# 1. RaccoonLab Cyphal/DroneCAN Mini/Micro nodes

Mini/Micro nodes are general purpose CAN-PWM nodes. They have 2 or 4 typical for servo/ESC group of pins (PWM, 5V/FB, GND) to control servos or ESCs with PWM 50-400 Hz. Micro node is the smallest option able to control 2 servo or ESC, while Mini node has 4 group of pins (2 x PWM+5V+GND for a typical servo and 2 x PWM+FB+GND to be able to obtain a feedback from ESC via UART).

The nodes come with preloaded Cyphal/CAN or DroneCAN application that converts typical for PX4/Ardupilot commands (sp.Vector31 (opens new window), RawCommand (opens new window), ArrayCommand (opens new window)) into PWM.

Alternatively, you can write your own Cyphal application using the template Cyphal application (opens new window). You can configure the external pins to work in UART, I2C or ADC mode.

Main specification

Mini v2 Micro
Image drawing drawing
1 Input voltage 5.5V – 30V 4.5V – 5.5V
2 DC DC availability Yes No
3 Groups of pin
PWM, 5V, GND
2 2
4 Groups of pin
PWM, FB, GND
2 0
5 6-pin Molex 2 0
6 UCANPHY Micro
(JST-GH 4)
2 2
7 SWD interface + +
8 Size, LxWxH, mm 42x35x12 20x10x5
9 Mass, g 5 3

The default firmwares for the nodes have main (CAN-PWM) and auxiliary (TTL, ESC feedback, Circuit status, flight time recorder, etc) functions. The nodes have an internal LED indicator of the current status.

More info is avaliable in the hardware docs (Mini v2, Micro), the default applications (Cyphal, DroneCAN) and the template application (opens new window).