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See example system diagram in https://uwarg-docs.atlassian.net/wiki/spaces/EL/pages/2524119043/ESC+CAN+Adapter#Schematic-Wise , but the high level concept is that every board has a CAN input and a CAN output connector (two identical CAN connectors) so that we can daisy chain devices without harness splices. I talked to rocketry and they do CAN harness splices everywhere and it does offer a good amount of board space savings, but custom harnesses suck. MNS does it with two CAN connectors on the PCBA as we intend on doing. Harnesses suck, let’s win on the integration side for our custom projects. See another comment about this here. If CAN splitters are needed see COTS projects like https://holybro.com/products/can-hub or custom projects like https://warg.365.altium.com/designs/A3BFF15E-6855-48FA-B8A6-B31C2041AA33#design . Despite taking up more board space for the connectors, doing this method allows us to minimize the length of the stub required to add another device to the bus. Essentially a harness splice necessitates a longer stub. This doesn't matter for lower CAN data rates we’re working with, but could be nice in the future!