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Where to find CAN protocol documentation?

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doctarr
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Joined: 2020-12-29 15:23
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Where to find CAN protocol documentation?

I see that VESC is CAN enabled, but I cannot find much (any) information regarding the CAN protocol on this websites documentation section.  I apologized if I've missed it!

 

Just as background, I'm interested in utilizing both closed-loop current/torque and velocity control via CAN, and am also interested in getting actual current/torque and velocity feedback via CAN.  I'm working on a project where I'll likely need to close the velocity loop myself, hence the need for velocity feedback, but would like to initially start with the built-in speed controller.  I also believe I'll want to use signed current/velocity (reverse direction sometimes), which Im not sure can be represented by a PWM input, so I'm hoping CAN will handle that.

 

Any guidance is appreciated, thanks in advance!