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Matek Systems - AP_Periph CAN Node L431

Item Code: HP024-0094
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  • Description
  • CAN-L431 is an Adapter Node based on ArudPilot AP_Periph firmware.
  • With this board, you can easily utilize the ArduPilot driver library to convert ArduPilot supported GNSS, Compass, Barometer,Airspeed sensor, and GPIO based (PWM, Buzzer/LED notify) peripherals to DroneCAN bus peripherals.


  • MCU: STM32L431xC, 256KB Flash
  • CAN transceiver data rates up to 5 Mbit/s in the CAN FD fast phase
  • 1x CAN, DroneCAN Protocol  (2x GH-4P connectors in parallel)
  • 3x UARTs
    • UART1, spare
    • UART2, MSP default, DFU
    • UART3, GPS default
  • 1x I2C
    • for peripheral Airspeed sensor
    • for peripheral Barometer
  • 1x SPI
    • for peripheral RM3100
  • 4x ADC
    • BATT_VOLT, PIN 5
    • BATT_CURR, PIN 6
    • BATT2_VOLT, PIN 15
    • BATT2_CURR, PIN 16
  • 5x PWM outputs
  • 1x GPIO with TIM16 for buzzer
  • 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: 40mA
  • Operating Temperatures: -20~80 °C
  • Physical
    • 2x JST-GH-4P(SM04B-GHS-TB) for CAN
    • 1x JST-GH-4P(SM04B-GHS-TB) for I2C
    • 1x JST-GH-6P(SM06B-GHS-TB) for UART3+I2C
    • Board Size: 26mm*26mm*6mm.  3.7g
  • Firmware
    • ArduPilot AP_Periph  MatekL431-Periph, or MatekL431-Airspeed
    • Update via DroneCAN GUI Tool


  • 1x CAN-L431 board
  • 1x JST-GH-4P to JST-GH-4P 20cm silicon wire
  • 1x JST-GH-6P to JST-GH-6P 20cm silicon wire