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* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
68 lines
4.0 KiB
Markdown
68 lines
4.0 KiB
Markdown
# RaccoonLab Mini/Micro Nodes
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Mini/Micro are general purpose CAN nodes. The functionality of these devices depends on the firmware they are running.
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The default and most popular usage is as a PWM-CAN adapter to control ESCs and servos using CAN (Cyphal or DroneCAN) communication:
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- Micro is the smallest node with 2 groups of pins (PWM/5V/GND) to control 2 servos or ESCs.
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- Mini v2: Features 2 x PWM/5V/GND for controlling servos or ESCs and 2 x PWM/FB/GND for controlling and receiving feedback from ESCs via UART.
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## Cyphal/DroneCAN CAN-PWM Adapter Firmware
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_Cyphal/DroneCAN CAN-PWM_ firmwares are the default for Mini and Micro nodes.
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These convert a typical PX4 CAN setpoint to PWM for controlling ESCs or servos.
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Please refer to the corresponding RaccoonLab docs pages for details: [Cyphal/CAN-PWM](https://docs.raccoonlab.co/guide/can_pwm/cyphal.html), [DroneCAN-PWM](https://docs.raccoonlab.co/guide/can_pwm/dronecan.html).
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## Cyphal & DroneCAN Rangefinder Firmware
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The _Cyphal & DroneCAN Rangefinder_ firmware is a single firmware that can work in either Cyphal or DroneCAN mode.
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It supports LW20/I2C, Garmin Lite v3/I2C and TL-Luna/UART lidars.
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For details, please check the [Rangefinder](https://docs.raccoonlab.co/guide/can_pwm/rangefinder.html) page.
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## DroneCAN Fuel Sensor Firmware
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_DroneCAN fuel tank_ firmware is based on the [AS5600 sensor board](https://docs.raccoonlab.co/guide/as5600/).
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Please refer to [DroneCAN Fuel Tank](https://docs.raccoonlab.co/guide/can_pwm/fuel_tank.html) for details.
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## DroneCAN Servo Gripper Firmware
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_DroneCAN servo gripper_ is part of a [Mini Node Template Application](https://github.com/RaccoonlabDev/mini_v2_node).
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Please refer to [DroneCAN Servo Gripper](https://docs.raccoonlab.co/guide/can_pwm/servo_gripper.html) for details.
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## Custom Firmware
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**Custom firmware** can be developed by anyone.
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If you require custom features, you can use the [Mini Node Template Application](https://github.com/RaccoonlabDev/mini_v2_node).
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You can configure the external pins to work in UART, I2C or ADC mode.
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From the box, it supports basic Cyphal/DroneCAN features.
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It has publishers and subscribers as an example.
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## Which node to choose?
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The differences between [Mini v2](https://docs.raccoonlab.co/guide/can_pwm/can_pwm_mini_v2.html) and [Micro](https://docs.raccoonlab.co/guide/can_pwm/can_pwm_micro.html) are summarized in the table below.
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For more details, please refer to the corresponding pages.
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| | | Mini v2 | Micro |
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| - | --------------- | ----------------------------------------- | ------------------------------------------- |
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| | Зображення | ![RaccoonLab Mini v2 Node][Mini v2 Node] | ![RaccoonLab Micro Node][Micro Node] |
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| 1 | Вхідна напруга | 5.5V – 30V | 4.5V – 5.5V |
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| 2 | DC-DC | Так | Ні |
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| 3 | Groups of pins | - PWM+5V+GND x2 </br> - PWM+FB+GND x2 | - PWM+5V+GND x2 |
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| 4 | CAN connectors | - UCANPHY Micro x2 </br> - 6-pin Molex x2 | - UCANPHY Micro x2 |
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| 5 | SWD interface | + | + |
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| 6 | Size, LxWxH, mm | 42x35x12 | 20x10x5 |
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| 7 | Mass, g | 5 | 3 |
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[Mini v2 Node]: ../../assets/hardware/can_nodes/raccoonlab_mini_node.png
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[Micro Node]: ../../assets/hardware/can_nodes/raccoonlab_micro_node.png
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## Де купити
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[RaccoonLab Store](https://raccoonlab.co/store)
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[Cyphal store](https://cyphal.store/search?q=raccoonlab)
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