# Does VOXL2 support UAVCAN?

Source: https://forum.modalai.com/topic/1505/does-voxl2-support-uavcan
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2022-10-31 17:50:46 UTC by Patrick Hinchey
Replies: 2 · Views: 624

## Patrick Hinchey · 2022-10-31 17:50:46 UTC

In particular, I want to use Here3 RTK and (if I understand correctly - perhaps I'm mistaken?) this is only supported over CAN

## Reply by Eric Katzfey (ModalAI staff) · 2022-11-01 15:00:53 UTC

@Patrick-Hinchey The supported interface for the Here3 RTK is CAN bus and VOXL 2 does not support that interface. However, there is a "legacy" mode in that unit that allows operation using UART for GPS and I2C for the magnetometer. There isn't really any documentation about this mode but we were able to get it working in the past. It requires that you open the unit and turn the switch to the I2C setting and build some custom cabling. It isn't really a supported mode but it is possible.

## Reply by Patrick Hinchey · 2022-11-01 21:55:30 UTC (in reply to Eric Katzfey)

Thanks Eric, I'll look into the legacy mode