# AP\_PERIPH CAN NODE L431 PWM

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Matek AP\_PERIPH CAN NODE L431 PWM für Ardupilot AP Periph im Premium-Modellbau Shop
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### **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.

Matek AP\_PERIPH CAN NODE L431 PWM für Ardupilot AP Periph

**CAN Node für die Integration von bis zu 9 PWM Quellen (Servos, ESCs,.. über CAN BUS)**

Weitere Informationen finden Sie auch hier:

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

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

* 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](https://www.mateksys.com/Downloads/other/CAN-L4-PWM_STEP.zip)
* Firmware
  * ArduPilot AP\_Periph **MatekL431-Dshot**
  * Update via DroneCAN GUI Tool

#### **Packing**

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

### Parameters

| SLCan Mode CAN1 > Parameters | Default Parameters |                             |                |                  |    |
| ---------------------------- | ------------------ | --------------------------- | -------------- | ---------------- | -- |
| PWM                          | 1                  | PA8                         | TIM1\_CH1      | OUT1\_FUNCTION   | 33 |
| 2                            | PA9                | TIM1\_CH2                   | OUT2\_FUNCTION | 34               |    |
| 3                            | PA10               | TIM1\_CH3                   | OUT3\_FUNCTION | 35               |    |
| 4                            | PA11               | TIM1\_CH4                   | OUT4\_FUNCTION | 36               |    |
| 5                            | PA15               | TIM2\_CH1                   | OUT5\_FUNCTION | 51               |    |
| 6                            | PA2                | TIM2\_CH3                   | OUT6\_FUNCTION | 52               |    |
| 7                            | PA3                | TIM2\_CH4                   | OUT7\_FUNCTION | 53               |    |
| 8                            | PA1                | TIM2\_CH2                   | OUT8\_FUNCTION | 54               |    |
| 9                            | PA6                | <p>TIM16\_CH1<br>NO DMA</p> | OUT9\_FUNCTION | 55               |    |
| UART                         | RX1                | UART1                       | Serial PORT 0  | ESC\_TELEM\_PORT | 0  |
| TX3 RX3                      | UART3              | Serial PORT 2               | USER           |                  |    |
|                              |                    |                             |                | ESC\_PWM\_TYPE   | 7  |
|                              |                    |                             |                | OUT\_BLH\_OTYPE  | 6  |
|                              |                    |                             |                | OUT\_BLH\_MAS    | 15 |

**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)

### **Tutorial ：** [**Using MatekL431 adapters for PWM and DShot**](https://discuss.ardupilot.org/t/using-matekl431-adapters-for-pwm-and-dshot/85781)