User's Guide

Development Kit User Guide – Rev11.0
58
USB to CAN
NOTE: A 120 Ω terminator resistor must be placed between CAN High and CAN Low
as per ISO-11898 standard.
It is possible to communicate with an Onboard
Charger via CAN through any device that has a
USB port by using a USB2CAN converter (or
similar) and adapter cable. One option can be
found at the link below, but any good USB-to-
CAN adapter should do the job.
(https://shop.8devices.com/index.php?route=product/product&path=67&product_id=95)
The adapter cable must be plugged into the USB2CAN device with the wires connecting the
JST connector for the CAN bus on the on-board charger.
CAN API
WiBotic’s CAN API uses the UAVCAN protocol (https://uavcan.org/). UAVCAN handles the
packet serialization and communication when using the API through the CAN bus. How
information is sent through UAVCAN is determined by its DSDL (data structure description
language) definition.
Pin
Signal
Description
1
-
No Connection
2
CANL
CANL bus line (dominant low)
3
CAN GND
Can Ground
4
-
No Connection
5
CAN_SHLD
Connected to CAN GND via 100Ω/0.1uF
6
CAN GND
Can Ground
7
CANH
CANH bus line (dominant high)
8
-
No Connection
9
-
No Connection
Figure 5: USB2CAN Pinout