# CAN-L4-RC

**Artikelnr.:** PM-6371 | **HAN:** CAN-L4-RC

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Matek AP\_PERIPH CAN NODE RC Input Adapter für Ardupilot AP Periph CAN-L4-RC

Weitere Informationen finden Sie auch hier:

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

## **Ausführliche Informationen und Technische Daten:**

* CAN-L4-RC is an Adapter Node based on ArudPilot AP\_Periph firmware.
* Using this adapter to turn Serial receiver into CAN receiver.

### **Specifications**

* MCU: STM32L431xC, 256KB Flash
* 1x CAN, DroneCAN Protocol
* 1x UART(UART3, Tx3/ Rx3)
* ST debug, SWCLK & SWDIO
* LED
* Blue, Fast blinking, Booting
* Blue, Slow blinking, working
* Input voltage range: 4.5\~5.5V @5V pad/pin
* Power consumption: 10mA
* Operating Temperatures: -40\~85 °C
* Physical
* 1x JST-GH-4P(SM04B-GHS-TB) for CAN
* 2.54mm pitch holes for UART3
* Board Size: 23mm\*12.5mm. 2.5g
* 3D file : [CAN-L4-RC\_STEP.zip](https://mateksys.com/Downloads/other/CAN-L4-RC_step.zip)
* Firmware
* ArduPilot AP\_Periph [**MatekL431-RC**](https://firmware.ardupilot.org/AP_Periph/stable/MatekL431-RC/)
* Update via DroneCAN GUI Tool

### **Packing**

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

Paramaters

|                                                                                       |                     |            |           |       |
| ------------------------------------------------------------------------------------- | ------------------- | ---------- | --------- | ----- |
| **CAN-L4-RC**                                                                         | **Serial Receiver** |            |           |       |
| **CRSF**                                                                              | **SBUS**            | **F.Port** | **SRXL2** |       |
|                                                                                       |                     |            |           |       |
| Tx3                                                                                   | RX                  |            | F.Port    | SRXL2 |
| Rx3                                                                                   | TX                  | SBUS       |           |       |
| 5V                                                                                    | 5V                  | 5V         | 5V        | 5V    |
| G                                                                                     | GND                 | GND        | GND       | GND   |
| SLCan Mode CAN1 > Parameters or DroneCAN GUI > Node Properties **RC1\_PORT\_OPTIONS** | 0 default           | 3          | 7         | 4     |

#### **Tips**

* Supported by ArduPilot 4.5 or newer.
* Receiver telemetry has not been implemented over DroneCAN
* If the CAN wires are too long, bridge the “120R” jumper.
* PWM 1\~4 applications and setup, pls refer [CAN-L-PWM](https://www.mateksys.com/?portfolio=can-l4-pwm#tab-id-2) page.
* CAN-L4-RC board can also be flashed with **MatekL431-GPS** firmware to convert serial GPS into CAN GPS.