# [Matek] 마텍 AP-Periph CAN Node (CAN-L431)

- 상품번호: 100092094
- 주소: https://www.falconshop.co.kr/shop/goods/goods_view.php?goodsno=100092094
- 가격: 26,000원
- 재고: 있음
- 브랜드: Matek

## 분류

- 드론 (멀티콥터) > 드론 비행 컨트롤러 > 픽스호크 산업/연구용 비행 컨트롤러 > 마텍 Matek

## 설명

**Matek **  **AP_Periph CAN Node L431**

- 상품설명 준비중입니다.

구성

CAN-L431 보드 1개

JST-GH-4P ~ JST-GH-4P 20cm 실리콘 와이어 1개

JST-GH-6P ~ JST-GH-6P 20cm 실리콘 와이어 1개

- 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,

Specifications

MCU: STM32L431xC, 256KB Flash

CAN transceiver data rates up to 1 Mbit/s

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

| SLCan Mode CAN1 > Parameters | SLCan Mode CAN1 > Parameters | SLCan Mode CAN1 > Parameters | SLCan Mode CAN1 > Parameters | Parameters |
| --- | --- | --- | --- | --- |
| UART | TX1 RX1 | UART1 | Serial PORT 0 | USER |
| TX2 RX2 | UART2 | Serial PORT 1 | MSP_PORT 1 |  |
| TX3 RX3 | UART3 | Serial PORT 2 | GPS_PORT 2 |  |
| I2C | SCL/SDA GH connector | PB13/PB14 | Baro SPL06 | Address 0x76 |
| QMC5883L | Default parameters |  |  |  |
| MS4525 MS5525 DLVR-L10D | ARSP_TYPE 1 ARSP_TYPE 3 ARSP_TYPE 9 |  |  |  |
| SPI1 | SCK, SO, S1, CS1 | SCK, SO, S1, CS1 | RM3100 | RM3100 |
| ADC | Vbat pad | PA0 | 0~69V 1K:20K divider builtin | BATT_MONITOR 4 BATT_VOLT_PIN 5 BATT_VOLT_MULT 21 |
| Curr pad | PA1 | 0~3.3V | BATT_CURR_PIN 6 |  |
| VB2 | PB0 | 0~3.3V | BATT_MONITOR 4 BATT2_VOLT_PIN 15 |  |
| Curr2 | PB1 | 0~3.3V | BATT2_CURR_PIN 16 |  |
| PWM | 1 | PA8 | TIM1_CH1 | OUT1 |
| 2 | PA9 | TIM1_CH2 | OUT2 |  |
| 3 | PA10 | TIM1_CH3 | OUT3 |  |
| 4 | PA11 | TIM1_CH4 | OUT4 |  |
| 5 | PA15 | TIM2_CH1 | OUT5 |  |
| 2812 LED OUT5_FUNCTION 120 NTF_LED_TYPES 257 |  |  |  |  |
| Buzzer | Bz- | Passive buzzer - | Passive buzzer - | Passive buzzer - |
| 5V | Passive buzzer + | Passive buzzer + | Passive buzzer + |  |
|  | Disable GPS | Disable GPS | Disable GPS | GPS_TYPE 0 GPS_PORT -1 |
|  | Disable compass | Disable compass | Disable compass | COMPASS_ENABLE 0 |
|  | Disable Battery monitor | Disable Battery monitor | Disable Battery monitor | BATT_MONITOR 0 BATT2_MONITOR 0 |
|  | Disable MSP | Disable MSP | Disable MSP | MSP_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 via DroneCAN GUI or SLCAN mode in Mission Planner.

PWM outputs

Tutorial ： Using MatekL431 adapters for PWM and DShot

## 이미지

- https://www.falconshop.co.kr/shop/data/goods/fm100092094_1792297757.jpg
- https://www.susungrc.com/web/upload/NNEditor/20250807/CAN-L431_4.jpg
- https://www.susungrc.com/web/upload/NNEditor/20250807/CAN-L431_5.jpg