Micro CAN node docs

Add Beyond Robotix CAN node

Author: oliver

common/source/docs/common-uavcan-adapter-node.rst

@@ -16,21 +16,8 @@ These nodes allow existing ArduPilot supported peripherals to be adapted to the
 
 They utilize the `AP_Periph <https://github.com/ArduPilot/ardupilot/tree/master/Tools/AP_Periph>`__ library to use existing ArduPilot drivers on a supported hardware board. Translating UART, SPI, I2C, or GPIO-based peripheral devices supported by ArduPilot into DroneCAN devices on the CAN bus or MSP.
 
-For example, a serial GPS adapted to DroneCAN:
-
-.. image:: ../../../images/uavcan-node-gps.jpg
-   :width: 450px
-
 This provides an easy method to develop integrated DroneCAN peripherals which can be used with ArduPilot or other systems that support DroneCAN.
 
-The first adapter was manufactured by `mRobotics <https://store.mrobotics.io/product-p/mro10042.htm>`__, is shown below, and provides socketed outputs for a UART+I2C and another I2C connection, and solder pads for a second UART, SPI bus, GPIOs, and ADC inputs.
-
-.. image:: ../../../images/mRo-can-node.jpg
-
-The first generation was based on the f103 processor, while the current generation uses an f303 for more memory, allowing more peripheral options to be accommodated simultaneously in the firmware. The L431 processor is now supported, as well as any ArduPilot compatible autopilot can be adapted for use as a DroneCAN Adapter Node.
-
-Developers might find the :ref:`AP_Periph section <dev:ap-peripheral-landing-page>` of the dev docs useful for more details about creating AP_Periph nodes.
-
 Features
 ========
 The AP_Periph DroneCAN firmware can be configured to enable a wide range of
@@ -62,6 +49,10 @@ The AP_Periph DroneCAN firmware supports these DroneCAN features:
  - High resilience features using watchdog, CRC, and board checks
  - Firmware update via MissionPlanner or DroneCAN-gui-tool
 
+Developers
+========
+Developers might find the :ref:`AP_Periph section <dev:ap-peripheral-landing-page>` of the dev docs useful for more details about creating AP_Periph nodes.
+
 Firmware
 ========
 `Firmware <https://firmware.ardupilot.org/AP_Periph/>`__ is provided in the AP_Periph folder for supported DroneCAN devices as well as the conversion of some autopilots to DroneCAN adapter use. Currently, the following firmware is pre-built, but the code allows for easy customization. Firmware can be installed using either :ref:`DroneCAN GUI<common-uavcan-gui>` or :ref:`MissionPlanner SLCAN <planner:dronecan-uavcan-slcan>` when the device is attached to a DroneCAN port on an autopilot and the autopilot has that port enabled. See :ref:`common-uavcan-setup-advanced`. Since the size of all the ArduPilot driver libraries would exceed the smaller processors, several variations, supporting different peripheral sets, are provided.
@@ -129,9 +120,21 @@ DroneCAN Adapter Nodes
 Several devices are manufactured specifically for use as general-purpose adapter nodes:
 
 - :ref:`ARK CANnode <common-ark-can-node>`
+- `Beyond Robotix Node <https://beyond-robotix.gitbook.io/docs/can-node-system>`_
 - `MatekL431 DroneCAN Adapter Node <http://www.mateksys.com/?portfolio=can-l431>`_
 - :ref:`mRo DroneCAN Adapter Node <common-mro-uavcan-adapter-node>`
 
+
+History
+======================
+
+The first adapter was manufactured by `mRobotics <https://store.mrobotics.io/product-p/mro10042.htm>`__, is shown below, and provides socketed outputs for a UART+I2C and another I2C connection, and solder pads for a second UART, SPI bus, GPIOs, and ADC inputs.
+
+.. image:: ../../../images/mRo-can-node.jpg
+
+The first generation was based on the f103 processor, while the current generation uses an f303 for more memory, allowing more peripheral options to be accommodated simultaneously in the firmware. The L431 processor is now supported, as well as any ArduPilot compatible autopilot can be adapted for use as a DroneCAN Adapter Node.
+
+
 .. toctree::
     :hidden:
 

common/source/docs/common-uavcan-peripherals.rst

@@ -48,6 +48,7 @@ Adapter Nodes
     :maxdepth: 1
 
     ARK CANnode <common-ark-can-node>
+    Beyond Robotix Node <https://beyond-robotix.gitbook.io/docs/can-node-system>
     Matek DroneCAN Adapter Node <https://www.mateksys.com/?portfolio=can-l431>
     mRo KitCAN CAN/DroneCAN Adapter Node+Compass+Baro <common-mro-kitcan>
     mRo DroneCAN Adapter Node <common-mro-uavcan-adapter-node>