diff --git a/docs/can-guide.md b/docs/can-guide.md
index 787a6d82..827d3635 100644
--- a/docs/can-guide.md
+++ b/docs/can-guide.md
@@ -16,6 +16,9 @@ In simple terms, CAN is a way of communicating between many devices over a singl
 
 CAN is convenient for its simple and robust Physical Layer (PHY) that requires only a twisted pair of wires and a 120ohm termination resistor at each end.  It has low jitter and low latency, because there is no host computer.  It is relatively fast (CAN 2.0b supports 1 Mbps).  Messages are easy to configure and load with data.  Transceivers and controllers are inexpensive and widely available, thanks to its use in automotive.
 
+## Hardware Setup
+ODrive assumes the CAN PHY is a standard differential twisted pair in a linear bus configuration with 120 ohm termination resistance at each end. ODrive versions less than V3.5 include a soldered 120 ohm termination resistor, but ODrive versions V3.5 and greater implement a dip switch to toggle the termination.  ODrive uses 3.3v as the high output, but conforms to the CAN PHY requirement of achieving a differential voltage > 1.5V to represent a "0".  As such, it is compatible with standard 5V bus architectures.
+
 ## Setting up CAN on ODrive
 
 CANSimple breaks the CAN Message ID into two parts:  An axis ID and a command ID.  By default, CAN is enabled on the ODrive, where Axis 0 has ID 0, and Axis 1 has ID 1.  The ID of each axis should be unique; each should be set via `odrivetool` before connecting to the bus with the command:
@@ -76,6 +79,8 @@ The CANH and CANL pins on J2 are used for CAN communication.  Connect CANH to CA
 
 If your ODrive is the "last" (furthest) device on the bus, you can use the on-board 120 Ohm termination resistor by switching the DIP switch to "CAN 120R".  Otherwise, add an external resistor.
 
+
+
 ### Verifying Communcation
 
 By default, each ODrive axis will send a heartbeat message at 10Hz.  We can confirm our ODrive communication is working by starting the `can0` interface, and then reading from it:
diff --git a/docs/can-protocol.md b/docs/can-protocol.md
index 55108e92..a3bdaada 100644
--- a/docs/can-protocol.md
+++ b/docs/can-protocol.md
@@ -1,13 +1,7 @@
 # CAN Protocol
 
-## Hardware Setup
-ODrive assumes the CAN PHY is a standard differential twisted pair in a linear bus configuration with 120 ohm termination resistance at each end. ODrive versions less than V3.5 include a soldered 120 ohm termination resistor, but ODrive versions V3.5 and greater implement a dip switch to toggle the termination.  ODrive uses 3.3v as the high output, but conforms to the CAN PHY requirement of achieving a differential voltage > 1.5V to represent a "0".  As such, it is compatible with standard 5V bus architectures.
+This document describes teh CAN Protocol.  For examples of usage, check out our [CAN Guide!](can-guide.md)
 
-ODrive currently supports the following CAN baud rates:
-* 125 kbps
-* 250 kbps (default)
-* 500 kbps
-* 1000 kbps
 
 ---
 ## Configuring ODrive for CAN