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AP Periph DroneCAN TO PWM adapter, CAN-L4-PWM
Brand: Matek
Product Code: CAN-L4-PWM
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AP Periph DroneCAN TO PWM adapter, CAN-L4-PWM
Description
1. Product Overview
1.1. Product Description
The Matek CAN-L4-PWM is a DroneCAN to PWM/DShot adapter based on ArduPilot AP_Periph firmware. It converts signals from a DroneCAN network into up to nine PWM or DShot outputs for ESCs and servos, enabling seamless integration between modern CAN-based systems and traditional PWM-controlled actuators in UAVs and robotics.
1.2. Key Features
- Built on AP_Periph firmware with full DroneCAN support.
- Microcontroller: STM32L431xC with 256 KB Flash memory.
- Single CAN port for DroneCAN communication.
- Up to 9 PWM outputs, 8 of which support DShot ESC signals.
- Input voltage (logic board): 4.5 – 5.5 V on 5V pad.
- Power consumption: approximately 30 mA.
- Operating temperature: −20°C to +80°C.
- Board size: 32 × 25.4 mm; weight: ~3.5 g.
- Firmware upgradable via DroneCAN GUI Tool.
- Supports DShot telemetry through Rx1 pad.
2. Technical Specifications
Table 2-1. Matek CAN-L4-PWM Specifications
| Parameter | Specification |
|---|---|
| Model | CAN-L4-PWM |
| Function | DroneCAN to PWM/DShot signal conversion |
| Firmware | AP_Periph (MatekL431-Dshot supported) |
| MCU | STM32L431xC, 256 KB Flash |
| CAN Port | 1 × DroneCAN interface |
| PWM Outputs | 9 total (8 support DShot protocol) |
| Input Voltage | 4.5 – 5.5 V (logic supply via 5V pad) |
| Servo/ESC Power | External BEC via “Vx” pads |
| Current Consumption | ≈ 30 mA typical |
| Operating Temperature | −20°C to +80°C |
| Dimensions | 32 × 25.4 mm |
| Weight | ~3.5 g |
| Telemetry Input | Rx1 pad for DShot ESC telemetry |
| Firmware Upgrade | Via DroneCAN GUI Tool |
3. Applications
- UAVs & Drones: Enables CAN-based flight controllers to drive PWM or DShot ESCs.
- Robotics: Converts CAN control systems to servo-compatible PWM signals.
- Modular Airframes: Simplifies wiring by using CAN bus and local PWM adapters.
- Experimental Builds: Ideal for mixed CAN/PWM signal testing and integration.
4. Pinout and Connection
- CANH / CANL: DroneCAN network connection.
- 5V: Logic power input (4.5 – 5.5 V DC).
- Vx pads: External power input for servos or ESCs (from BEC).
- Rx1: DShot ESC telemetry input (do not connect BEC output).
- GND: Common ground.
5. Setup and Configuration
- Connect the CAN port to your DroneCAN network or CAN-based flight controller.
- Provide 5 V logic power to the 5V pad.
- Power servos or ESCs separately using external BEC connected to “Vx” pads.
- Use the DroneCAN GUI Tool to configure node ID and parameters.
- For DShot telemetry, connect ESC telemetry line to the Rx1 pad.
- Ensure correct firmware version: “MatekL431-DShot” for full 9-channel support.
6. Advantages
- Bridges DroneCAN-based systems with PWM or DShot actuators.
- Compact, lightweight design with low power consumption.
- Fully compatible with ArduPilot and other DroneCAN ecosystems.
- Supports modern DShot ESC protocols and telemetry.
- Simple wiring — reduces cable complexity in distributed UAV systems.
7. Limitations and Notes
- Requires correct firmware (MatekL431-DShot) to enable all 9 outputs.
- Servos and ESCs must be powered via external BEC, not from logic 5V.
- DroneCAN network must be configured with valid IDs and bitrate.
- Do not exceed input voltage range or connect ESC BEC output to telemetry pin.
- Ensure stable CAN bus wiring and proper termination for reliable communication.
8. Practical Summary
The Matek CAN-L4-PWM adapter is a compact, high-efficiency DroneCAN-to-PWM/DShot converter designed to integrate traditional servos and ESCs into DroneCAN-based flight systems. Offering nine PWM outputs, DShot support, and easy firmware configuration, it provides an elegant solution for hybrid or modular UAV architectures that combine modern CAN infrastructure with legacy control hardware.
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