# How to US-D1 CAN protocol to UAVCAN

**URL:** <https://forum.opencyphal.org/t/how-to-us-d1-can-protocol-to-uavcan/1023>\
**Category:** Applications & Usage\
**Created:** [December 12, 2020, 3:45am UTC](https://forum.opencyphal.org/t/how-to-us-d1-can-protocol-to-uavcan/1023 "2020-12-12T03:45:03Z")\
**Posts on this page:** 5\
**Page:** 1

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**Author:** ![SWARNA\_MOHAN\_CHANDRA](https://forum.opencyphal.org/user_avatar/forum.opencyphal.org/swarna_mohan_chandra/32/750_2.png) [@SWARNA\_MOHAN\_CHANDRA](https://forum.opencyphal.org/u/SWARNA_MOHAN_CHANDRA)\
**Post date:** [December 12, 2020, 3:45am UTC](https://forum.opencyphal.org/t/how-to-us-d1-can-protocol-to-uavcan/1023/1 "2020-12-12T03:45:03Z")

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Hi guys,

How to integrate US-D1 (CAN 2.0) to UAVCAN. When I am connecting to CAN-BUS US-D1 Sensor CAN nodes are not Detecting. How could resolve this error?  
I am using:  
1.Arducopter 4.1.0  
2.UAVCAN\_GUI tool.  
Sensor link:[https://ainstein.ai/drone-makers-drone-service-providers/us-d1/](https://ainstein.ai/drone-makers-drone-service-providers/us-d1/)

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**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:** [December 12, 2020, 1:04pm UTC](https://forum.opencyphal.org/t/how-to-us-d1-can-protocol-to-uavcan/1023/2 "2020-12-12T13:04:50Z")

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The device you linked does not seem to support UAVCAN. Consider contacting the vendor.

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**Author:** ![SWARNA\_MOHAN\_CHANDRA](https://forum.opencyphal.org/user_avatar/forum.opencyphal.org/swarna_mohan_chandra/32/750_2.png) [@SWARNA\_MOHAN\_CHANDRA](https://forum.opencyphal.org/u/SWARNA_MOHAN_CHANDRA)\
**Post date:** [December 13, 2020, 9:16am UTC](https://forum.opencyphal.org/t/how-to-us-d1-can-protocol-to-uavcan/1023/3 "2020-12-13T09:16:44Z")

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Thank you sir we will contact vendor. is there any chance to change CAN 2.0 to UAVCAN?

Thank you, sir  
Mohan

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**Author:** ![fanatic113l](https://forum.opencyphal.org/letter_avatar_proxy/v4/letter/f/dbc845/32.png) [@fanatic113l](https://forum.opencyphal.org/u/fanatic113l)\
**Post date:** [January 27, 2022, 1:53pm UTC](https://forum.opencyphal.org/t/how-to-us-d1-can-protocol-to-uavcan/1023/4 "2022-01-27T13:53:37Z")

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I am new to the world of CANbus and have been doing much research. I see there are various protocols that can be assigned to the ports on an Ardupilot. Can I assign UAVCAN to one port and a CAN 2.0A (or B) protocol (if it exists) to the second port?

Alternatively, is there a gateway and/or software for communicating between these two standards? (I noticed a post regarding Wireshark … unfortunately over my head ☹ )

Is it possible to create a protocol like the ToshibaCAN (and others) for this purpose? Ultimately I need to control a CAN 2.0A actuator with my Ardupilot rover.

Thanks for your assistance.

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**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:** [January 28, 2022, 4:49am UTC](https://forum.opencyphal.org/t/how-to-us-d1-can-protocol-to-uavcan/1023/5 "2022-01-28T04:49:23Z")

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Please consider asking your question at the ArduPilot forum: [https://discuss.ardupilot.org/](https://discuss.ardupilot.org/)