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fix of formatting

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camrbuss
2020-04-12 20:33:19 -06:00
parent 29d0c649b4
commit 622a461b6f
1 changed files with 1 additions and 1 deletions
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docs/can-protocol.md
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@@ -32,7 +32,6 @@ Receive PDO 0x200 + nodeID = 0x223, which does not conflict with the range [0x20
Be careful that you don't assign too many nodeIDs per PDO group. Four CAN Simple nodes (32*4) is all of the available address space of a single PDO. If the bus is strictly ODrive CAN Simple nodes, a simple sequential Node ID assignment will work fine.
### Messages
<style>table tr {white-space:nowrap;} </style>
CMD ID | Name | Sender | Signals | Start byte | Signal Type | Bits | Factor | Offset | Byte Order
--: | :-- | :-- | :-- | :-- | :-- | :-- | :-- | :-- | :--
0x000 | CANOpen NMT Message\*\* | Master | - | - | - | - | - | - | -
@@ -62,6 +61,7 @@ CMD ID | Name | Sender | Signals | Start byte | Signal Type | Bits | Factor | Of
0x018 | Clear Errors | Master | - | - | - | - | - | - | -
0x700 | CANOpen Heartbeat Message\*\* | Slave | - | - | - | - | - | - | -
|_______|___________________________|_________|____________________|_____|_____________|________|______|______|______
\* Note: These messages are call & response. The Master node sends a message with the RTR bit set, and the axis responds with the same ID and specified payload.
\*\* 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.