AP_Periph DroneCAN to PWM Adapter, CAN-L4-PWM

AP_Periph, CAN Node, DroneCAN, L431, 9x PWM

  • 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.


  • 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
    • 3D file : CAN-L4-PWM_STEP.zip
  • Firmware
    • ArduPilot AP_Periph  MatekL431-Dshot
    • Update via DroneCAN GUI Tool


  • 1x CAN-L4-PWM board
  • 1x JST-GH-4P to JST-GH-4P 20cm silicon wire