diff --git a/Firmware/communication/can_simple.cpp b/Firmware/communication/can_simple.cpp
index bfe35858..607495d4 100644
--- a/Firmware/communication/can_simple.cpp
+++ b/Firmware/communication/can_simple.cpp
@@ -97,6 +97,12 @@ void CANSimple::handle_can_message(CAN_message_t& msg) {
         case MSG_GET_SENSORLESS_ESTIMATES:
             get_sensorless_estimates_callback(axis, msg);
             break;
+            case MSG_RESET_ODRIVE:
+                NVIC_SystemReset();
+                break;
+            case MSG_GET_VBUS_VOLTAGE:
+                get_vbus_voltage_callback(axis, msg);
+                break;
         default:
             break;
     }
@@ -307,6 +313,31 @@ void CANSimple::get_iq_callback(Axis* axis, CAN_message_t& msg){
     odCAN->write(txmsg);
 }
 
+void CANSimple::get_vbus_voltage_callback(Axis* axis, CAN_message_t& msg) {
+    CAN_message_t txmsg;
+
+    txmsg.id = axis->config_.can_node_id << NUM_CMD_ID_BITS;
+    txmsg.id += MSG_GET_VBUS_VOLTAGE;
+    txmsg.isExt = false;
+    txmsg.len = 8;
+
+    uint32_t floatBytes;
+    static_assert(sizeof vbus_voltage == sizeof floatBytes);
+    std::memcpy(&floatBytes, &vbus_voltage, sizeof floatBytes);
+
+    // This also works in principle, but I don't have hardware to verify endianness
+    // std::memcpy(&txmsg.buf[0], &vbus_voltage, sizeof vbus_voltage);
+
+    txmsg.buf[0] = floatBytes;
+    txmsg.buf[1] = floatBytes >> 8;
+    txmsg.buf[2] = floatBytes >> 16;
+    txmsg.buf[3] = floatBytes >> 24;
+
+    txmsg.buf[4] = 0;
+    txmsg.buf[5] = 0;
+    txmsg.buf[6] = 0;
+    txmsg.buf[7] = 0;
+}
 
 void CANSimple::send_heartbeat(Axis* axis) {
     CAN_message_t txmsg;
diff --git a/Firmware/communication/can_simple.hpp b/Firmware/communication/can_simple.hpp
index 4ed630af..fd078c5a 100644
--- a/Firmware/communication/can_simple.hpp
+++ b/Firmware/communication/can_simple.hpp
@@ -29,6 +29,8 @@ class CANSimple {
         MSG_SET_TRAJ_A_PER_CSS,
         MSG_GET_IQ,
         MSG_GET_SENSORLESS_ESTIMATES,
+        MSG_RESET_ODRIVE,
+        MSG_GET_VBUS_VOLTAGE,
     };
 
     static void handle_can_message(CAN_message_t& msg);
@@ -56,7 +58,8 @@ class CANSimple {
     static void set_traj_accel_limits_callback(Axis* axis, CAN_message_t& msg);
     static void set_traj_A_per_css_callback(Axis* axis, CAN_message_t& msg);
     static void get_iq_callback(Axis* axis, CAN_message_t& msg);
-    static void get_sensorless_estimates_callback(Axis* axis, CAN_message_t& ms);
+    static void get_sensorless_estimates_callback(Axis* axis, CAN_message_t& msg);
+    static void get_vbus_voltage_callback(Axis* axis, CAN_message_t& msg);
 
 
     // Utility functions
diff --git a/docs/can-protocol.md b/docs/can-protocol.md
index e704439c..c66a5d7b 100644
--- a/docs/can-protocol.md
+++ b/docs/can-protocol.md
@@ -57,9 +57,12 @@ CMD ID | Name | Sender | Signals | Start byte
 0x013 | Set Traj A per Count / s^2 | Master | Traj A per CSS | 0
 0x014 | Get IQ\* | Axis | Iq Setpoint<br>Iq Measured | 0<br>4
 0x015 | Get Sensorless Estimates\* | Master | Sensorless Pos Estimate<br>Sensorless Vel Estimate | 0<br>4
+0x016 | Reboot ODrive | Master\*\*\* | | 
+0x017 | Get Vbus Voltage | Master\*\*\* | Vbus Voltage | 0
 
 \* Note: These messages are call & response.  The Master node sends a message with no payload, 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.
 
 ---
 ### Signals
@@ -91,6 +94,7 @@ Iq Setpoint | IEEE 754 Float | 32 | 1 | 0 | Intel
 Iq Measured | IEEE 754 Float | 32 | 1 | 0 | Intel
 Sensorless Pos Estimate | IEEE 754 Float | 32 | 1 | 0 | Intel
 Sensorless Vel Estimate | IEEE 754 Float | 32 | 1 | 0 | Intel
+Vbus Voltage | IEEE 754 Float | 32 | 1 | 0 | Intel
 
 ---
 ## Configuring ODrive for CAN