ESP32 CAN control ODrive Pro

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I am struggling with getting CAN working on ODrive. In my present config we have an ESP32 with a CAN Transceiver.

Motor is configured and we have control over the GUI. It’s allegedly configured for heartbeats and CAN ID 3.

Our setup:

PXL_20240123_202635232
PXL_20240123_2026352321920×1440 188 KB

We tried 2 approaches.

  1. Sending CAN commands directly.
  2. Making a custom wrapper to get the example to work.

Neither works. This post is about approach 1, I’ll share another post for approach 2.

My code for directly sending a CAN message to go to Torque Control.

#include <CAN.h>

void setup() {
    Serial.begin(115200);
    while (!Serial)
        ;

    Serial.println("CAN Sender");

    // start the CAN bus at 500 kbps
    if (!CAN.begin(500E3)) {
        Serial.println("Starting CAN failed!");
        while (1)
            ;
    }
}


// ID for ODrive
int canID = (0x003 << 5) + 0x00B;

// Control Mode
// velocity control = 2, torque control = 1
uint8_t stmp[8] = {0,0,0,0,0,0,0,1};
//uint8_t stmp[8] = {0,0,0,1,0,0,0,0};
//uint8_t stmp[8] = {1,0,0,0,0,0,0,0};
//uint8_t stmp[8] = {0,0,0,0,1,0,0,0};

// uint32_t myControlMode = 1;
// uint8_t stmp[8] = {0};



void loop() {
    Serial.println("Coppying Message");
    //memcpy(stmp, &myControlMode, sizeof(myControlMode));

    Serial.println("Sending Message");
    CAN.beginPacket(canID);
    CAN.write(stmp, 8);
    CAN.endPacket();

    Serial.println("Waiting...");
    delay(5000);

    // try to parse packet
    int packetSize = CAN.parsePacket();

    if (packetSize) {
        // received a packet
        Serial.print("Received ");

        if (CAN.packetExtended()) {
            Serial.print("extended ");
        }

        if (CAN.packetRtr()) {
            // Remote transmission request, packet contains no data
            Serial.print("RTR ");
        }

        Serial.print("packet with id 0x");
        Serial.print(CAN.packetId(), HEX);

        if (CAN.packetRtr()) {
            Serial.print(" and requested length ");
            Serial.println(CAN.packetDlc());
        } else {
            Serial.print(" and length ");
            Serial.println(packetSize);

            // only print packet data for non-RTR packets
            while (CAN.available()) {
                Serial.print((char)CAN.read());
            }
            Serial.println();
        }
        delay(5000);
        Serial.println();
    }
}

My approach inspired by this post.