CAN-FD communication has a number of configurable parameters in order to specify how long each bit period lasts, what amount of clock skew is permissible, and when to sample the physical layer to clock in each bit. For many CAN 2.0 applications, only the bitrate is configured and the sample point and skew parameters are left to a default. Optimizing them may be necessary if you want to control timing margins over a CAN bus with many hosts. Doing so is often not necessary though, as for CAN 2.0 different hosts can have different sample points and largely still interoperate.

While it may not be technically spring outside, it is spring for product announcements here at mjbots, and I’m excited to announce the next evolution of CAN-FD adapter hardware we’re offering, the mjcanfd-usb-1x:

The major changes from the fdcanusb:

• USB-C instead of USB micro

• Smaller form factor - 30x18mm

• PH3 CAN-FD connector instead of DB9

• Less expensive, only $39

This makes the mjcanfd-usb-1x better suited for in-application deployments and just all around better as a development tool. It can be mounted down more easily, uses the same connector and pinout as moteus, and is compatible with our existing PH3 cables.