MATEK AP Periph CAN Node L431 Zniżka

Opis

 Spec:

• 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

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

 

 

Parameter:

SLCan Mode CAN1  > ParametersParametersUARTTX1 RX1UART1Serial PORT 0USERTX2 RX2UART2Serial PORT 1MSP_PORT 1TX3 RX3UART3Serial PORT 2GPS_PORT 2I2CSCL/SDA
GH connectorPB13/PB14Baro SPL06Address 0x76QMC5883LDefault parametersMS4525
DLVR-L10DARSP_TYPE  1
ARSP_TYPE  9SPI1SCK, SO, S1, CS1RM3100ADCVbat padPA00~69V
1K:20K divider builtinBATT_MONITOR  4
BATT_VOLT_PIN  5
BATT_VOLT_MULT  21Curr padPA10~3.3VBATT_CURR_PIN 6VB2PB00~3.3VBATT_MONITOR  4
BATT2_VOLT_PIN  15Curr2PB10~3.3VBATT2_CURR_PIN 16PWM1PA8TIM1_CH1OUT12PA9TIM1_CH2OUT23PA10TIM1_CH3OUT34PA11TIM1_CH4OUT45PA15TIM2_CH1OUT52812 LED
OUT5_FUNCTION 120
NTF_LED_TYPES 257BuzzerBz- Passive buzzer  –5V Passive buzzer + Disable GPSGPS_TYPE  0
GPS_PORT  -1 Disable compassCOMPASS_ENABLE  0 Disable Battery monitorBATT_MONITOR  0
BATT2_MONITOR  0 Disable MSPMSP_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 http://www.mateksys.com/Downloads/FW/AP_Periph_MatekL431_ALL_I2C_MAG.bin via DroneCAN GUI or SLCAN mode in Mission Planner.

 

PWM Outputs

Tutorial Using MatekL431 adapters for PWM and DShot:

https://discuss.ardupilot.org/t/using-matekl431-adapters-for-pwm-and-dshot/85781