SPI to CAN
V4 is now released. Please visit the latest version, which includes matching motor tuning tools, more sample projects, and a more complete protocol framework.
Protocol Overview
Use Case |
Wiring |
TX Protocol (SPI->CAN) |
RX Protocol (CAN->SPI) |
|---|---|---|---|
CAN extended frame motors |
CS1 controls CAN1/CAN2; CS2 controls CAN3/CAN4 |
Header 2 bytes (0x45 0x54) + CANID ext 4 bytes + data 8 bytes + tail 2 bytes (0x0D 0x0A) + reserved 4 bytes (0x00 0x00 0x00 0x10) + CRC 1 byte |
Header 2 bytes (0x45 0x54) + CANID ext 4 bytes + data 8 bytes + tail 2 bytes (0x0D 0x0A) + reserved 4 bytes (0x00 0x00 0x00 0x10) + CRC 1 byte |
CAN standard frame motors (firmware V4.1+) |
CS1 controls CAN1/CAN2; CS2 controls CAN3/CAN4 |
Header 2 bytes (0x53 0x54) + fixed 2 bytes (0x00 0x00) + CANID std 2 bytes + data 8 bytes + tail 2 bytes (0x0D 0x0A) + reserved 4 bytes (0x00 0x00 0x00 0x10) + CRC 1 byte |
Header 2 bytes (0x53 0x54) + fixed 2 bytes (0x00 0x00) + CANID std 2 bytes + data 8 bytes + tail 2 bytes (0x0D 0x0A) + reserved 4 bytes (0x00 0x00 0x00 0x10) + CRC 1 byte |
Example Code
Python example (Xiaomi motor): spi_cybergear_demo.py