AP_Periph CAN Node L431

An adapter that changes the rules of the game!

• 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.

SPECIFICATION

• 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
• Firmware
  • ArduPilot AP_Periph  MatekL431-Dshot
  • Update via DroneCAN GUI Tool

Parameters

Parameters in the flight controller (autopilot)

• 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)

PACKAGE DETAIL

• 1x CAN-L4-PWM 
• 1x silikonowy kabel JST-GH-4P to JST-GH-4P 20cm