TheMateksys CAN-L431is 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.

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Features:

• ArduPilot AP_Periph MatekL431-Periph, or MatekL431-Airspeed Firmware
• CAN transceiver data rates up to 5 Mbit/s in the CAN FD fast phase
• 4.5-5.5V Voltage Range
• LED Indicators
• 3 UARTs

Specifications:

• MCU: STM32L431xC, 256KB Flash
• CAN transceiver data rates up to 1 Mbit/s
• 1x CAN, DroneCAN Protocol (2x GH-4P connectors in parallel)
• 3x UARTs
  • UART1, spare
  • UART2, MSP default, DFU
  • UART3, GPS default
• 1x I2C
  • for peripheral Airspeed sensor
  • for peripheral Barometer
  • for peripheral Compass QMC5883L
• 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
• Operating Temperatures: -20~80 C

• 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

• Firmware
  • ArduPilot AP_PeriphMatekL431-Periph, or MatekL431-Airspeed
  • Update via DroneCAN GUI Tool

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)

Tips

• MatekL431-Periph firmware support I2C compass QMC5883L by default
• If you connect other I2C compass to this board, you need to update it withthis firmwarevia DroneCAN GUI or SLCAN mode in Mission Planner.

Tutorial Using MatekL431 adapters for PWM and DShot

Package Includes:

• 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