Matek Systems - AP_PERIPH, CAN-L4-PWM

Code: MTS-06-05-CAN-L4-PWM

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)

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

Includes

1x CAN-L4-PWM board

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