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AP_Periph DroneCAN to PWM Adapter, CAN-L4-PWM
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Opis
- 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
| 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)