From 622a461b6fd83de8e49d0c6ddfebe4cc23c6bf36 Mon Sep 17 00:00:00 2001 From: camrbuss Date: Sun, 12 Apr 2020 20:33:19 -0600 Subject: [PATCH] fix of formatting --- docs/can-protocol.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/can-protocol.md b/docs/can-protocol.md index 0611a9e8..f316e73e 100644 --- a/docs/can-protocol.md +++ b/docs/can-protocol.md @@ -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 - 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.