Matek AP_PERIPH CAN NODE L431 26X26mm for ArduPilot GNSS Compass Barometer Airspeed Sensor GPIO

• weight: 485 g

Overview:
- 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

Parameters:

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.

PWM Output Tutorial: Using MatekL431 adapters for PWM and DShot, Click Here

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