# AP\_PERIPH CAN NODE CAN-L4-BM

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Matek AP\_PERIPH CAN Power Monitor für Ardupilot AP Periph - CAN-L4-BM im Premium-Modellbau Shop
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**CAN Node mit Power Monitor (TI INA239)**

Weitere Informationen finden Sie auch hier:

<https://ardupilot.org/dev/docs/ap-peripheral-landing-page.html>

### **Montage und Inbetriebnahme:**

### **Ausführliche Informationen und Technische Daten:**&#x20;

* CAN-L4-BM is a ultra-precise digital power monitor based on TI INA239 & ArudPilot AP\_Periph firmware.
* The resistance of this conductive path is 200 μΩ typical, providing low power loss in the application.
* With this device, No calibration required, flight controller that support DroneCAN protocol can easily get accurate current & bus voltage readouts via CAN bus.

#### **Specifications**

* MCU: STM32L431xC, 256KB Flash
* INA239 85-V, 16-Bit, High-Precision Power monitor IC With SPI Interface
* Battery Voltage sense input: 0\~85V
* Current Sense Range: 0\~204.8A
* Load current on current sensing resistor: 150A(Continuous), 204.8A(Burst)
* Voltage accuracy: ± 0.1%
* Current accuracy: ± 2%
* Interface
  * CAN, DroneCAN Protocol
  * UART2, spare, DFU
  * ST debug, SWCLK & SWDIO
* LED
  * Blue, Fast blinking, Booting
  * Blue, Slow blinking, working
  * Red, 3.3V indicator
* Power supply for CAN-L4-BM board : 4.5\~5.5V @5V pad/pin
* Power consumption: 10mA
* Operating Temperatures: -40\~85 °C
* Physical
  * Board Size: 30mm\*22mm\*3mm. 4g
  * 3D file : [CAN-L4-BM\_STEP.zip](https://www.mateksys.com/Downloads/other/CAN-L4-BM_step.zip)
* Firmware
  * ArduPilot AP\_Periph [MatekL431-BattMon](https://firmware.ardupilot.org/AP_Periph/latest/MatekL431-BattMon/)
  * Update via DroneCAN GUI Tool
* Parameters
  * CAN\_P1\_DRIVER = 1 if attached to CAN bus1 port or CAN\_P2\_DRIVER = 1 if attached to CAN bus2 port
  * **BATTx\_MONITOR = 8** (DroneCAN-BatteryInfo)

#### **Packing**

* 1x CAN-L4-BM board
* 1x JST-GH-4P to JST-GH-4P 20cm silicon wire

#### **Tips**

* The big pad on the bottom side is a dead pad. No any circuit network on it.
* Solder the positive wires as close as possible to both sides of the current sensing resistor.
* 2 ears for mounting can be cut off if you don’t need it.
* If the CAN wires are too long, bridge the “120R” jumper.

<figure><img src="/files/P9DteffF1zwdJEpWo3B5" alt=""><figcaption></figcaption></figure>


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