CAN-L4-PWM

• CAN-L4-PWM is an Adapter Node based on ArudPilot AP_Periph firmware.

• Using this adapter to turn DShot capable ESCs into CAN ESCs, including full ESC telemetry.  and turn PWM servos into CAN servos.

Specifications

• MCU: STM32L431xC, 256KB Flash

• 1x CAN, DroneCAN Protocol

•  9x PWM outputs (8x Dshot)

• 1.5x UARTs

  • UART1, RX1

  • UART3, Tx3/ Rx3

• ST debug, SWCLK & SWDIO

• LED

  • Blue, Fast blinking,  Booting

  • Blue, Slow blinking, working

  • Red, 3.3V indicator

• Input voltage range: 4.5~5.5V  @5V pad/pin

• Power consumption: 30mA

• Operating Temperatures : -20~80 °C

• “Vx” pads are for powering servos via external BEC.  “Vx” is not connected to other components on this board.

• “Rx1” pads are for ESC Telemetry, DO NOT connect ESC BEC output to Rx1 pad.

• Physical

  • 1x JST-GH-4P(SM04B-GHS-TB) for CAN

  • Board Size: 32mm*25.4mm.  3.5g

  • Mounting: 20mm. Dia.3mm

  • 3D file : CAN-L4-PWM_STEP.zip

• Firmware

  • ArduPilot AP_Periph  MatekL431-Dshot

  • Update via DroneCAN GUI Tool

Packing

• 1x CAN-L4-PWM board

• 1x JST-GH-4P to JST-GH-4P 20cm silicon wire

Parameters in Flight controller

• CAN_D1_PROTOCOL = 1

• CAN_P1_DRIVER = 1

• CAN_D1_UC_ESC_OF = 4   (Plane 4.2.1 or newer)

• CAN_D1_UC_ESC_BM = x

• CAN_D1_UC_SRV_BM = x

• BRD_SAFETYENABLE = 0 (if your flight controller doesn’t have safety pin)

Tutorial ： Using MatekL431 adapters for PWM and DShot

CAN NODE L431

• CAN-L431 is an Adapter Node based on ArudPilot AP_Periph firmware.

• With this board, you can easily utilize the ArduPilot driver library to convert ArduPilot supported GNSS, Compass, Barometer,Airspeed sensor, and GPIO based (PWM, Buzzer/LED notify) peripherals to DroneCAN bus peripherals.

Specifications

• MCU: STM32L431xC, 256KB Flash

• CAN transceiver data rates up to 5 Mbit/s in the CAN FD fast phase

• 1x CAN, DroneCAN Protocol  (2x GH-4P connectors in parallel)

• 3x UARTs

  • UART1, spare

  • UART2, MSP default, DFU

  • UART3, GPS default

• 1x I2C

  • for peripheral Airspeed sensor

  • for peripheral Barometer

  • for peripheral Compass QMC5883L

• 1x SPI

  • for peripheral RM3100

• 4x ADC

  • BATT_VOLT, PIN 5

  • BATT_CURR, PIN 6

  • BATT2_VOLT, PIN 15

  • BATT2_CURR, PIN 16

• 5x PWM outputs

• 1x GPIO with TIM16 for buzzer

• ST debug, SWCLK & SWDIO

• LED

  • Blue, Fast blinking,  Booting

  • Blue, Slow blinking, working

  • Red, 3.3V indicator

• Input voltage range: 4.5~5.5V  @5V pad/pin

• Power consumption: 40mA

• Operating Temperatures:-20~80 °C

• Physical

  • 2x JST-GH-4P(SM04B-GHS-TB) for CAN

  • 1x JST-GH-4P(SM04B-GHS-TB) for I2C

  • 1x JST-GH-6P(SM06B-GHS-TB) for UART3+I2C

  • Board Size: 26mm*26mm*6mm.  3.7g

  • 3D file : CAN-L431_STEP.zip

• Firmware

  • ArduPilot AP_Periph  MatekL431-Periph, or MatekL431-Airspeed

  • Update via DroneCAN GUI Tool

Packing

• 1x CAN-L431 board

• 1x JST-GH-4P to JST-GH-4P 20cm silicon wire

• 1x JST-GH-6P to JST-GH-6P 20cm silicon wire

Parameters in Flight controller

• CAN_D1_PROTOCOL = 1

• CAN_P1_DRIVER = 1

• GPS_TYPE = 9 DroneCAN

• COMPASS_TYPEMASK DroneCAN (Unchecked)

• ARSPD_TYPE = 8 (DroneCAN)

• NTF_LED_TYPE -> DroneCAN (Checked)

Tips

• MatekL431-Periph firmware support I2C compass QMC5883L by default

• If you connect other I2C compass to this board, you need to update it with this firmware via DroneCAN GUI or SLCAN mode in Mission Planner.