - Module ID - max 0x3F
Lower 5 bits - Command ID - max 0x1F
CAN ID = (Module ID << 5) | Command ID
Default Module ID : 0x200 (Standard)

CMD_ID	Name	Sender	Signals	Start byte	Signal Type	Bits
0x001	Heartbeat	Module	Latitude, Longitude	0, 4	IEEE 754 Float, IEEE 754 Float	32, 32

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Sensors:

• MPU-9250

  • 9-axis MEMS sensor
  • Pinout:
    • PB11: SDA
    • PB10: SCL
  • Communication Protocol: I2C

• NEO-6M

  • GPS Module
  • Pinout:
    • PA3: TX
    • PA2: RX
  • Communication Protocol: UART

• BMP180

  • Barometric Pressure/Temperature/Altitude Sensor
  • Pinout:
    • PB7: SDA
    • PB6: SCL
  • Communication Protocol: I2C

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PCB Design