Ok, I will check this.
@CommonRail do you have a schematic of your TeensyCAN board? Is it all trough hole? I saw little SMD on the picture.
Here is the JSON file for easyeda.
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Thanks for all yours inputs!
So I have now 3 design I will order(only 2-5$ per design, most is for shipping)
I have only added minimal connection for CAN just to have capability for testing(prototype)
SDA/SCL lines goes directly to autosteer PCB, but pins for PCA6306 are there, just cut the lines on rear of PCB
Design 2: added CAN pins
Design 3: new compact design to clear autosteer input pins (STEER, WORK), without UDP
Design 4: 3+ UDP
So I will have some surplus to give around, shipping should be cheap for Canada/US! 
The boards have arrived
Took 21 days with cheap shipping, cheapest is to order only 5 boards, shipping is then something like 3$
I will test as GPS with PANDA, and will try to build a code for GPS+autosteer later
V1.0.2 compact UDP but switch input are covered
V1.0.3 USB only
V1.0.4 UDP but a little longer
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I used the board to send PANDA to AGO and it worked, just took 3 hours before before I figured out my SimbleRTK2B wasn’t sending anything over UART1! 
Now I want use the Teensy for GPS+autosteer over USB, I think I just have to replace Serial by SerialUSB1 for autosteer and I should have the 2 COM ports.
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It working on the bench (trough USB) will test in real condition soon.
Edit: 7-04-22 Corrected code
Code:Panda_Autosteer_Teensy_USB_v5_0.zip (37,0 Ko)
EDIT: The transisors on the boards don’t read the switches 
, I think I can mount some resistors in the same holes to make it work.
These boards work as Teensy-Panda but need modifications to be used as autosteer hats.
Geber without UDP:Gerber_AOG PCB_Teensy GPS autosteer Hat VERSION3-NAROW.zip (116,1 Ko)
Next will be to built a code for UDP.
UDP versions(untested):
V1.0.2:Gerber_AOG PCB_Teensy GPS autosteer Hat VERSION2.zip (130,7 Ko)
V1.0.4:Gerber_AOG PCB_Teensy GPS autosteer Hat VERSION4-NAROW_UDP.zip (131,5 Ko)
The full project:Project_Teensy GPS autosteer Hat_2022-03-02_23-22-22.zip (709,7 Ko)
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hello Pat
i like this concept for old board
did you upgrade this project ?
His concept works.
I used his schematics to rebuild a pcbv2 board to work with teensy 4.1 and the autosteer ino made for the new all in one board.
I cut the traces from ads1115 and added a level shifter to connect ads to teensy.
For the switches, just direct from pcbv2 lines/pins to teensy no resistors, as they connecs to gnd anyway.
For output to pwm and dir, I resoldered 330 ohm resistors to go to the right teensy pins.
(Other pins resoldered and 5 v moved to fit teensy as well)
The bno085 must run on 3.3v so it doesn’t need a level shifter when connected to the teensy.
Also some bird’s nest wiring and a Ethernet kit for the teensy. I bird’s nest wired the F9P as well.
But the hat board would do all that.
Just recheck the SDA SCL and the level shifter. So they are like the current all in one board.
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no upgrade since last post
I used one hat all summer long.
I don’t use level snifter but should, ads and bno on 5v 
also the teensy pinout is maybe not the same as the last official teensy board.
Remember: The transisors on the boards don’t read the switches , mount some resistors in the same holes to make it work.
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Hi Pat,
did you get this to work via Ethernet? I see the Antenna and IMU, but steer is not visible for AOG.
I’m using the PCB v2.0 + Teensy Hat V4
Thank you,
JB
Yes
I used it in a tractor all summer with ethernet, I will try to adapt the firmware for V5.7.2. Must change some pins in the Teensy.
I will try to post in the next days
Thank you!
Here I have a firmware that communicate over UDP for v5.7.2
connect anything on A0, A1, A6 and A7
pressure on A2
current on A3
I had an unstable WAS while testing it 
IMU and ADS1115 are on the same WIRE.
check line 50 for GPS bautrate if it doesn’t work
Autosteer_gps_v5_7_2_for_teensy_hat.zip (51,8 Ko)
This is probably because some ADS functions are hard-coded to wire1.
Thanks Pat, much appreciated!
Ill give that a try!
JB
Got it to work.
Looks the pins need remapping and find and replace the word Wire1 with Wire.
Thanks again!
JB
Yes exactly,
the .xls file in the folder should help.
And there are 2 wire.begin in the official code.
I already forgot what I did with that! 
Hi Pat, do you have a machine board and teensy connceted via Ethernet as well?
My machine board is acting up. Tried the Teensy firmware witout steer enabled with the same result. I build two boxes, both do the same.
When I unplug the machine network cable the the relays are quiet.
See video.
Regards,
JB
When i unplug the teensy network cable, the
relays are quiet as well.