# AP\_PERIPH CAN NODE L431 ## Link zum Premium-Modellbau Shop {% embed url="" %} Matek AP\_PERIPH CAN NODE L431 für Ardupilot AP Periph im Premium-Modellbau SHop {% endembed %} **Montage und Inbetriebnahme:** Bitte beachten Sie unbedingt den angegebenen Spannungsbereich für das jeweilige Board. Eine zu hohe Spannung wird die angeschlossenen Komponenten beschädigen. Achten Sie beim Anschluss der Kabel am Akku immer auf korrekte Polung (und isolieren Sie die Leitungen entsprechend mit Schrumpfschlauch. **CAN Node für die Integration von UART / I2C Zubehörkomponenten (Lidar, GPS, etc.) in den Ardupilot CAN BUS.** Weitere Informationen finden Sie auch hier: ### **Ausführliche Informationen und Technische Daten:** * 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](https://www.premium-modellbau.de/lexikon-parallel-schaltung/)) * 3x UARTs * UART1, spare * UART2, MSP default, DFU * UART3, GPS default * 1x I2C * for peripheral Airspeed sensor * for peripheral Barometer * 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 * 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](https://www.mateksys.com/Downloads/other/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 | SLCan Mode CAN1 > Parameters | Parameters | | | | | ------------------------------------------------------------ | ----------------------------------- | ------------------------------------------ | --------------------------------------------- | ------------------------------------------------------------------ | | UART | TX1 RX1 | UART1 | Serial PORT 0 | USER | | TX2 RX2 | UART2 | Serial PORT 1 | MSP\_PORT 1 | | | TX3 RX3 | UART3 | Serial PORT 2 | GPS\_PORT 2 | | | I2C |

SCL/SDA
GH connector

| PB13/PB14 | Baro SPL06 | Address 0x76 | | QMC5883L | COMPASS\_AUTODEC 1 | | | | |

MS4525
DLVR-L10D

|

ARSP\_TYPE 1
ARSP\_TYPE 9

| | | | | SPI1 | SCK, SO, S1, CS1 | RM3100 | | | | ADC | Vbat pad | PA0 |

0\~69V
1K:20K divider builtin

|

BATT\_MONITOR 4
BATT\_VOLT\_PIN 5
BATT\_VOLT\_MULT 21

| | Curr pad | PA1 | 0\~3.3V | BATT\_CURR\_PIN 6 | | | VB2 | PB0 | 0\~3.3V |

BATT\_MONITOR 4
BATT2\_VOLT\_PIN 15

| | | Curr2 | PB1 | 0\~3.3V | BATT2\_CURR\_PIN 16 | | | PWM | 1 | PA8 | TIM1\_CH1 | OUT1 | | 2 | PA9 | TIM1\_CH2 | OUT2 | | | 3 | PA10 | TIM1\_CH3 | OUT3 | | | 4 | PA11 | TIM1\_CH4 | OUT4 | | | 5 | PA15 | TIM2\_CH1 | OUT5 | | |

2812 LED
OUT5\_FUNCTION 120
NTF\_LED\_TYPES 257

| | | | | | Buzzer | Bz- | Passive buzzer – | | | | 5V | Passive buzzer + | | | | | | Disable GPS |

GPS\_TYPE 0
GPS\_PORT -1

| | | | | Disable compass | COMPASS\_ENABLE 0 | | | | | Disable Battery monitor |

BATT\_MONITOR 0
BATT2\_MONITOR 0

| | | | | Disable MSP | MSP\_PORT -1 | | | 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)