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# RaccoonLab Mini/Micro Nodes | ||
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Mini/Micro are general purpose CAN nodes. The functionality of these devices depends on the firmware they are running. | ||
Mini/Micro are general purpose CAN nodes. The functionality of these devices depends on the firmware they are running. | ||
The default and most popular usage is as a PWM-CAN adapter to control ESCs and servos using CAN (Cyphal or DroneCAN) communication: | ||
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- Micro is the smallest node with 2 groups of pins (PWM/5V/GND) to control 2 servos or ESCs. | ||
- Mini v2: Features 2 x PWM/5V/GND for controlling servos or ESCs and 2 x PWM/FB/GND for controlling and receiving feedback from ESCs via UART. | ||
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## Cyphal/DroneCAN CAN-PWM Adapter Firmware | ||
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**Cyphal/DroneCAN CAN-PWM** firmwares are default for Mini and Micro nodes. | ||
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The Cyphal/DroneCAN CAN-PWM firmware, which is the default for Mini and Micro nodes, | ||
converts a typical PX4 CAN setpoint to PWM for controlling ESCs or servos. | ||
_Cyphal/DroneCAN CAN-PWM_ firmwares are the default for Mini and Micro nodes. | ||
These convert a typical PX4 CAN setpoint to PWM for controlling ESCs or servos. | ||
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Please refer to the corresponding RaccoonLab docs pages for details: [Cyphal/CAN-PWM](https://docs.raccoonlab.co/guide/can_pwm/cyphal.html), [DroneCAN-PWM](https://docs.raccoonlab.co/guide/can_pwm/dronecan.html). | ||
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![Mini v2 Node with Servo and ESC](../../assets/hardware/can_nodes/raccoonlab_mini_v2_with_servo.png) | ||
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## Cyphal&DroneCAN Rangefinder Firmware | ||
## Cyphal & DroneCAN Rangefinder Firmware | ||
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The **Cyphal&DroneCAN Rangefinder** firmware is a single firmware that can work in either Cyphal or DroneCAN mode. | ||
It supports LW20/I2C, Garmin Lite v3/I2C and TL-Luna/UART lidars. | ||
The _Cyphal & DroneCAN Rangefinder_ firmware is a single firmware that can work in either Cyphal or DroneCAN mode. | ||
It supports LW20/I2C, Garmin Lite v3/I2C and TL-Luna/UART lidars. | ||
For details, please check the [Rangefinder](https://docs.raccoonlab.co/guide/can_pwm/rangefinder.html) page. | ||
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![Mini v2 Node with servo and ESC](../../assets/hardware/can_nodes/raccoonlab_mini_v2_lw20_i2c.png) | ||
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## DroneCAN Fuel Sensor Firmware | ||
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**DroneCAN fuel tank** firmware is based on the [AS5600 sensor board](https://docs.raccoonlab.co/guide/as5600/). | ||
_DroneCAN fuel tank_ firmware is based on the [AS5600 sensor board](https://docs.raccoonlab.co/guide/as5600/). | ||
Please refer to [DroneCAN Fuel Tank](https://docs.raccoonlab.co/guide/can_pwm/fuel_tank.html) for details. | ||
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## DroneCAN Servo Gripper Firmware | ||
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**DroneCAN servo gripper** is part of a [Mini Node Template Application](https://github.com/RaccoonlabDev/mini_v2_node). | ||
_DroneCAN servo gripper_ is part of a [Mini Node Template Application](https://github.com/RaccoonlabDev/mini_v2_node). | ||
Please refer to [DroneCAN Servo Gripper](https://docs.raccoonlab.co/guide/can_pwm/servo_gripper.html) for details. | ||
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## Custom Firmware | ||
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**Custom firmware** can be developed by anyone. If you require custom features, you can use the [Mini Node Template Application](https://github.com/RaccoonlabDev/mini_v2_node). | ||
You can configure the external pins to work in UART, I2C or ADC mode. | ||
From the box, it supports basic Cyphal/DroneCAN features. It has publishers and subscribers as an example. | ||
**Custom firmware** can be developed by anyone. | ||
If you require custom features, you can use the [Mini Node Template Application](https://github.com/RaccoonlabDev/mini_v2_node). | ||
You can configure the external pins to work in UART, I2C or ADC mode. | ||
From the box, it supports basic Cyphal/DroneCAN features. | ||
It has publishers and subscribers as an example. | ||
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## Which node to choose? | ||
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The differences between [Mini v2](https://docs.raccoonlab.co/guide/can_pwm/can_pwm_mini_v2.html) and [Micro](https://docs.raccoonlab.co/guide/can_pwm/can_pwm_micro.html) are summarized in the table below. | ||
The differences between [Mini v2](https://docs.raccoonlab.co/guide/can_pwm/can_pwm_mini_v2.html) and [Micro](https://docs.raccoonlab.co/guide/can_pwm/can_pwm_micro.html) are summarized in the table below. | ||
For more details, please refer to the corresponding pages. | ||
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| | | Mini v2 | Micro | | ||
| - | -|-------------------------------------------------------------------------------------------| -------- | | ||
| | Image | ![RaccoonLab Mini v2 Node](../../assets/hardware/can_nodes/raccoonlab_mini_node.png) | ![RaccoonLab Micro Node](../../assets/hardware/can_nodes/raccoonlab_micro_node.png) | | ||
| 1 | Input voltage | 5.5V – 30V | 4.5V – 5.5V | | ||
| 2 | DC-DC | Yes | No | | ||
| 3 | Groups of pins | - PWM+5V+GND x2 </br> - PWM+FB+GND x2 | - PWM+5V+GND x2 | | ||
| 4 | CAN connectors | - UCANPHY Micro x2 </br> - 6-pin Molex x2 | - UCANPHY Micro x2 | | ||
| 5 | SWD interface | + | + | | ||
| 6 | Size, LxWxH, mm | 42x35x12 | 20x10x5 | | ||
| 7 | Mass, g | 5 | 3 | | ||
| | | Mini v2 | Micro | | ||
| --- | --------------- | ----------------------------------------- | ------------------------------------ | | ||
| | Image | ![RaccoonLab Mini v2 Node][Mini v2 Node] | ![RaccoonLab Micro Node][Micro Node] | | ||
| 1 | Input voltage | 5.5V – 30V | 4.5V – 5.5V | | ||
| 2 | DC-DC | Yes | No | | ||
| 3 | Groups of pins | - PWM+5V+GND x2 </br> - PWM+FB+GND x2 | - PWM+5V+GND x2 | | ||
| 4 | CAN connectors | - UCANPHY Micro x2 </br> - 6-pin Molex x2 | - UCANPHY Micro x2 | | ||
| 5 | SWD interface | + | + | | ||
| 6 | Size, LxWxH, mm | 42x35x12 | 20x10x5 | | ||
| 7 | Mass, g | 5 | 3 | | ||
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[Mini v2 Node]: ../../assets/hardware/can_nodes/raccoonlab_mini_node.png | ||
[Micro Node]: ../../assets/hardware/can_nodes/raccoonlab_micro_node.png | ||
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## Where to Buy | ||
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[RaccoonLab Store](https://raccoonlab.co/store) | ||
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[Cyphal store](https://cyphal.store/search?q=raccoonlab) | ||
[Cyphal store](https://cyphal.store/search?q=raccoonlab) |
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