Matek AP_Periph DroneCAN to PWM adapter
by Matek Systems

The Matek AP_Periph CAN-L4-PWM is a DroneCAN to PWM adapter node, designed to convert DShot-capable ESCs into CAN ESCs and PWM servos into CAN servos while enabling full ESC telemetry. Powered by the STM32L431xC MCU (256KB Flash), this compact yet powerful module is perfect for integrating high-precision control into UAV and drone systems.

With 9 PWM outputs (8 DShot compatible), 1.5 UARTs, and DroneCAN protocol support, the CAN-L4-PWM ensures reliable real-time communication and seamless integration with ArduPilot AP_Periph firmware. The Vx power pads allow servo power customization via external BEC, while the Rx1 pad supports ESC telemetry.

Designed for high-performance UAVs, robotics, and advanced drone applications, the Matek CAN-L4-PWM adapter provides efficient, low-latency control with DroneCAN compatibility, making it an essential upgrade for serious drone builders.

Specifications:

Core Features:

• MCU: STM32L431xC (256KB Flash)
• DroneCAN Protocol: 1x CAN bus (JST-GH-4P connector)
• 9x PWM Outputs: (8x DShot-compatible)
• 1.5x UARTs:
  • UART1: RX1
  • UART3: TX3/RX3
• ST Debugging Ports: SWCLK & SWDIO

Power & Environmental:

• Input Voltage: 4.5V – 5.5V (via 5V pad/pin)
• Power Consumption: 30mA
• Operating Temperature: -20°C to 80°C

Additional Features:

• Vx Pads: External BEC servo power input (not connected to other components)
• Rx1 Pad: Dedicated ESC telemetry input (DO NOT connect ESC BEC output)

LED Indicators:

• Blue (Fast Blink): Booting
• Blue (Slow Blink): Working
• Red LED: 3.3V Power Indicator

Physical Dimensions & Package Contents:

• Board Size: 32mm x 25.4mm
• Mounting: 20mm (Ø3mm holes)
• Weight: 3.5g
• Included Accessories:
  • 1x CAN-L4-PWM Board
  • 1x JST-GH-4P to JST-GH-4P 20cm Silicon Wire

Firmware & Compatibility:

• Firmware: ArduPilot AP_Periph (MatekL431-Dshot)
• Update Method: DroneCAN GUI Tool