# Both use CAN (11bit) and UAVCAN at the same time on the same port?

**URL:** <https://forum.opencyphal.org/t/both-use-can-11bit-and-uavcan-at-the-same-time-on-the-same-port/1791>\
**Category:** General\
**Created:** [November 15, 2022, 11:01am UTC](https://forum.opencyphal.org/t/both-use-can-11bit-and-uavcan-at-the-same-time-on-the-same-port/1791 "2022-11-15T11:01:33Z")\
**Posts on this page:** 4\
**Page:** 1

<div class="post-metadata">

**Author:** ![Aleksandr\_Stekachev](https://forum.opencyphal.org/user_avatar/forum.opencyphal.org/aleksandr_stekachev/32/1031_2.png) [@Aleksandr\_Stekachev](https://forum.opencyphal.org/u/Aleksandr_Stekachev)\
**Post date:** [November 15, 2022, 11:01am UTC](https://forum.opencyphal.org/t/both-use-can-11bit-and-uavcan-at-the-same-time-on-the-same-port/1791/1 "2022-11-15T11:01:33Z")

</div>

Hi there!  
I am currently trying to connect the DistanceRange radar from Nanoradar model NRA24 for the PX4-Autopilot (STM32H7). This radar uses CAN 2.0A (11bit) for data transfer. Somewhere in the user manual I read: UAVCAN uses only CAN 2.0B frame format (29-bit identifiers). **UAVCAN can share the same bus with other protocols based on CAN 2.0A (11-bit identifiers).**  
Therefore, I have two questions:

1. Does this mean I can connect this radar to the same port as UAVCAN uses @pavel.kirienko ?
2. How do I read CAN 2.0A (11bit) messages through the CANbus on the PX4 platform? Maybe there are examples?

Best regards.

---

<div class="post-metadata">

**Author:** ![pavel.kirienko](https://forum.opencyphal.org/user_avatar/forum.opencyphal.org/pavel.kirienko/32/9_2.png) [@pavel.kirienko](https://forum.opencyphal.org/u/pavel.kirienko)\
**Post date:** [November 15, 2022, 11:12am UTC](https://forum.opencyphal.org/t/both-use-can-11bit-and-uavcan-at-the-same-time-on-the-same-port/1791/2 "2022-11-15T11:12:19Z")

</div>

1. Yes.
2. Please ask the PX4 maintainers.

---

<div class="post-metadata">

**Author:** ![Aleksandr\_Stekachev](https://forum.opencyphal.org/user_avatar/forum.opencyphal.org/aleksandr_stekachev/32/1031_2.png) [@Aleksandr\_Stekachev](https://forum.opencyphal.org/u/Aleksandr_Stekachev)\
**Post date:** [November 15, 2022, 11:15am UTC](https://forum.opencyphal.org/t/both-use-can-11bit-and-uavcan-at-the-same-time-on-the-same-port/1791/4 "2022-11-15T11:15:09Z")

</div>

Thank you, Pavel!

---

<div class="post-metadata">

**Author:** ![Thundering46](https://forum.opencyphal.org/letter_avatar_proxy/v4/letter/t/58f4c7/32.png) [@Thundering46](https://forum.opencyphal.org/u/Thundering46)\
**Post date:** [July 3, 2023, 2:10pm UTC](https://forum.opencyphal.org/t/both-use-can-11bit-and-uavcan-at-the-same-time-on-the-same-port/1791/5 "2023-07-03T14:10:11Z")

</div>

Hi,  
Are there any updates on this topic?  
Did you manage to get it working?

Best regards.