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AP_Periph DroneCAN to PWM Adapter

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The AP_Periph DroneCAN to PWM Adapter is a module based on ArduPilot AP_Periph firmware, designed to convert DShot-capable ESCs into CAN ESCs with full telemetry support and to transform PWM servos into CAN servos. This compact and lightweight module enhances communication efficiency in UAV and robotics applications, offering seamless integration with CAN-based systems.
88.62 zł 88.62 PLN VAT Excluded
88.62 zł VAT Excluded
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Terms and Conditions

Start Integrating PWM Signals with CAN Bus - AP_Periph DroneCAN to PWM Adapter

CAN-L4-PWM is an adapter node based on ArudPilot AP_Periph software. With this adapter, you can convert a DShot-enabled ESC into a CAN ESC, including full ESC telemetry, and convert servo PWM signals into CAN servos.

AP_Periph-DroneCAN-to-PWM-Adapter
  • 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.

Specification of AP_Periph DroneCAN to PWM Adapter

  • 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


Parameters of AP_Periph DroneCAN to PWM Adapter

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

Parameters in the flight controller (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)


What's included in the AP_Periph DroneCAN to PWM Adapter

  • 1x CAN-L4-PWM 
  • 1x silicone cabel JST-GH-4P to JST-GH-4P 20cm