Merge branch 'jdev' of github.com:odriverobotics/ODrive into jdev

Firmware/communication/can/can_simple.cpp

@@ -138,12 +138,15 @@ void CANSimple::do_command(Axis& axis, const can_Message_t& msg) {
             if (msg.rtr)
                 get_vbus_voltage_callback(axis);
             break;
-        case MSG_ENCODER_REF_UPDATE:
-            encoder_ref_update(axis, msg);
-            break;
         case MSG_CLEAR_ERRORS:
             clear_errors_callback(axis, msg);
             break;
+        case MSG_SET_LINEAR_COUNT:
+            set_linear_count_callback(axis, msg);
+            break;
+        case MSG_ENCODER_REF_UPDATE:
+            encoder_ref_update(axis, msg);
+            break;
         default:
             break;
     }

Firmware/communication/can/can_simple.hpp

@@ -32,6 +32,7 @@ class CANSimple {
         MSG_RESET_ODRIVE,
         MSG_GET_VBUS_VOLTAGE,
         MSG_CLEAR_ERRORS,
+        MSG_SET_LINEAR_COUNT,
         MSG_ENCODER_REF_UPDATE,
         MSG_CO_HEARTBEAT_CMD = 0x700,  // CANOpen NMT Heartbeat  SEND
     };