3. Mini v1 node hardware

Mini v1 node is the CAN-PWM converter designed to control 1-4 ESC or servo. Since the node has a built-in DC-DC, a servo can be powered through it. The board also supports receiving feedback from the esc flame.

This page is about hardware specific details. For general information, refer to the 1. General page., for software related details please refer Cyphal interface or DroneCAN interface.

Mini v1 will be deprecated soon. It is recommended to use Mini v2 node in a new design.

3.1. Features

• 4 PWM outputs

3.2. Wire

Connectors

The node has 3 connectors which are described in the table below.

№	Connector	Description
1	UCANPHY Micro (JST-GH 4)	Devices that deliver power to the bus are required to provide 4.9–5.5 V on the bus power line, 5.0 V nominal. Devices that are powered from the bus should expect 4.0–5.5 V on the bus power line. The current shall not exceed 1 A per connector.
2	6-pin Molex (502585-0670 (opens new window), 502578-0600 (opens new window))	Contacts support up to 100 V, 2 A per contact. But the board may work only with 2S-6S.
3	SWD	STM32 firmware updating using programmer-sniffer.

Node wire example in servo mode (4 pwm channels)

PWM connection for A1 and A2 channels remains the same. Auxillary channels connection is shown on the picture below.

Fig. Pinout for pwm-mini node with can_pwm_four_channels firmware

WARNING

Since there is no special 5V pin for B1 and B2 channels, you must use an external power.

Node wire example in esc flame mode (2 pwm channels with esc flame feedback)

PWM connection for A1 and A2 channels remains the same. Feedback connection via UART is shown on the picture below.

Fig. Pinout for pwm-mini node with can_pwm_with_feedback firmware

4.3. Specifications

Mechanical

4.4. Description

4.5. Power Supply Recommendations

4.6. Revision history

version	Description
v1.7	The last version
v0.5	First factory assembled device