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
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
Firmware
ArduPilot AP_Periph MatekL431-Periph, or MatekL431-Airspeed
