Extended Protocols
==================

SANPO extended protocols add a channel number, data length, and related information around the motor data. They are intended for multi-channel CAN/RS485 control and SPI host access for high-rate real-time control.

- To control CAN through USB serial, see :doc:`usb_can`.
- To control RS485 through USB serial, see :doc:`usb_rs485`.
- To control CAN through an SPI host controller, see :doc:`spi_can`.
- To control RS485 through an SPI host controller, see :doc:`spi_rs485`.

.. toctree::
   :maxdepth: 1

   usb_can
   usb_rs485
   spi_can
   spi_rs485