{"id":10469,"date":"2022-03-13T22:44:31","date_gmt":"2022-03-13T14:44:31","guid":{"rendered":"http:\/\/www.mateksys.com\/?post_type=portfolio&#038;p=10469"},"modified":"2026-01-29T16:32:56","modified_gmt":"2026-01-29T08:32:56","slug":"can-l4-pwm","status":"publish","type":"portfolio","link":"https:\/\/www.mateksys.com\/?portfolio=can-l4-pwm","title":{"rendered":"AP_Periph CAN to PWM Adapter, CAN-L4-PWM"},"content":{"rendered":"\n<style type=\"text\/css\" data-created_by=\"avia_inline_auto\" id=\"style-css-av-l57lvjb3-f297ea5ba4cdffca80e3b69eba64b26e\">\n#top .av-special-heading.av-l57lvjb3-f297ea5ba4cdffca80e3b69eba64b26e{\npadding-bottom:10px;\n}\nbody .av-special-heading.av-l57lvjb3-f297ea5ba4cdffca80e3b69eba64b26e .av-special-heading-tag .heading-char{\nfont-size:25px;\n}\n.av-special-heading.av-l57lvjb3-f297ea5ba4cdffca80e3b69eba64b26e .av-subheading{\nfont-size:15px;\n}\n<\/style>\n<div  class='av-special-heading av-l57lvjb3-f297ea5ba4cdffca80e3b69eba64b26e av-special-heading-h2 blockquote modern-quote modern-centered  avia-builder-el-0  el_before_av_slideshow  avia-builder-el-first  av-linked-heading'><h2 class='av-special-heading-tag'  itemprop=\"headline\"  >AP_Periph CAN to PWM Adapter, CAN-L4-PWM<\/h2><div class='av-subheading av-subheading_below'><p>AP_Periph, CAN Node, DroneCAN, L431, 9x PWM<\/p>\n<\/div><div class=\"special-heading-border\"><div class=\"special-heading-inner-border\"><\/div><\/div><\/div>\n<div  class='avia-slideshow av-l4cry85w-f1f4a84903319a2fb67259006e980cab avia-slideshow-featured_large av_slideshow avia-slide-slider  avia-builder-el-1  el_after_av_heading  el_before_av_tab_container  av-slideshow-ui av-control-default av-slideshow-manual av-loop-once av-loop-manual-endless av-default-height-applied avia-slideshow-1' data-slideshow-options=\"{&quot;animation&quot;:&quot;slide&quot;,&quot;autoplay&quot;:false,&quot;loop_autoplay&quot;:&quot;once&quot;,&quot;interval&quot;:5,&quot;loop_manual&quot;:&quot;manual-endless&quot;,&quot;autoplay_stopper&quot;:false,&quot;noNavigation&quot;:false,&quot;bg_slider&quot;:false,&quot;keep_padding&quot;:false,&quot;hoverpause&quot;:false,&quot;show_slide_delay&quot;:0}\"  itemprop=\"image\" itemscope=\"itemscope\" itemtype=\"https:\/\/schema.org\/ImageObject\" ><ul class='avia-slideshow-inner ' style='padding-bottom: 40%;'><li  class='avia-slideshow-slide av-l4cry85w-f1f4a84903319a2fb67259006e980cab__0  av-single-slide slide-1 slide-odd'><div data-rel='slideshow-1' class='avia-slide-wrap '   ><img fetchpriority=\"high\" class=\"wp-image-10470 avia-img-lazy-loading-not-10470\"  src='https:\/\/www.mateksys.com\/wp-content\/uploads\/2022\/06\/CAN-L4-PWM_1.jpg' width='1500' height='600' title='CAN-L4-PWM_1' alt=''  itemprop=\"thumbnailUrl\"   \/><\/div><\/li><\/ul><\/div>\n<div  class='tabcontainer av-l4cs07ew-0bc30ab4e865851ad94320f4e7ee7a8a top_tab  avia-builder-el-2  el_after_av_slideshow  avia-builder-el-last ' role='tablist'>\n<section class='av_tab_section av_tab_section av-lkjwed-413dc70cb132c96c90d29888f5e7688a'  itemscope=\"itemscope\" itemtype=\"https:\/\/schema.org\/CreativeWork\" ><div class='tab active_tab' role='tab' tabindex='0' data-fake-id='#tab-id-1' aria-controls='tab-id-1-content'  itemprop=\"headline\" >Specifications<\/div><div id='tab-id-1-content' class='tab_content active_tab_content' aria-hidden=\"false\"><div class='tab_inner_content invers-color'  itemprop=\"text\" ><p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-10474\" src=\"https:\/\/www.mateksys.com\/wp-content\/uploads\/2022\/06\/CAN-L4-PWM_W.jpg\" alt=\"\" width=\"1500\" height=\"600\" \/><\/p>\n<ul>\n<li>CAN-L4-PWM is an Adapter Node based on ArudPilot AP_Periph firmware.<\/li>\n<li>Using this adapter to turn DShot capable ESCs into CAN ESCs, including full ESC telemetry.\u00a0 and turn PWM servos into CAN servos.<\/li>\n<\/ul>\n<h3><strong>Specifications<\/strong><\/h3>\n<ul>\n<li>MCU: STM32L431xC, 256KB Flash<\/li>\n<li>1x CAN, DroneCAN Protocol<\/li>\n<li>\u00a09x PWM outputs (8x Dshot)<\/li>\n<li>1.5x UARTs\n<ul>\n<li>UART1, RX1<\/li>\n<li>UART3, Tx3\/ Rx3<\/li>\n<\/ul>\n<\/li>\n<li>ST debug, SWCLK &amp; SWDIO<\/li>\n<\/ul>\n<ul>\n<li>LED\n<ul>\n<li>Blue, Fast blinking,\u00a0 Booting<\/li>\n<li>Blue, Slow blinking, working<\/li>\n<li>Red, 3.3V indicator<\/li>\n<\/ul>\n<\/li>\n<li>Input voltage range: 4.5~5.5V\u00a0 @5V pad\/pin<\/li>\n<li>Power consumption: 30mA<\/li>\n<li><span data-slate-fragment=\"JTdCJTIyb2JqZWN0JTIyJTNBJTIyZG9jdW1lbnQlMjIlMkMlMjJkYXRhJTIyJTNBJTdCJTdEJTJDJTIybm9kZXMlMjIlM0ElNUIlN0IlMjJvYmplY3QlMjIlM0ElMjJibG9jayUyMiUyQyUyMnR5cGUlMjIlM0ElMjJwYXJhZ3JhcGglMjIlMkMlMjJpc1ZvaWQlMjIlM0FmYWxzZSUyQyUyMmRhdGElMjIlM0ElN0IlN0QlMkMlMjJub2RlcyUyMiUzQSU1QiU3QiUyMm9iamVjdCUyMiUzQSUyMnRleHQlMjIlMkMlMjJsZWF2ZXMlMjIlM0ElNUIlN0IlMjJvYmplY3QlMjIlM0ElMjJsZWFmJTIyJTJDJTIydGV4dCUyMiUzQSUyMk9wZXJhdGluZyUyMFRlbXBlcmF0dXJlcyUyMiUyQyUyMm1hcmtzJTIyJTNBJTVCJTVEJTdEJTVEJTdEJTVEJTdEJTVEJTdE\">Operating Temperatures: -20~80 \u00b0C<\/span><\/li>\n<\/ul>\n<ul>\n<li><strong>&#8220;Vx&#8221; pads<\/strong> are for powering servos via external BEC.\u00a0 \u201cVx\u201d is not connected to other components on this board.<\/li>\n<li><strong>&#8220;Rx1&#8221; pads<\/strong> are for ESC Telemetry, DO NOT connect ESC BEC output to Rx1 pad.<\/li>\n<\/ul>\n<ul>\n<li>Physical\n<ul>\n<li>1x JST-GH-4P(SM04B-GHS-TB) for CAN<\/li>\n<li>Board Size: 32mm*25.4mm.\u00a0 3.5g<\/li>\n<li>Mounting: 20mm. Dia.3mm<\/li>\n<li>3D file : <a href=\"..\/Downloads\/other\/CAN-L4-PWM_STEP.zip\" target=\"_blank\" rel=\"noopener\">CAN-L4-PWM_STEP.zip<\/a><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<ul>\n<li>Firmware\n<ul>\n<li>ArduPilot AP_Periph\u00a0 <strong>MatekL431-Dshot<\/strong><\/li>\n<li>Update via DroneCAN GUI Tool<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<h3><strong>Packing<\/strong><\/h3>\n<ul>\n<li>1x CAN-L4-PWM board<\/li>\n<li>1x JST-GH-4P to JST-GH-4P 20cm silicon wire<\/li>\n<\/ul>\n<\/div><\/div><\/section>\n<section class='av_tab_section av_tab_section av-irp2it-db1dc2ecedfcba4085b99df2046874be'  itemscope=\"itemscope\" itemtype=\"https:\/\/schema.org\/CreativeWork\" ><div class='tab' role='tab' tabindex='0' data-fake-id='#tab-id-2' aria-controls='tab-id-2-content'  itemprop=\"headline\" >Paramaters<\/div><div id='tab-id-2-content' class='tab_content' aria-hidden=\"true\"><div class='tab_inner_content invers-color'  itemprop=\"text\" ><table width=\"716\">\n<tbody>\n<tr>\n<td colspan=\"4\" width=\"452\">SLCan Mode CAN1\u00a0 &gt; Parameters<\/td>\n<td colspan=\"2\" width=\"264\">Default Parameters<\/td>\n<\/tr>\n<tr>\n<td rowspan=\"9\">PWM<\/td>\n<td>1<\/td>\n<td>PA8<\/td>\n<td>TIM1_CH1<\/td>\n<td>OUT1_FUNCTION<\/td>\n<td>33<\/td>\n<\/tr>\n<tr>\n<td>2<\/td>\n<td>PA9<\/td>\n<td>TIM1_CH2<\/td>\n<td>OUT2_FUNCTION<\/td>\n<td>34<\/td>\n<\/tr>\n<tr>\n<td>3<\/td>\n<td>PA10<\/td>\n<td>TIM1_CH3<\/td>\n<td>OUT3_FUNCTION<\/td>\n<td>35<\/td>\n<\/tr>\n<tr>\n<td>4<\/td>\n<td>PA11<\/td>\n<td>TIM1_CH4<\/td>\n<td>OUT4_FUNCTION<\/td>\n<td>36<\/td>\n<\/tr>\n<tr>\n<td>5<\/td>\n<td>PA15<\/td>\n<td>TIM2_CH1<\/td>\n<td>OUT5_FUNCTION<\/td>\n<td>51<\/td>\n<\/tr>\n<tr>\n<td>6<\/td>\n<td>PA2<\/td>\n<td>TIM2_CH3<\/td>\n<td>OUT6_FUNCTION<\/td>\n<td>52<\/td>\n<\/tr>\n<tr>\n<td>7<\/td>\n<td>PA3<\/td>\n<td>TIM2_CH4<\/td>\n<td>OUT7_FUNCTION<\/td>\n<td>53<\/td>\n<\/tr>\n<tr>\n<td>8<\/td>\n<td>PA1<\/td>\n<td>TIM2_CH2<\/td>\n<td>OUT8_FUNCTION<\/td>\n<td>54<\/td>\n<\/tr>\n<tr>\n<td>9<\/td>\n<td>PA6<\/td>\n<td width=\"174\">TIM16_CH1<br \/>\nNO DMA<\/td>\n<td>OUT9_FUNCTION<\/td>\n<td>55<\/td>\n<\/tr>\n<tr>\n<td rowspan=\"2\">UART<\/td>\n<td>RX1<\/td>\n<td>UART1<\/td>\n<td>Serial PORT 0<\/td>\n<td>ESC_TELEM_PORT<\/td>\n<td>0<\/td>\n<\/tr>\n<tr>\n<td>TX3 RX3<\/td>\n<td>UART3<\/td>\n<td>Serial PORT 2<\/td>\n<td>USER<\/td>\n<td><\/td>\n<\/tr>\n<tr>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td>ESC_PWM_TYPE<\/td>\n<td>7<\/td>\n<\/tr>\n<tr>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td>OUT_BLH_OTYPE<\/td>\n<td>6<\/td>\n<\/tr>\n<tr>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td>OUT_BLH_MAS<\/td>\n<td>15<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4><strong>Parameters in Flight controller<\/strong><\/h4>\n<ul>\n<li>CAN_D1_PROTOCOL = 1<\/li>\n<li>CAN_P1_DRIVER = 1<\/li>\n<li>CAN_D1_UC_ESC_OF = 4\u00a0 \u00a0(Plane 4.2.1 or newer)<\/li>\n<li>CAN_D1_UC_ESC_BM = x<\/li>\n<li>CAN_D1_UC_SRV_BM = x<\/li>\n<li>BRD_SAFETYENABLE = 0 (if your flight controller doesn\u2019t have safety pin)<\/li>\n<\/ul>\n<h4>Tutorial \uff1a\u00a0<a class=\"fancy-title\" href=\"https:\/\/discuss.ardupilot.org\/t\/using-matekl431-adapters-for-pwm-and-dshot\/85781\" target=\"_blank\" rel=\"noopener noreferrer\" data-ember-action=\"\">Using MatekL431 adapters for PWM and DShot<\/a><\/h4>\n<\/div><\/div><\/section>\n<\/div>\n","protected":false},"excerpt":{"rendered":"","protected":false},"featured_media":10476,"comment_status":"closed","ping_status":"closed","template":"","tags":[],"portfolio_entries":[175,221],"class_list":["post-10469","portfolio","type-portfolio","status-publish","has-post-thumbnail","hentry","portfolio_entries-ardupilot","portfolio_entries-dronecan"],"_links":{"self":[{"href":"https:\/\/www.mateksys.com\/index.php?rest_route=\/wp\/v2\/portfolio\/10469","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.mateksys.com\/index.php?rest_route=\/wp\/v2\/portfolio"}],"about":[{"href":"https:\/\/www.mateksys.com\/index.php?rest_route=\/wp\/v2\/types\/portfolio"}],"replies":[{"embeddable":true,"href":"https:\/\/www.mateksys.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=10469"}],"version-history":[{"count":2,"href":"https:\/\/www.mateksys.com\/index.php?rest_route=\/wp\/v2\/portfolio\/10469\/revisions"}],"predecessor-version":[{"id":13188,"href":"https:\/\/www.mateksys.com\/index.php?rest_route=\/wp\/v2\/portfolio\/10469\/revisions\/13188"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.mateksys.com\/index.php?rest_route=\/wp\/v2\/media\/10476"}],"wp:attachment":[{"href":"https:\/\/www.mateksys.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=10469"}],"wp:term":[{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.mateksys.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=10469"},{"taxonomy":"portfolio_entries","embeddable":true,"href":"https:\/\/www.mateksys.com\/index.php?rest_route=%2Fwp%2Fv2%2Fportfolio_entries&post=10469"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}