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Update can-protocol.md

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Paul Guenette
2021-06-10 23:06:42 -04:00
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commit 2f36b095c5
1 changed files with 18 additions and 18 deletions
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docs/can-protocol.md
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@@ -9,6 +9,24 @@ ODrive currently supports the following CAN baud rates:
* 500 kbps
* 1000 kbps
---
## Configuring ODrive for CAN
Configuration of the CAN parameters should be done via USB before putting the device on the bus.
To set the desired baud rate, use `<odrv>.can.config.baud_rate = <value>`.
Each axis looks like a separate node on the bus. Thus, they both have the two properties `can_node_id` and `can_node_id_extended`. The node ID can be from 0 to 63 (0x3F) inclusive, or, if extended CAN IDs are used, from 0 to 16777215 (0xFFFFFF). If you want to connect more than one ODrive on a CAN bus, you must set different node IDs for the second ODrive or they will conflict and crash the bus.
### Example Configuration
```
odrv0.axis0.config.can_node_id = 3
odrv0.axis1.config.can_node_id = 1
odrv0.can.config.baud_rate = 500000
odrv0.save_configuration()
odrv0.reboot()
```
---
## Transport Protocol
We've implemented a very basic CAN protocol that we call "CAN Simple" to get users going with ODrive. This protocol is sufficiently abstracted that it is straightforward to add other protocols such as CANOpen, J1939, or Fibre over ISO-TP in the future. Unfortunately, implementing those protocols is a lot of work, and we wanted to give users a way to control ODrive's basic functions via CAN sooner rather than later.
@@ -66,24 +84,6 @@ CMD ID | Name | Sender | Signals | Start byte | Signal Type | Bits | Factor | Of
\*\* Note: These CANOpen messages are reserved to avoid bus collisions with CANOpen devices. They are not used by CAN Simple.
\*\*\* Note: These messages can be sent to either address on a given ODrive board.
---
## Configuring ODrive for CAN
Configuration of the CAN parameters should be done via USB before putting the device on the bus.
To set the desired baud rate, use `<odrv>.can.config.baud_rate = <value>`.
Each axis looks like a separate node on the bus. Thus, they both have the two properties `can_node_id` and `can_node_id_extended`. The node ID can be from 0 to 63 (0x3F) inclusive, or, if extended CAN IDs are used, from 0 to 16777215 (0xFFFFFF). If you want to connect more than one ODrive on a CAN bus, you must set different node IDs for the second ODrive or they will conflict and crash the bus.
### Example Configuration
```
odrv0.axis0.config.can_node_id = 3
odrv0.axis1.config.can_node_id = 1
odrv0.can.config.baud_rate = 500000
odrv0.save_configuration()
odrv0.reboot()
```
---
### Interoperability with CANopen