KitCAN M10025

The 3DR 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.

3D View

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Specifications

Electrical/MCU	KitCAN M10025
Main processor	STM32F303
Flash size	256kB
Operating voltage	5V
Maximum current (fused)	250mA
Internal 3v3 reg current	400mA
I2C pull-ups	Installed (2k2)
CAN termination resistor*	Installed

Mechanical
Dimensions	35.5mm x 27mm
Screw pattern	30.5mm x 14mm
Screw size	M3 (3.2mm hole diameter)
Board thickness	1.2mm (1.0mm rev B)
Weight	3.5 grams

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.

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.

Firmware compatibility

Revision C boards introduce a different routing to reduce inductance. This improves the e-compass performance but breaks compatibility with older firmware versions.

Boards Revision B and older require the legacy f303-M10025 firmware target. Boards Revision C and D require the newer KitCAN rev C_D AP_Periph firmware target.

If you have a Revision B or older and want to update firmware manually, please use the firmware target below.

f303-M10025

And if you have a Revision C or D board and want to update firmware manually, please use the firmware target below.

KitCAN rev C_D AP_Periph

AP Periph logo

Parameters

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

Parameter	Value
ArduPlane	V4.0.5
ArduCopter	V4.0.3
ArduRover	V4.0.0

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

Parameter	Value
`CAN_P1_DRIVER`	1
`GPS_TYPE`	9 UAVCAN

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:

Parameter	Value
`COMPASS_TYPEMASK`	UAVCAN (Unchecked)

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

Pin	Color	Signal	TTL/Voltage Level
1	red	VCC	5V
2	black	TX	3V3
3	black	RX	3V3
4	black	I2C_SCL	3V3
5	black	I2C_SDA	3V3
6	black	GND	N/A

CAN Port

Pin	Color	Signal	TTL/Voltage Level
1	red	VCC	5V
2	black	CAN_H	5V
3	black	CAN_L	5V
4	black	GND	N/A

I²C Port

Pin	Color	Signal	TTL/Voltage Level
1	red	VCC	5V
2	black	I2C_SCL	3V3
3	black	I2C_SDA	3V3
4	black	GND	N/A

Downloads

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