RaccoonLab Mini/Micro Nodes
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:
- 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.
Cyphal/DroneCAN CAN-PWM Adapter Firmware
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.
Please refer to the corresponding RaccoonLab docs pages for details: Cyphal/CAN-PWM, DroneCAN-PWM.
Cyphal & DroneCAN Rangefinder Firmware
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 page.
DroneCAN Fuel Sensor Firmware
DroneCAN fuel tank firmware is based on the AS5600 sensor board. Please refer to DroneCAN Fuel Tank for details.
DroneCAN Servo Gripper Firmware
DroneCAN servo gripper is part of a Mini Node Template Application. Please refer to DroneCAN Servo Gripper for details.
Custom Firmware
Custom firmware can be developed by anyone. If you require custom features, you can use the Mini Node Template Application. 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.
Which node to choose?
The differences between Mini v2 and Micro are summarized in the table below. For more details, please refer to the corresponding pages.
| Mini v2 | Micro | ||
|---|---|---|---|
| Image |  |  | |
| 1 | Input voltage | 5.5V – 30V | 4.5V – 5.5V |
| 2 | DC-DC | Yes | No |
| 3 | Groups of pins | - PWM+5V+GND x2 - PWM+FB+GND x2 | - PWM+5V+GND x2 |
| 4 | CAN connectors | - UCANPHY Micro x2 - 6-pin Molex x2 | - UCANPHY Micro x2 |
| 5 | SWD interface | + | + |
| 6 | Size, LxWxH, mm | 42x35x12 | 20x10x5 |
| 7 | Mass, g | 5 | 3 |