구성

CAN-L4-BM 보드 1개

JST-GH-4P ~ JST-GH-4P 20cm 실리콘 와이어 1개

Due to limitations by AP_Periph firmware, the fw AP_Periph V1.7.0 and older do not support current readings greater than 90A.

You can update the fw to latest. then set AP_Periph parameters BATT_MAX_AMPS = 204.8 and BATT_SHUNT = 0.0002.

https://github.com/ArduPilot/ardupilot/pull/26465

• CAN-L4-BM is a ultra-precise digital power monitor based on TI INA239 & ArudPilot AP_Periph firmware.

• The resistance of this conductive path is 200 μΩ typical, providing low power loss in the application.

• With this device, No calibration required,  flight controller that support DroneCAN protocol can easily get accurate current & bus voltage readouts via CAN bus.

Specifications

MCU: STM32L431xC, 256KB Flash

INA239 85-V, 16-Bit, High-Precision Power monitor IC With SPI Interface

Battery Voltage sense input: 0~85V

Current Sense Range:  0~204.8A

Load current on current sensing resistor:  150A(Continuous),  204.8A(Burst)

Voltage accuracy: ± 0.1%

Current accuracy: ± 2%

Interface

CAN, DroneCAN Protocol

UART2, spare, DFU

ST debug, SWCLK & SWDIO

LED

Blue, Fast blinking,  Booting

Blue, Slow blinking, working

Red, 3.3V indicator

Power supply for CAN-L4-BM board : 4.5~5.5V  @5V pad/pin

Power consumption: 10mA

Operating Temperatures: -40~85 °C

Physical

Board Size: 30mm*22mm*3mm.  4g

3D file : CAN-L4-BM_STEP.zip

Firmware

ArduPilot AP_Periph  MatekL431-BattMon

Update via DroneCAN GUI Tool

Parameters

CAN_P1_DRIVER = 1 if attached to CAN bus1 port or CAN_P2_DRIVER = 1 if attached to CAN bus2 port

BATTx_MONITOR = 8 (DroneCAN-BatteryInfo)

BATTx_OPTIONS = 1

Packing

1x CAN-L4-BM board

1x JST-GH-4P to JST-GH-4P 20cm silicon wire

Tips

The big pad on the bottom side is a dead pad. No any circuit network on it.

Solder the positive wires as close as possible to both sides of the current sensing resistor.

2 ears for mounting can be cut off if you don’t need it.

If the CAN wires are too long, bridge the “120R” jumper.