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Add ODrive Reboot message and Get Vbus Voltage message

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This commit is contained in:
Paul Guenette
2019-03-02 00:18:29 +01:00
parent 40ad2a0060
commit f9765f4d73
3 changed files with 39 additions and 1 deletions
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docs/can-protocol.md
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@@ -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