AP_PERIPH CAN NODE L431 PWM
Matek AP_PERIPH CAN NODE L431 PWM für Ardupilot AP Periph - Übersichtsseite
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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:
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
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 | TIM16_CH1 NO DMA | 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
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