Matek AP_PERIPH CAN NODE L431 26X26mm for ArduPilot GNSS Compass Barometer Airspeed Sensor GPIO
Overview:
– 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.
Specifications:
– MCU: STM32L431xC, 256KB Flash
– CAN transceiver data rates up to 5 Mbit/s in the CAN FD fast phase
– 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
Parameters: 
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.
PWM Output Tutorial: Using MatekL431 adapters for PWM and DShot, Click Here
Packing
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
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