AP_Periph CAN Node L431

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Adapter, który zmienia reguły gry

AP_Periph-CAN-Node-L431-schemat-polaczenia

  • 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.\


SPECYFIKACJA

  • 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
  • Firmware
    • ArduPilot AP_Periph  MatekL431-Dshot
    • Update via DroneCAN GUI Tool

Tabela parametrów

SLCan Mode CAN1  >

Parameters



Default Parameters


PWM

1

PA8

TIM1_CH1

OUT1_FUNCTION

33

PWM

2

PA9

TIM1_CH2

OUT2_FUNCTION

34

PWM

3

PA10

TIM1_CH3

OUT3_FUNCTION

35

PWM

4

PA11

TIM1_CH4

OUT4_FUNCTION

36

PWM

5

PA15

TIM2_CH1

OUT5_FUNCTION

51

PWM

6

PA2

TIM2_CH3

OUT6_FUNCTION

52

PWM

7

PA3

TIM2_CH4

OUT7_FUNCTION

53

PWM

8

PA1

TIM2_CH2

OUT8_FUNCTION

54

PWM

9

PA6

TIM16_CH1

NO DMA

OUT9_FUNCTION

55

UART

RX1

UART1

Serial PORT 0

ESC_TELEM_TYPE

0

UART

TX3 RX3

UART3

Serial PORT 2

USER






ESC_PWM_TYPE

7





OUT_BLH_OTYPE

6





OUT_BLH_MAS

16


Parametry w kontrolerze lotów (autopilot)

  • 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)

ZESTAW ZAWIERA

  • 1x CAN-L4-PWM 
  • 1x silikonowy kabel JST-GH-4P to JST-GH-4P 20cm