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VESC 6 CAN Command and Telemetry Formats

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TerraHawk
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Joined: 2019-11-21 01:43
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VESC 6 CAN Command and Telemetry Formats

I have looked all over and failed to find command and telemetry information in a convenient package. I dug through the VESC 6 firmware and extracted what I believe are the correct formats. 

I am looking for somebody to glance over my PDF and see if the formats look roughly correct. I will get to test  it next week to verify but if I have made an obvious error, it would be good to learn it now.

Thank you.

VESC6_CAN_CommandsTelemetry.pdf

ProtonZ
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Joined: 2019-12-30 16:52
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Hello,

I am looking for the way to control VESC via CAN too. And I really want to know if your format documentation is correct if you have tested it. Thanks for giving me an example.

Pimousse
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Hi,

I'm maybe late, but anyway.

Here you may find a document I wrote up regarding VESC Communication : https://drive.google.com/open?id=1j8Lni4cAb5P5hYK-VS-Ex2eKzMCK7ZKI

Check the COMM CAN tab (UART communication is maybe outdated).

Tinkerer
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Joined: 2020-06-30 08:28
Posts: 4

Edit: Deleted my comment as I realised I've been approaching it wrong.

Configuring the VESC hardware I have to transmit status messages over CAN is done directly in the VESC tool. I'm able to read all packets being sent using my Arduino with a CAN shield now. Thanks for the documentation here - helped big time!