Introduction

Encompasses all the CAN boards we are making and buying for use in our systems and to cover how we intend on integrating them. To cover software for Ardupilot, hardware (terminations and topology), and placement (mechanical but affects topology).

Custom Projects

• https://uwarg-docs.atlassian.net/wiki/spaces/EL/pages/2596929559/6S+Servo+Module?search_id=fd5073e8-93c9-4457-aa72-370b793f0eb9

  • Daniel Puratich Meghan Dang leading EE

  • EFS unassigned

• Servo Module Improvements

  • Camron Sabahi-Pourkashani leading EFS

  • Jerry Tian leading EE

• Sensor Cluster

  • Michael Botros leading EE

  • EFS unasdigned

• https://uwarg-docs.atlassian.net/wiki/spaces/EL/pages/2524119043/ESC+CAN+Adapter?search_id=76a53951-a9e0-4846-8a31-fcbd8341f1e2

  • Stanley Tang leading EFS

  • Daniel Puratich Meghan Dang leading EE

• LED Board Rev 2

  • Parker Lawrence-Valeriani EE

  • EFS unassigned

• Cell Monitor

  • needs scoping

• GPS CAN Adapter

  • low priority, cost down only

Useful COTS Devices

• https://holybro.com/products/can-hub

• https://holybro.com/products/spare-parts-uavcan-micro-termination-plug

Harness Philosophy

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. 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!