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AP Periph DroneCAN Digital Power Monitor, CAN-L4-BM
Brand: Matek
Product Code: CAN-L4-BM
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AP Periph DroneCAN Digital Power Monitor, CAN-L4-BM
Description
1. Product Summary
1.1. Product Description
The Matek Systems CAN-L4-BM is a high-precision digital power monitoring module for UAVs and autonomous systems. Built around the INA239 monitoring IC and an STM32L431 microcontroller, it provides accurate current, voltage, and power data via the DroneCAN protocol. Designed for use with modern autopilots, it eliminates analog signal loss and supports robust, low-noise power telemetry across CAN networks.
1.2. Product Features
- Digital power and current sensing using INA239 16-bit precision IC.
- Supports DroneCAN protocol for CAN-bus autopilot integration.
- MCU: STM32L431xC (256 KB Flash, low-power ARM Cortex-M4 core).
- Measurement range up to 85 V voltage / 204.8 A current.
- Low shunt resistance (~200 µΩ) for minimal voltage drop and heat loss.
- Plug-and-play calibration-free operation.
- Compact and lightweight PCB for integration in drones and robots.
- Firmware upgrade via DroneCAN GUI Tool or ST-Link.
- ArduPilot and PX4 compatible via AP_Periph node firmware.
1.3. Applications
- UAV / Drone Systems: Battery current and voltage telemetry via CAN bus.
- Autopilot Systems: Reliable digital power measurement without analog noise.
- Robotics & Vehicles: Real-time current consumption tracking for diagnostics.
- Industrial Monitoring: Accurate DC load power measurement up to 85 V.
2. Technical Specifications
Table 2-1. CAN-L4-BM Electrical and Functional Specifications
| Manufacturer | Matek Systems |
| Model | CAN-L4-BM |
| Microcontroller | STM32L431xC – 256 KB Flash |
| Power Monitor IC | Texas Instruments INA239 (16-bit ADC, SPI bus) |
| Interface | CAN (DroneCAN), UART2 (DFU), ST-Link Debug |
| Voltage Measurement Range | 0 V ~ 85 V DC |
| Current Measurement Range | 0 A ~ 204.8 A (150 A continuous) |
| Voltage Accuracy | ± 0.1 % |
| Current Accuracy | ± 2 % |
| Shunt Resistance | 200 µΩ (typical) |
| Power Supply Input | 4.5 V – 5.5 V (via 5 V pad/pin) |
| Power Consumption | ~ 10 mA typical |
| Operating Temperature | –40 °C ~ +85 °C |
| Dimensions | 30 mm × 22 mm × 3 mm |
| Weight | ≈ 4 g |
| Firmware | AP_Periph DroneCAN Node (Matek L4 series) |
3. Electrical Characteristics
Table 3-1. Operating Conditions
| Parameter | Min | Typ | Max | Unit |
|---|---|---|---|---|
| Supply Voltage (VCC) | 4.5 | 5.0 | 5.5 | V |
| Operating Current | – | 10 | 15 | mA |
| Bus Voltage Input Range | 0 | – | 85 | V |
| Continuous Current | – | – | 150 | A |
| Peak Current (Short Duration) | – | – | 204.8 | A |
| Shunt Resistance | – | 0.0002 | – | Ω |
4. Mechanical Characteristics
Table 4-1. CAN-L4-BM Physical Data
| Dimensions (L × W × H) | 30 mm × 22 mm × 3 mm |
| Weight | ≈ 4 g |
| Connector | JST-GH 4-Pin (CAN Bus) |
| Mounting Type | Inline between battery and ESC/power distribution |
NOTE: Ensure heavy-gauge wires are soldered securely and thermal dissipation is sufficient during high-current operation.
5. Integration and Applications
5.1. Integration Notes
- Connect CAN-H and CAN-L to the flight controller’s CAN bus.
- Supply power (5 V) from the same CAN harness or external regulated line.
- Enable DroneCAN driver (e.g.,
CAN_P1_DRIVER = 1) in ArduPilot or PX4 firmware. - Perform configuration via DroneCAN GUI Tool to assign node ID and set voltage/current scaling if required.
- Ensure CAN bus termination (120 Ω) at one or both ends of the line as needed.
- Mount the shunt section inline with the main battery positive path for accurate sensing.
5.2. Typical Applications
- UAV power telemetry and battery monitoring.
- Autonomous vehicle power system diagnostics.
- Robotics battery management and consumption logging.
- Industrial DC power tracking and embedded test benches.
6. Environmental Conditions
Table 6-1. Environmental Ratings
| Operating Temperature | –40 °C ~ +85 °C |
| Storage Temperature | –45 °C ~ +90 °C |
| Humidity | 5 % ~ 95 %, non-condensing |
| Shock Resistance | 25 g / 11 ms half sine wave |
| Vibration Resistance | IEC 60068-2-6 compliant |
7. Precautions
- Always connect the shunt board in the correct current path polarity (BAT IN → LOAD OUT).
- Do not exceed 85 V input voltage or 204 A peak current.
- Ensure CAN wiring (H/L) is twisted and shielded for noise immunity.
- Use a stable 5 V regulated source for powering the module.
- Update firmware only via approved DroneCAN GUI or ST-Link tools.
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