Matek AP Periph CAN Node CAN-L431

The Mateksys 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.

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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_Periph  MatekL431-Periph, or MatekL431-Airspeed
  • Update via DroneCAN GUI Tool

 

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	Default parameters
			MS4525 MS5525 DLVR-L10D	ARSP_TYPE  1 ARSP_TYPE  3 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)

Tips

• MatekL431-Periph firmware support I2C compass QMC5883L by default
• If you connect other I2C compass to this board, you need to update it with this firmware via 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