KitCAN - M10025

The mRo KitCAN is a powerful kit of features and firmware via CAN that tackles several use cases when integrating CAN peripherals to uncrewed vehicles. With just 4 wires you can have access to a super accurate magnetometer available, the best barometric pressure sensor we’ve ever used. Additionally it has GPS and I2C ports that support all legacy uBlox GPS sensors and RTK correction messages. If that is not enough, it also includes an RGB LED and Arm Switch/Button.

Graphical pinout diagram

Front side

Back side

The software update that came with revision C also enables UART2 pads on the bottom of the board, as pictured in the following figure.

You will notice a new solder jumper on the back labeled as I2C_V_SEL, which enables support for 3.3V only I2C peripherals since many sensor breakout boards have this characteristic. If you want to enable the 3V3 output, you will have to cut the trace with a hobby knife or a similar tool and apply a solder blob from the 3V3 labeled side of the jumper to the center pad.

Specifications

Changelog

• Revision C (Q1 '23):
  • Added a voltage selection solder jumper for the I2C port, more details on the graphical pinout.
  • UART2 solder pads are active by default. This update is retroactive for older revisions as well.
  • Thicker PCB to prevent RM3100 stress failure.
  • Reduced inductance for coil traces.

Quick Start

KitCAN board is intended to work as a sensor-enriched CAN node so the use cases are diverse. If all you need is the external magnetometer and baro, using a 4-wire JST-GH cable of any length is enough to get up and running. Adding external sensors or modules is a plug and play experience as the extra peripherals will be picked up upon the next boot.

Parameters

Make sure you are using the latest version of Mission Planner. With the following firmware versions or newer:

Go to Full Parameter Tree on Mission Planner and verify the following are enabled:

Make sure the UAVCAN compass driver is not disabled (UAVCAN should be unchecked).

If your controller has more than 3 internal compasses, you should disable the least important one:

The RGB notify LED via DroneCAN needs to be enabled by selecting bit 5 of NTF_LED_TYPES parameter, or just select the "DroneCAN" checkbox in the popup window.

I2C Airspeed sensor

If you want to enable the I2C airspeed, on the autopilot/controller parameters via Mission Planner set ARSPD_TYPE = 8 UAVCAN

Use the following parameters depending on the type of airspeed you are connecting.

• ARSPD_TYPE = 1 For I2C Airspeed Sensor JST-GH MS4525DO
• ARSPD_TYPE = 4 For MS5525

Port pinout tables

GPS Port

CAN Port

I²C Port

3D Model

Downloads

3D Model