SPI to RS485
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->RS485) |
RX Protocol (RS485->SPI) |
|---|---|---|---|
RS485 motors (fixed 21-byte frames) |
CS1 controls RS485-1/RS485-2; CS2 controls RS485-3/RS485-4 |
Transparent, fixed length 21 bytes. Last two bytes reserved: last is CRC, second last is valid length. |
Transparent, fixed length 21 bytes. Last two bytes reserved: last is CRC, second last is valid length. |
Notes
To avoid conflicts with CAN, headers
0x45 0x54and0x53 0x54are reserved for CAN.The first two bytes of RS485 frames must not use those values.
Example Code
Python example (Unitree GOM8010 motor): spi_unitree_GO_M8010_6_demo.py