Custom CAN Protocol

I understand that ODrive can be set up to use a CAN protocol called CAN Simple. I am trying to integrate the ODrive into an existing system that uses a custom CAN protocol. Would it be possible to reconfigure the ODrive firmware to work with a different message format so it can communicate with the rest of this system? I’m not very familiar with using ODrive.

Yes, but you’ll need to implement in C++ and compile the source. The CAN protocols live in this folder:


You can add a new Flag here with the name of your protocol,

and implement the callbacks for your protocol here: